WO2022007984A1 - 用于车辆的智能交互控制系统与方法、车辆及存储介质 - Google Patents

用于车辆的智能交互控制系统与方法、车辆及存储介质 Download PDF

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Publication number
WO2022007984A1
WO2022007984A1 PCT/CN2021/117807 CN2021117807W WO2022007984A1 WO 2022007984 A1 WO2022007984 A1 WO 2022007984A1 CN 2021117807 W CN2021117807 W CN 2021117807W WO 2022007984 A1 WO2022007984 A1 WO 2022007984A1
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Prior art keywords
display
vehicle
external display
projection
external
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PCT/CN2021/117807
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English (en)
French (fr)
Inventor
丁磊
张俊哲
周洪波
王康
Original Assignee
华人运通(上海)云计算科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority claimed from CN202010664420.5A external-priority patent/CN111806340B/zh
Priority claimed from CN202011273075.9A external-priority patent/CN112238804B/zh
Application filed by 华人运通(上海)云计算科技有限公司 filed Critical 华人运通(上海)云计算科技有限公司
Publication of WO2022007984A1 publication Critical patent/WO2022007984A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles

Definitions

  • the present application relates to the field of intelligent interactive control, in particular to the field of intelligent interactive control based on vehicle lights.
  • Vehicle lights usually include daytime running lights, turn signals, brake lights, reversing lights, high beams, etc., which can provide traditional lighting, indication, reminder and other functions for the vehicle.
  • some vehicles can also provide some ambient lights, which can improve the user experience to a certain extent.
  • these functions are not intelligent enough, and on the other hand, the functions are relatively single and limited.
  • the present disclosure provides an intelligent interactive control system and method for a vehicle, a vehicle, and a machine-readable storage medium to solve or alleviate one or more technical problems in the prior art.
  • an intelligent interactive control system for a vehicle comprising: an external control device configured to receive an external control instruction corresponding to a scene where the vehicle is located, and based on the external control
  • the external display setting in the command controls the light effect projection display of the projection lamp installed outside the vehicle and the display of the external display screen.
  • an intelligent interactive control method for a vehicle including:
  • the light effect projection display of the projection lamp installed outside the vehicle and the display of the external display screen are controlled.
  • a vehicle including: the intelligent interactive control system according to the embodiment of the present disclosure.
  • the intelligent interactive control system and method, vehicle and readable storage medium enable the vehicle to interact more and more intelligently with the outside world (pedestrians, front and rear vehicles, and/or other traffic participants), thereby greatly enhancing the technology of the vehicle Sense and ritual sense, effectively improve the user experience.
  • a vehicle lamp control method including:
  • a vehicle lamp control device comprising:
  • the vertical projection angle determination module is used to determine the vertical projection angle of the exterior lights of the vehicle according to the driving posture of the vehicle or the condition of the driving surface when the chassis of the vehicle is not parallel to the driving surface;
  • the first indication image triggering module is used to trigger the exterior lights to project an indication image matching the width of the vehicle on the driving surface at a vertical projection angle.
  • a vehicle lamp control method including:
  • the exterior light module of the vehicle is triggered to project an indication line on the road that matches the width of the vehicle.
  • a vehicle lamp control device comprising:
  • the triggering module is used for triggering the exterior light module of the vehicle to project an indication line matching the width of the vehicle on the road when the light condition and/or the vehicle speed condition meet the preset condition.
  • a vehicle lamp control device including a processor and a memory, wherein instructions are stored in the memory, and the instructions are loaded and executed by the processor to implement the vehicle lamp control method of the embodiment of the present disclosure.
  • a computer-readable storage medium stores a computer program, and when the computer program runs on a computer, the method of the embodiment of the present disclosure is executed.
  • a vehicle including the vehicle lamp control device or the vehicle lamp control device of the embodiment of the present disclosure.
  • the embodiments of the present application can enrich the functions of the vehicle lights, provide a more intelligent and accurate display mode of the vehicle lights, and improve the user experience.
  • 1-1 is a schematic diagram of a projection effect of a projection lamp according to an embodiment of the present application.
  • FIGS. 1-2 are schematic diagrams of display effects of an ISD screen (external display screen) at the front end of a vehicle according to an embodiment of the present application;
  • FIG. 1-3 are schematic diagrams of display effects of an ISD screen (external display screen) at the rear end of a vehicle according to an embodiment of the present application;
  • 1-4 are schematic diagrams showing the display effect of the ISD lamp at the front end of the vehicle according to an embodiment of the present application
  • FIGS. 1-5 are schematic diagrams showing the display effect of the ISD lamp at the rear end of the vehicle according to an embodiment of the present application
  • 1-6 are schematic diagrams of the application of the first lamp of the vehicle according to the embodiment of the present application.
  • FIG. 2 is a schematic diagram of an application example of a vehicle lamp control system according to an embodiment of the present disclosure
  • FIG. 3 schematically shows a block diagram of an intelligent interactive control system for a vehicle according to an embodiment of the present disclosure
  • FIG. 4 schematically shows a block diagram of a connection relationship between an external display control device and other components according to an embodiment of the present disclosure
  • FIG. 5 shows a flowchart of an intelligent interactive control method for a vehicle according to an embodiment of the present disclosure
  • FIG. 6 shows a flowchart of an intelligent interactive control method for a vehicle according to another embodiment of the present disclosure
  • FIG. 7 shows a flowchart of an intelligent interactive control method for a vehicle according to still another embodiment of the present disclosure
  • FIG. 8 shows a flowchart of an intelligent interactive control method for a vehicle according to yet another embodiment of the present disclosure
  • FIG. 9 shows a flowchart of an intelligent interactive control method for a vehicle according to yet another embodiment of the present disclosure.
  • FIG. 10 shows a structural block diagram of a vehicle according to an embodiment of the present disclosure
  • FIG. 11 is a flowchart of a vehicle lamp control method according to an embodiment of an embodiment of the present application.
  • FIG. 12 is a schematic diagram of an application of an indication image according to an embodiment of the present application.
  • FIG. 13 is a schematic diagram of a vehicle lamp control system according to an embodiment of an embodiment of the present application.
  • FIG. 14 is a schematic diagram of an application example of the vehicle lamp control method according to an embodiment of the present application.
  • FIG. 15 is a flowchart of a vehicle lamp control method according to another embodiment of the embodiments of the present application.
  • FIG. 16 is a flowchart of a vehicle lamp control method according to still another embodiment of an embodiment of the present application.
  • FIG. 17 is a diagram illustrating an application example of the deceleration level of the vehicle lamp control method according to an embodiment of the present application.
  • FIG. 18 is a flowchart of a vehicle lamp control method according to still another implementation manner of an embodiment of the present application.
  • FIG. 19 is a schematic diagram of yet another application of an indication image according to an embodiment of the present application.
  • FIG. 20-1 is a sequence diagram of an application example of the vehicle lamp control method according to an embodiment of the present application.
  • FIG. 20-2 is a diagram illustrating another application example of the vehicle lamp control method according to an embodiment of the present application.
  • 21 is a structural block diagram of a vehicle lamp control device according to an embodiment of the present application.
  • FIG. 22 is a structural block diagram of a vehicle lamp control device according to an embodiment of the present application.
  • An embodiment of the present application provides a vehicle, and a plurality of first vehicle lights, such as conventional lights, projector lights, and interactive signal display (ISD) lights, are provided on the periphery of the vehicle body.
  • first vehicle lights such as conventional lights, projector lights, and interactive signal display (ISD) lights
  • the conventional lights are functional lights of a traditional vehicle, such as side turn lights, rear fog lights, daytime running lights, position lights, turn signals, brake lights, reversing lights, logo lights, front and rear penetration lights, and the like.
  • the projection lamp can be arranged at the front end of the vehicle body to project text, images, videos, etc., and can also be used as a low beam of the vehicle.
  • the projection lamp can choose Digital Light Processing (DLP) projection lamp, as shown in Figure 1-1 is a schematic diagram of the projection effect of the projection lamp.
  • DLP Digital Light Processing
  • ISD lights may be provided at the front and/or rear of the vehicle body to display text, images, video, and the like.
  • 1-4 and 1-5 are schematic diagrams showing the display effects of the ISD lamp at the front of the vehicle and the ISD lamp at the rear of the vehicle, respectively.
  • the ISD lights may include conventional lights 521 (such as daytime running lights, position lights, turn signals, brake lights, reversing lights, logo lights, front and rear penetration lights, etc.) and an ISD screen (hereinafter also referred to as "External display screen") 522, for example, the corresponding lighting effects are realized through the dynamic display of the conventional lights 521.
  • the ISD screen (external display screen) 522 may be a matrix screen formed by a plurality of Light Emitting Diode (LED) lights.
  • Figures 1-2 and 1-3 are schematic diagrams showing the display effect of the ISD screen.
  • the first vehicle light may include a left front light (DLP projection light 51 and ISD light 52 ), a right front light (DLP projection light 51 and ISD light 52 ), a left rear light (ISD light) and a right rear light lamp (ISD lamp).
  • the DLP projection lamps 51 can be used for conventional high and low beam lamps, and can also be used to project projection data such as text, images, and videos; there are four groups of front and rear ISD lamps 52, and each group of ISD lamps 52 includes conventional lamps 521 and below the conventional lamps 521.
  • the ISD light 52 in the left headlight may include: conventional lights 521, such as high beam assist light 521A, low beam assist light 521B, position light 521C (which may be a through light), Daytime running lights/position lights/turning lights 521D, and ISD screen ("external display screen") 522.
  • conventional lights 521 such as high beam assist light 521A, low beam assist light 521B, position light 521C (which may be a through light), Daytime running lights/position lights/turning lights 521D, and ISD screen ("external display screen") 522.
  • the ISD screen 522 in the left headlight can be used as a daytime running light, a position light, a turn signal and a U-turn light.
  • the ISD light 52 in the left rear light may include: conventional lights 521, such as position light/brake light 521E, position light 521F (can be a through light), reversing light 521G, position light/stop light Moving lights/turning lights 521H, and ISD screen 522.
  • the ISD screen (“external display screen") 522 in the left rear light can be used as a brake light, a position light, a turn signal and a U-turn light.
  • the right front light may be arranged symmetrically with the left front light, and the right rear light may be symmetrically arranged with the left rear light, which will not be repeated here.
  • a logo light can be set in the middle of the rear end of the vehicle, and a high-mounted brake light can be set at the top of the rear end of the vehicle.
  • the vehicle of the embodiment of the present application further includes a vehicle lamp control system.
  • the vehicle lamp control system of the embodiment of the present application may further include a multimedia module (hereinafter also referred to as “audio and audio domain”) and a body control module (hereinafter also referred to as “body control module”) area”).
  • a multimedia module hereinafter also referred to as "audio and audio domain”
  • body control module hereinafter also referred to as “body control module” area
  • the multimedia module can include screens or other multimedia components (such as audio equipment) on the vehicle, so that multimedia data can be obtained, such as user instructions, multimedia data obtained by the multimedia components (such as pictures, videos, animations, etc.) Time, weather, vehicle mileage and other information.
  • the multimedia data may include projection data for projection lamp projection and display data for IDS lamp display (here, "projection data” and “display data” include “display content” to be described later).
  • the body control module may include the main controller of the vehicle (for example, the central control device of the in-vehicle equipment mentioned below), so that vehicle information can be obtained.
  • vehicle information may include vehicle environment information, such as the vehicle driving state, the positional relationship between the vehicle and the identification device, and the like.
  • the vehicle identification device may be a key.
  • vehicle information may also include vehicle body component information, such as the status of various functional components of the vehicle (eg, the current status of lights, vehicle suspension height, door status, brake status, power supply status, etc.).
  • the vehicle lamp includes a first vehicle lamp and a second vehicle lamp.
  • the body control module (body domain) can make internal logical judgments based on vehicle information, and then the external display control device mentioned below sends control commands, such as judging whether the lighting conditions are met and the lighting switching methods (including, for example, projection lamp projection or external display). on-screen display or both).
  • the body control module can automatically trigger the operation of the first vehicle light.
  • (body domain) determines a scene (such as the "scenario where the vehicle is located” described below) according to the vehicle information, and generates a corresponding first control command (including, for example, the "explicit control command” described below) according to the scene, and then Sent to the first vehicle lamp master controller (for example, the “external display control device” described below), the first vehicle lamp master controller (“external display control device”) can control instruction”) to call the light display configuration file corresponding to the scene (such as the "display correspondence table”, “display theme database”, “display settings”, etc.) described below, and control the work of the first vehicle light (including the following descriptions such as display of the projector lamp and/or display of the external display).
  • the first vehicle lamp master controller may further include a first vehicle lamp sub-controller, and the first vehicle lamp sub-controller may be used to control, for example, the display of the projection lamp and/or the display of the external display screen, that is, the as the external control device described below. That is, the external display control device may be the first vehicle lamp master controller or the first vehicle lamp sub-controller. It can be seen that the present disclosure does not particularly limit which controller performs the control of the display of the projection lamp and/or the display of the external display screen, but only as long as such a control function can be smoothly realized.
  • the vehicle lamp control system of the embodiment of the present application may further include a multimedia module (audio and sound domain) and a body control module (body domain).
  • a multimedia module audio and sound domain
  • body control module body domain
  • the multimedia module can include screens or other multimedia components (such as audio equipment) on the vehicle, so that multimedia data can be obtained, such as user instructions, multimedia data obtained by multimedia components (such as pictures, videos, animations, etc.), vehicle instruments The time, weather, vehicle mileage and other information obtained on the disk.
  • the multimedia data may include projection data for projection lamp projection and display data for IDS lamp display.
  • the body control module may include the main controller of the vehicle so that vehicle information can be obtained.
  • vehicle information may include vehicle environment information, such as vehicle driving status (eg, vehicle driving status), the positional relationship between the vehicle and the identification device, and the like.
  • vehicle identification device may be a key.
  • vehicle information may also include vehicle body component information, such as the status of various functional components of the vehicle (eg, the current status of lights, vehicle suspension height, door status, brake status, power supply status, etc.).
  • the vehicle lights include a first vehicle lamp (eg, an outer lamp) and a second vehicle lamp (eg, an inner lamp).
  • the multimedia module can send multimedia data to the body control module, such as current vehicle battery life information, weather information, time, festivals, anniversaries, etc.
  • the first lamp master controller (outer lamp module) calls the corresponding internal lighting control file, generates the first lamp master control command, and sends it to the corresponding projector lamp controller And ISD lamp controller, so as to control the first vehicle lamp (exterior lamp) such as DLP projector lamp and ISD lamp to work.
  • the first vehicle lamp master controller (exterior lamp module) returns the execution result of the first vehicle lamp (exterior lamp) to the body control module.
  • the DLP projection lamp projects according to the preset lighting video projection logic.
  • the projection video is to play the brand logo, welcome text, weather, date, and festival in sequence. Among them, the weather, date, festival, and anniversary information will be projected and displayed along with the information sent by the multimedia module.
  • the ISD light will also be played according to the preset video and displayed synchronously with the DLP projection.
  • the vehicle lamp control system of the embodiment of the present application may further include a gateway. Both the multimedia module and the body control module can be connected to the central gateway.
  • the multimedia module is also used to generate the lamp setting data according to the user command, and send the vehicle lamp setting data to the body control module through the gateway; the body control module can also be used to generate the first vehicle lamp master control command according to the vehicle lamp setting data.
  • the multimedia module and the body control module can communicate through the gateway.
  • the multimedia module may send the first vehicle lamp setting data, such as the user's vehicle lamp switch setting item, to the body control module through the gateway.
  • the body control module generates a corresponding first control command according to the first lamp setting data sent by the multimedia module, such as a user's lamp switch setting item.
  • the first vehicle lamp master controller determines whether the first vehicle lamp performs a lighting function according to the switch setting item and the vehicle information.
  • the first vehicle lamp setting data may be generated by the multimedia module according to a user command. Users can send user commands in the form of screen switches, gestures, stick figures, and voice.
  • the vehicle lamp control system of the embodiment of the present application may further include an automatic driving module, which is connected to the gateway to send data such as automatic driving warning to the body control module; the body control module also It is used to generate a first control command (such as the explicit control command mentioned below) according to data such as automatic driving warning.
  • an automatic driving module which is connected to the gateway to send data such as automatic driving warning to the body control module; the body control module also It is used to generate a first control command (such as the explicit control command mentioned below) according to data such as automatic driving warning.
  • the automatic driving module judges the safety functions during driving (such as pedestrian or vehicle recognition, forward collision warning, rear collision warning, lane change assistance, etc.) through the data obtained by sensors such as cameras and radars, and will identify the results of driving safety functions, That is, the automatic driving warning data is sent to the body control module.
  • the body control module generates a first control command, such as safety or warning information, according to the automatic driving warning data, and sends the first vehicle lamp master control command to the first vehicle lamp master controller.
  • the first vehicle lamp master controller first vehicle lamp master control command executes the lamp lighting command according to the triggering of the corresponding first vehicle lamp.
  • the vehicle lamp control system of the embodiment of the present application may further include a second vehicle lamp master controller and at least one second vehicle lamp sub-controller.
  • the second vehicle lamp master controller can be connected with the multimedia module, and is configured to generate a second vehicle lamp master control command according to the second control command sent by the multimedia module and send it to the second vehicle lamp sub-controller.
  • the second vehicle lamp sub-controller triggers the corresponding second vehicle lamp to work according to the second vehicle lamp master control command and the multimedia data.
  • the second vehicle light may be provided inside the vehicle, such as an ambient light or a dome light.
  • the second vehicle light sub-controller may be an ambient light controller or a dome light controller.
  • the automatic driving module recognizes the surrounding environment of the vehicle through sensors such as radar and cameras to obtain the corresponding recognition results, and processes the recognition results internally to determine that the surrounding environment is dangerous, Send automatic driving early warning data, such as hazard warning information and specific hazard content (early warning details), to the body control module and multimedia module through the gateway.
  • the multimedia module After receiving the detailed warning information from the automatic driving module, the multimedia module will display the warning information or sound reminder through the central control screen, and trigger the second vehicle light (interior light) to work (such as flashing red), prompting attention to the warning information.
  • the body control module After the body control module receives the detailed warning information sent by the automatic driving module, it determines through logic operation that DLP headlight projection or ISD screen light display is required, and then generates a first control command (for example, the "external control command” described below), until The first lamp master (external light module, which includes, for example, the “external control device” described below), the first vehicle light master (external light module, which includes, for example, the "external control device” described below) triggers DLP headlights project specific warning information or trigger ISD screen lights to display specific warning information, reminding users or other vehicles to pay attention to the warning information.
  • a first control command for example, the "external control command” described below
  • an intelligent interactive control method and system for a vehicle are also provided, such as when a user uses the vehicle (for example, the vehicle runs normally, changes lanes, turns, turns around, pauses, parks, reverses, etc.) It controls the projection of the projection lamps installed outside the vehicle and the display of the external display screen to realize the intelligent interaction between the vehicle and the outside world.
  • the projection lamp may be a DLP (Digital Light Processing) projection headlamp installed at the front of the vehicle.
  • DLP Digital Light Processing
  • the external display screen may be an ISD (Interactive Signal Display) screen installed at the front and/or rear of the vehicle.
  • ISD Interactive Signal Display
  • two ISD display screens may be installed at the front and rear of a vehicle, respectively, that is, a vehicle may have four ISD display screens in total.
  • a display screen can also be installed in other places of the vehicle, such as the roof.
  • the present disclosure does not impose any limitation on the number of external display screens, that is, any reasonable number of external display screens is acceptable.
  • an intelligent interaction system 100 for a vehicle is provided, and the system may include an external control device 110 , as shown in FIG. 3 .
  • the external display control device 110 may be configured to receive external display control instructions, and based on the external display settings in the external display control instructions, control the light effect projection display and external display of the projection lamps installed outside the vehicle display of the screen.
  • the external display control device can be an external display module specially used to control the display of the projector lamp and the external display screen (for example, it can be included in the "external light system” or “external light module” of the vehicle), or it can be directly used, for example, to control the entire display.
  • An onboard controller for the operation and/or display of a vehicle (which may also be referred to as a "body domain") or a sub-controller included in such an onboard controller, also a user's capable of interconnecting with the vehicle (eg, via One or more processors of a smart device (such as a mobile terminal, computer, tablet computer, etc.) in a wireless manner such as Wifi, Bluetooth, or a wired manner through a communication interface.
  • the external display control device does not have to be located in the vehicle, but can also be located in any other suitable location.
  • the present disclosure should not be limited in this regard.
  • the external display control device 110 may include a projection lamp control device 111 and an external display screen control device 112, which may be used to control the light effect projection display of the projection lamp and control the display of the external display screen, respectively. That is to say, the control of the lighting effect projection display and the control of the display of the external display screen can be implemented by an overall external display control device 110, or by the separately established projection lamp control device 111 and the external display screen control device 112, respectively. implement. In the case where the projection lamp control device 111 and the external display screen control device 112 are independently established, the two are collectively referred to as "external display control device 110" herein.
  • the external display control device can not only control the independent display of the projection lamp and/or the external display screen, but also control the associated display of the projection lamp and the external display screen.
  • the projection lamp when the vehicle interacts with the outside world, not only can the projection lamp interact with the outside world alone, or the external display screen can interact with the outside world alone (including one external display screen interacting with the outside world alone or multiple external display screens with the outside world, respectively Separate interaction), it is also possible to cause the projector lamp to be displayed in association with one or more external display screens to interact with the outside world.
  • the projection lamp and one or more external display screens are displayed in association with each other, showing the cooperation with each other, and can present a more three-dimensional and impressive display effect to the outside world. As a result, the intelligent interaction between the vehicle and the outside world is more reflected.
  • the external display setting in the external display control instruction may include at least one of the following:
  • the function of controlling the associated display between them can also be achieved through the display parameters of the individual projection lamps and the display parameters of the external display screen, but through the special associated display parameters for the relative display of the projection lamp and the external display screen Their associated displays can be more easily determined and controlled. This will be exemplified later.
  • the display parameters may include at least one of the following:
  • Parameters related to display level and/or vehicle scene are Parameters related to display level and/or vehicle scene.
  • the "display order” here includes the display order between the projection lamp and the external display screen, as well as the display order between different external display screens.
  • Display mode includes such presentation modes as interval display, continuous display, up-down scrolling display, left-right scrolling display, etc. of the external display screen, as well as the beam shape of the projection lamp, beam projection mode (such as concentrated projection, diffused, direct illumination, etc.), Interval display or continuous display of lighting effects, etc.
  • Parameters related to display duration or display speed are used to specify the length of display time (for example, the desired presentation time is 10s) or the desired speed effect (for example, it is desired to play at twice the original speed to obtain fast rendering effect), or a combination of the two (e.g. want to render twice as fast in 10s).
  • the "parameters related to the display start time and/or the display end time” are used to specify the display start time and/or the display end time, and can include settings such as the following: start immediately, start after 20s, end after 30s, * *hours**minutes**seconds (a specific time) ends and so on. It should be noted here that the order between the lighting effect projection display and the display on the external display screen can also be controlled by, for example, setting different display start times and/or display end times.
  • the associated display of the projection lamp and the external display screen can display it by individually setting at least one of their respective display start time, display duration, display mode, etc. More convenient settings can be made in the associated display parameters to more effectively present the desired display effect. For example, if you want to make the projection lamp display 10s earlier than the display screen and end 5s later, if it is controlled separately, you need to set the display start time and display end time of the projection lamp and the display start time and display time of the corresponding external screen respectively. The end time, and if it is controlled by the associated display parameters, the associated display parameters can be directly set to "the projection lamp is displayed 10s earlier than the display screen and ends 5s later".
  • the lighting effect projection display and the display of the external display screen are used to express corresponding display themes, and each display theme belongs to a corresponding display level.
  • the display level may include at least an alert level, a reminder level, an indication level, and the like.
  • the display level is related to the scene in which the vehicle is located.
  • the warning level can be aimed at scenarios where the vehicle is in a dangerous or emergency situation, such as collision warning to be mentioned later, a pet suddenly running out of the road, and so on.
  • the reminder level can be used for scenarios that are not so dangerous but need to be reminded. For example, there are pedestrians within an acceptable distance ahead. At this time, the driver of the vehicle can be reminded to pay attention to pedestrians. In addition, if the pedestrian is too close to the vehicle beyond the acceptable distance (also referred to as the "relative safe distance"), the level of "Alert" is changed to a higher level of "Alert".
  • the "indication" level can be information provided for civilized driving, traffic conditions, weather conditions, emotional counseling or psychological care.
  • the display level may be determined according to the scene in which the vehicle is located.
  • the external display control device may control the projection lamp and the external display screen to preferentially display a display theme with a higher display level.
  • the display level can be specified through a corresponding display parameter in the external display settings (eg, as explained above, a display parameter named "display level" can be set up separately in the external display settings), or can be specified by
  • the external display control device judges the display level according to the scene corresponding to the instruction. That is, in the present disclosure, display parameters related to the "vehicle scene" may also be set in the external display control instructions, and the external display control device may also determine the display level through the display parameters.
  • the above-mentioned division of the display level is performed according to the scene where the vehicle is located (more specifically, according to the danger level), and the display level may also be divided in other ways.
  • the display levels may not be limited to three, but there may be more or less.
  • one purpose of dividing the display levels is to differentiate the display priorities, so as to preferentially display the content that needs more urgent display.
  • priority display may also be implemented according to other methods for differentiating display priorities.
  • the external display control device 110 may be further configured to receive display content corresponding to the scene where the vehicle is located from the audio and video domain of the vehicle.
  • the audio and video range of the vehicle can be connected to the external display control device.
  • the audio and video domain of the vehicle can be used to control the screens in the vehicle and provide multimedia material and display content. It can also be used to control the settings of the vehicle itself, such as the switches of related facilities on the vehicle, such as the switches to control ordinary lights, the switches of projector lamps, and the switches of external display screens.
  • the automatic driving domain 210 the vehicle body domain 220 , and the audio-visual domain 230 shown in FIG. 4 and the connection relationship among them are described here.
  • the autopilot domain is used to control the autopilot system of the vehicle and provide sensing of the surrounding environment of the vehicle.
  • radar, cameras, and other sensors can be used to detect road conditions, conditions of adjacent vehicles, and pedestrian conditions.
  • the autopilot domain 210 automatically detects that the vehicle is in danger or other scenarios that require alerts/reminders, it will transmit such signals to the body domain for providing the situations of danger or alerts/reminders.
  • the body domain can determine whether it is necessary to turn on the lighting effect projection display and the external display screen display, and if necessary, generate the external display control command and transmit it to the external display control device.
  • the automatic driving domain 210 itself can generate the explicit control command and send it to the body domain, and then the body domain directly forwards it to the explicit control device. Or, after receiving the external display control command sent by the automatic driving domain, the body domain determines whether it is necessary to turn on the lighting effect projection display and the external display screen display, and judges that if necessary, the external display control command is forwarded to the external display control device.
  • the body domain can be connected to external controls.
  • the audio and video domain 230 may not directly send the control or setting related instructions to the external display control device but forward it through the body domain, but the audio and video domain 230 may directly send the external display control device (for example, through Ethernet, or through other communications. mode) audio and video related content, for example, the lighting effect projection display and the display content (such as video, picture, text, sound and other information) required for the external display screen display.
  • the vehicle body domain can send the switch settings (such as conventional lighting commands, etc.) of the audio and video domain to the vehicle facilities to the corresponding control module, such as the above-mentioned external display control device, according to the above-described switch settings of the audio-visual domain.
  • the body domain can also forward the safety/warning and other related commands of the automatic driving domain to the corresponding control module.
  • the instructions or setting information can be forwarded to the display control device through the body domain, or the audio-visual domain or the automatic driving domain itself can send the instructions or setting information to the display control device without forwarding through the body domain. This is not limited.
  • the explicit control instructions may not be limited to being generated only by the body domain, but may be generated by related processing devices, control devices, etc. equipment or vehicle-mounted equipment (such as the central control equipment on the vehicle-mounted equipment), etc., or even generated by the external display control device itself.
  • the "generation of explicit control instructions" is basically described as being executed by the body domain. Therefore, those skilled in the art should understand that such extensive descriptions in various subsequent examples do not It means that explicit control commands can only be generated by the body domain, but can be generated by various devices as needed.
  • a gateway such as a central gateway (CGW) 240, may be used to connect the vehicle body domain 220, the automatic driving domain 210, and the audio-visual domain 230, as shown in FIG. 4 . They can also be connected by other means of communication. Alternatively, they can also be connected to each other through different communication methods.
  • CGW central gateway
  • the external control instruction may be received from a body domain of the vehicle, or from a central control device of the vehicle or a user's smart device.
  • the autonomous driving domain of the vehicle can identify the scene in which the vehicle is located through sensing devices (which may include radar or cameras, other sensors, etc.), and in response to the identified scene, automatically report to the body domain A signal corresponding to the scene is sent, and the body domain generates a corresponding external control instruction based on the signal and sends it to the external display control device.
  • sensing devices which may include radar or cameras, other sensors, etc.
  • the central control device of the vehicle or the user's smart device can also respond to the user's operation on the interactive interface, or can respond to the detection of the user's specific gesture (such as a long-term bowing gesture, a long-term closed eye gesture, etc., the user's specific action (such as frequent blinking, finger, etc.), or the user's specific voice command (such as "turn on the rear vehicle distance reminder", “turn on the pedestrian distance too close reminder", etc.), the central control device of the vehicle or the user's smart device generates an external control command and sent to the body domain of the vehicle, and the body domain forwards the external display control instruction to the external display control device.
  • the user's specific gesture such as a long-term bowing gesture, a long-term closed eye gesture, etc.
  • the user's specific action such as frequent blinking, finger, etc.
  • the user's specific voice command such as "turn on the rear vehicle distance reminder", "turn on the pedestrian distance too close reminder", etc.
  • the body domain can determine whether the lighting effect projection conditions and screen display conditions are satisfied, for example, it can be Consider the weather (the screen may not be displayed when it rains), and the time (such as the night is not suitable for some lighting effects or screen display) factors, etc. In short, the factors to be considered can be determined according to the actual situation and needs.
  • the external control device 110 may receive the external control command from the vehicle body domain.
  • the external display control device 110 may also receive external control instructions from the user's smart device or the vehicle's central control device.
  • the explicit control instructions generated by user operations on the interface (interactive interface).
  • the central control device here can be another control device, which can be different from the body domain.
  • the display of the projection lamp and the external display screen can be automatically triggered by the vehicle (specifically, the automatic driving system of the vehicle), or manually triggered by the user through an interactive interface such as a smart device or a central control device.
  • text such as various forms of text such as letters, symbols, characters, numbers, etc.
  • images such as various pictures, expressions, etc.
  • video dynamic pictures
  • the external display control device can control the projection lamp and the external display screen to display the display content corresponding to the scene where the vehicle is received from the audio-visual domain.
  • the lighting effect projection display and the display on the external display screen include synchronous display between the lighting effect projection display and the display on the external display screen, asynchronous display overlapping each other, asynchronous display not overlapping each other, and the like.
  • asynchronous display it can also be displayed overlapping each other (for example, before the lighting effect projection display has not ended, start the display of the external display screen, and vice versa), or it can be displayed without overlapping each other (for example, in the lighting effect After the projection is over, start the display of the external screen, and vice versa).
  • This kind of combined display can attract more attention and obtain stronger intelligent interaction effect, so as to pay more attention to safety and obtain stronger active safety under the reminder of the display; at the same time, it can also effectively enhance the sense of technology and ritual of the vehicle.
  • the sound effect device of the vehicle to generate a multi-dimensional stereo effect at the same time as the display, thereby making the sense of intelligent interaction stronger, thereby making the vehicle more active safety, technology, and ritual.
  • both the light effect projection display and the display on the external display screen can be used to provide at least one of the following specific display themes or any combination thereof: forward collision warning, rear collision warning, side collision warning, Lane Departure Warning, Lane Change Assist Warning, Front Pedestrian Reminder, Front Safety Reminder, Front Distance Reminder, Rear Safety Reminder, Rear Vehicle Distance Reminder, Left Side Distance Reminder, Left Side Safety Reminder, Right Side Distance Reminder, Right Side Safety Reminder, Front Traffic Light Reminder, Front Speed Monitoring Reminder, Front Photo Reminder, Own Vehicle Yield Reminder, High Beam Off Reminder, U-turn Reminder, Reversing Reminder, Parking Reminder, Brake Reminder, Driving Duration Reminder, Driving Status Reminder, Traffic Condition Indication, road condition indication, weather condition indication, mood adjustment indication, sidewalk lighting effect projection indication, like indication, pedestrian first indication, other abnormal situation reminders during vehicle use, early warning and/or other required information indications. While many examples of specific display subject matter are listed herein, those skilled in the art will appreciate that
  • the "forward collision warning” for example, if a camera or radar detects that a vehicle ahead is too close to the vehicle (for example, exceeding a first threshold distance), the "forward collision warning” can be automatically triggered in the automatic driving domain. Collision warning” function, generates relevant warning signals and sends them to the body domain. Based on the received warning signals, the body domain can automatically generate external control commands and send them to the external display control device.
  • the "forward collision warning" function can also be manually triggered by the user (eg, the driver) (eg, through the interface of the in-vehicle device in the vehicle or through the interface of the user's smart device), so as to pass the on-board device (eg, through the The central control device of the in-vehicle device) or the user's smart device generates the external display control command and sends it to the body domain of the vehicle, and the body domain forwards the external display control command to the external display control device.
  • the user eg, the driver
  • the on-board device eg, through the The central control device of the in-vehicle device
  • the user's smart device generates the external display control command and sends it to the body domain of the vehicle, and the body domain forwards the external display control command to the external display control device.
  • the external display control device controls the projection lamp to immediately display the relevant warning projection image (for example, the spotlight effect between the two vehicles) and/or text (for example, "" "Pay attention to collision avoidance") and other information, you can also change the display mode of the light during the display process (as described above, the parameters related to the display mode can be included in the external display settings) to more clearly warn the vehicle and the opposite vehicle and related traffic participants.
  • a corresponding warning display can also be performed on the external display screen at the front of the vehicle, such as a video or image showing "emergency braking” and/or the text "Do not approach!
  • the sound effect control can be used to warn in more ways, so that the interaction between the vehicle and the outside world is richer and the sense of interaction is more intelligent.
  • the "rear collision warning” for example, if a camera or radar detects that a vehicle behind is too close to the vehicle (for example, exceeding a second threshold distance), the "rear collision warning” can be automatically triggered in the automatic driving domain. Collision warning” function, generates relevant warning signals and sends them to the body domain. Based on the received warning signals, the body domain can automatically generate external control commands and send them to the external display control device.
  • the "rear collision warning” function can also be manually triggered by the user (eg, the driver) (for example, through the interactive interface of the in-vehicle device in the vehicle or through the interactive interface of the user's smart device) to generate corresponding external control instructions and Sent to external controls via the body domain.
  • the external display control device can display corresponding warnings on the external display screen at the rear of the vehicle based on the received external control instructions for "rear collision warning", such as displaying a video or image and/or display of "emergency braking" "Don't Approach! text, or a combination of these, to alert the following vehicles and related traffic participants in various ways.
  • the sound effect control can be used to warn in more ways, so that the interaction between the vehicle and the outside world is richer and the sense of interaction is more intelligent.
  • side collision warning for example, if a camera or radar detects that a vehicle on the side is too close to the vehicle (for example, exceeding a third threshold distance), it can be automatically triggered in the automatic driving domain.
  • the "Side Collision Warning” function generates relevant warning signals and sends them to the body domain. Based on the received warning signals, the body domain can automatically generate external control commands and send them to the external display control device.
  • the "side collision warning" function can also be manually triggered by the user (eg, the driver) (for example, through the interactive interface of the in-vehicle device in the vehicle or through the interactive interface of the user's smart device) to generate corresponding external control instructions And sent to the external control device via the body domain.
  • the external display control device may, based on the received external control command about "forward collision warning", control the projection lamp to immediately display the relevant warning projection image in an emergency (for example, to display a spotlight effect in the direction of the vehicle coming from the side) and/or Text (such as "Beware of Collision Avoidance") and other information, and the display mode of the lights can also be changed during the display process (as described above, the parameters related to the display mode can be included in the external display settings) to more clearly warn the vehicle and the The oncoming vehicle from the side and the relevant traffic participants.
  • a corresponding warning display can also be performed on the external display screen at the front of the vehicle, such as the text "Do not approach! Various methods are used to warn the oncoming vehicle and related traffic participants.
  • lane departure warning for example, a camera or radar detects that the vehicle has a deviation in the driving lane (such as an excessive deviation, that is, a slight deviation that is no longer acceptable). If it exceeds the fourth deviation threshold), the "Lane Departure Warning” function can be automatically triggered in the automatic driving domain, and relevant warning signals are generated and sent to the body domain. The body domain can automatically generate explicit control commands based on the received warning signals. , sent to the external display control device.
  • the "lane departure warning” function can also be manually triggered by a user (such as a driver) (for example, through the interactive interface of the in-vehicle device in the vehicle or through the interactive interface of the user's smart device), to generate corresponding external control instructions and Sent to external controls via the body domain.
  • a user such as a driver
  • the external control device controls the projection lights to immediately display the relevant warning projection images (such as lights on both sides of the lane) and/or text (“lane departure warning") in an emergency. ”) and other information, and the display mode of the light can also be changed during the display process (as described above, parameters related to the display mode can be included in the external display settings) to more clearly warn the vehicle and related traffic participants.
  • a corresponding warning display can also be performed on the external display screen, such as displaying a video or image such as "Lane Offset” or “Turn the steering wheel", or displaying the text "Lane Offset! Alert relevant traffic participants in various ways.
  • the sound effect control can be used to warn in more ways, so that the interaction between the vehicle and the outside world is richer and the sense of interaction is more intelligent.
  • the automatic detection of lane departure can be performed by a sensor to detect whether the lane deviates (belonging to "unintentional deviation") when the driver does not operate the steering wheel to move.
  • the deviation of the lane (which may belong to "intentional deviation") can also be detected. It can be as long as the vehicle has a certain lane deviation (more than a certain level, such as 20% lane deviation), a "lane deviation warning” is issued, or it can only be detected when an "unintentional deviation” is detected. ”, the “Lane Departure Warning” will be issued. Or, according to the different degrees of "unintentional deviation” or “intentional deviation", it is decided whether to issue "lane deviation warning”.
  • the automatic driving domain can similarly send a warning
  • the signal is sent to the body domain, and the body domain generates an external display control command according to the situation and sends it to the external display control device, and then the external display control device controls the lighting effect projection display and the display of the external display screen.
  • the display of "lane departure warning" is mainly provided for the driver.
  • the light effect projection display can be shown as lighting the lane lines on both sides of the lane, or making a straight line extending straight forward and sufficient Coarse light to attract the driver's attention. At this time, the display of the external display screen may not be performed.
  • the automatic driving system automatically starts the "change lane change”.
  • the body domain can automatically generate external control commands and send them to the external display control device.
  • a user such as a driver
  • can also manually trigger the "Lane Change Assist Warning” function for example, through the interactive interface of the in-vehicle device in the vehicle or through the interactive interface of the user's smart device) to generate corresponding external control commands And sent to the external control device via the body domain.
  • the external display control device controls the projection lamp to immediately display relevant warning projection images (such as lights directed to the correct lane change direction) or text and other information in an emergency.
  • relevant warning projection images such as lights directed to the correct lane change direction
  • the display mode of the light is changed (as described above, parameters related to the display mode may be included in the external display setting) to more clearly warn the vehicle and related traffic participants.
  • a corresponding warning display can also be performed on the external display screen, such as displaying a video or image related to a lane change or displaying the text of "lane change abnormality", or a combination of such, to alert relevant traffic participants in various ways.
  • the sound effect control can be used to warn in more ways, so that the interaction between the vehicle and the outside world is richer and the sense of interaction is more intelligent.
  • the corresponding display level may be different, for example, the display level of "front/rear/side collision warning” may be higher than that of "lane deviation warning”. If the "Collision Warning” function is activated or triggered when the theme of "Lane Departure Warning” is being displayed, the current “Lane Departure Warning” display can be stopped at this time, and the display of "Collision Warning” can be switched to the priority emergency. That is to say, the display level can be further subdivided according to the dangerous degree of the scene in which the vehicle is located.
  • the "reminder” type of scene is aimed at a lower display level than the "warning” type of scene, and is used to provide information prompts or reminders for vehicles, pedestrians, surrounding vehicles and other traffic participants.
  • the display subject of the "Alert” level can be displayed first.
  • the meaning of priority display includes: if both the display topics of the "reminder” level and the "warning" level need to be displayed, the display topic of the high level, that is, the display topic of the "warning” level, is displayed preferentially at this time.
  • priority display also includes: if a low-level display theme, such as a "reminder” level, is being displayed, and when a corresponding function of a high-level (such as "warning" level) is activated or triggered, it can be Emergency switching to a high-level display theme, that is, emergency switching to the "warning" level display theme to ensure driving safety.
  • a low-level display theme such as a "reminder” level
  • a high-level such as "warning” level
  • the display at the "illustration" level when all functions corresponding to a higher level need to be displayed, the display theme with a higher level is preferentially displayed.
  • the display at the "indicative" level can be urgently switched to display a display theme corresponding to the higher-level function.
  • the display levels may be further subdivided, so as to ensure that themes with high display levels are displayed preferentially and ensure driving safety.
  • the display when the display is switched, it may be fully switched or partially switched.
  • a low-level display theme is currently being displayed
  • a high-level display when a high-level display needs to be performed, for example, a projector lamp can be used to display the high-level display theme, and an external display screen can be used to display the currently displayed (low-level) display theme
  • it can also be reversed, for example, use the external display screen to switch to display the high-level display theme, and use the projection lamp to display the current low-level display theme.
  • the present disclosure does not specifically limit the specific switching manner.
  • a relevant reminder signal can be generated in the automatic driving domain and sent to the In the body domain, the body domain generates an external display control command based on the received reminder signal and sends it to the external display control device.
  • Lights are projected nearby (such as under the feet of pedestrians) to remind drivers and pedestrians (for example, corresponding reminder images or texts are presented through the projected lights), and prompts such as "pay attention to safety" or related safety reminders can be displayed on the external screen images or videos, etc.
  • this function can also be manually triggered by, for example, the driver of the own vehicle, and corresponding external control commands are generated and sent to the external display control device via the body domain, thereby controlling the projection lamps to project lights near pedestrians (for example, under the feet of pedestrians) as a reminder Pedestrians (for example, the corresponding reminder images or texts are presented through projected lights), and prompts such as "pay attention to safety" or images or videos related to safety reminders can be displayed on the external display screen.
  • the The automatic driving domain generates relevant reminder signals and sends them to the body domain.
  • the body domain generates external control commands based on the received reminder signals and sends them to the external display control device.
  • the external control command control the projector lamp to project light in front of the vehicle (for example, it can be between the vehicle and the vehicle in front) (for example, the corresponding reminder image or text is presented through the projected light) to remind, and it can be displayed outside the vehicle.
  • the display screen displays prompts such as "Attention to safety” and/or displays images, videos, etc. of safety reminders.
  • the function can also be manually triggered by, for example, the driver of the own vehicle, and corresponding external control commands are generated and sent to the external display control device via the body domain, thereby controlling the projection lamps and similar displays on the external display screen.
  • a relevant reminder signal can be generated in the automatic driving domain and sent to the body domain.
  • the received external control command about "Front Safety Reminder” controls the projector lamp to project the light in front of the vehicle to present the corresponding reminder image or text for reminder, and can display "Pay attention to safety” on the external display screen. prompts and/or display images, videos, etc. about safety reminders.
  • the function can also be manually triggered by, for example, the driver of the own vehicle, and corresponding external control commands are generated and sent to the external display control device via the body domain, thereby controlling the projection lamps and similar displays on the external display screen.
  • the "rear safety reminder” for example, during the driving process of the vehicle, if there is a need to remind the rear vehicle, pedestrian, or other traffic participants to pay attention to the safety scene, it can be automatically detected through automatic driving. domain triggers this function, and the generated external display control commands are forwarded to the external display control device via the body domain, or, for example, the driver of the vehicle can manually trigger this function to generate corresponding external display control commands and send them to the external display via the body domain.
  • Control means to display the text "Be Safe” or a safety-related image or video on an external display screen at the rear of the vehicle controlled by the external display control means.
  • the scenarios that require a rear safety reminder may include: the vehicle is about to stop or is in a parking state, the vehicle is decelerating or braking, the vehicle is about to change lanes or is changing lanes, the vehicle is about to turn or turn around, or Already making a turn or U-turn, etc.
  • the "rear vehicle distance reminder” is similar to the above-mentioned “rear safety reminder”.
  • the text "Pay attention to distance” or a safety-related image or video is displayed on the external screen.
  • the scene that requires the rear distance reminder is similar to the rear safety reminder, but the difference between the two is that the rear distance reminder is aimed at the vehicle behind, and the rear safety reminder can not only include the vehicle behind, but also Including pedestrians behind and other traffic participants.
  • Rear Safety Alert For example, if you are on a highway and there are only vehicles behind you, you can use "rear distance reminder", and if you are on a side road with many types of traffic participants (eg, pedestrians, bicycles, tricycles, cars, etc.) , you can use Rear Safety Alert.
  • traffic participants eg, pedestrians, bicycles, tricycles, cars, etc.
  • the projector can be projected in the left direction through the projection lamp. "Be Safe” or project an associated reminder image.
  • the “right side safety reminder” during the driving process of the vehicle, if there is a need to remind the right side vehicle, pedestrian or other traffic participants to pay attention to the safety scene, it can be projected in the right direction through the projection lamp. "Be Safe” or project an associated reminder image.
  • the projection lamp can Project the words "Pay attention to the distance” in the right direction or project the relevant reminder image.
  • the vehicle when the vehicle is driving, if, for example, a camera or radar detects or the map information indicates that there is a traffic light within a certain distance in front of the vehicle, it can be used in the automatic driving domain. Generate relevant reminder signals and send them to the body domain. Based on the received reminder signals, the body domain generates an external display control command and sends it to the external display control device. Control instructions, control the projection lights to project lights in front of the vehicle (for example, the corresponding reminder images or texts are presented through the projected lights) for reminders, and prompts such as "pay attention to traffic safety" can be displayed on the external display screen and/or Or display images, videos, and more about safety reminders.
  • a camera or radar detects or the map information indicates that there is a traffic light within a certain distance in front of the vehicle
  • the body domain Based on the received reminder signals, the body domain generates an external display control command and sends it to the external display control device.
  • Control instructions control the projection lights to project lights in front of the vehicle (for example, the
  • a relevant reminder can be generated in the automatic driving domain.
  • the signal is sent to the body domain, and the body domain generates an external display control command based on the received reminder signal and sends it to the external display control device. Control the projection light to project light in front of the vehicle (for example, present the reminder image or text related to "vehicle speed monitoring" through the projected light) for reminder.
  • a relevant reminder can be generated in the automatic driving domain.
  • the signal is sent to the body domain, and the body domain generates an external display control command based on the received reminder signal and sends it to the external display control device. Control the projection light to project light in front of the vehicle (for example, present a reminder image or text related to "there is a photo ahead" through the projected light) to remind.
  • the “yield vehicle reminder” function sends the relevant reminder signals to the body domain.
  • the external display control device can control the light effect projection display of the projection lamp based on the received external control command about the "yield vehicle reminder" (for example, the projection display "active parking” related to the front of the vehicle Image or text) to remind the driver of the vehicle to stop and give way, and can also control the display of the external display screen at the front of the vehicle to prompt the above-mentioned pedestrians or other traffic participants to "please continue to pass”.
  • the "close high beam reminder” for example, when the radar or camera of the vehicle detects that the high beams of other vehicles are turned on and affects the driving of the driver of the vehicle, automatic driving can be performed.
  • the domain activates the "close high beam reminder” function, and sends the relevant reminder signal to the body domain.
  • the body domain generates an external control command based on the received relevant reminder signal and sends it to the external display control device, or it can also be driven by, for example, the own vehicle.
  • the operator actively triggers this function through the interactive interface, and sends the generated external display control commands to the external display control device via the body domain, and the external display control device can control the corresponding external display screen (if the other vehicle is located in the opposite direction of the vehicle, For example, if the vehicle is driving in the opposite direction, use the display screen at the front of the vehicle to display it; if the other vehicle is behind the vehicle, use the display screen at the rear of the vehicle to display) to display "Please turn off the remote control.
  • the projection lamp can also control the projection lamp to be in a suitable position (for example, when the other vehicle belongs to the opposite vehicle, it is projected on the front; when the other vehicle is behind the vehicle, it is projected on the Rear; especially when other vehicles whose high beams need to be turned off are located on the side of the vehicle, drivers of other vehicles may not be able to see the display on the display screen of the vehicle.
  • the vehicle at this time, can be displayed by deflecting the projection of the projection lamps to the side) to project and display a sentence like "Please turn off the high beams" or display an image about the high beams being turned off.
  • the autopilot domain of the vehicle can activate the "close high beam reminder" function, and send the relevant reminder signal to the body domain. related reminder signals, generate external control instructions, and send them to the external display control device.
  • the external display control device can control the projector lamp to project and display a similar sentence of "please turn off the high beams of this vehicle” or display a message about the high beams being turned off. image, thereby reminding the driver of the vehicle to turn off the high beams, so as not to interfere with the normal traffic of other traffic participants and achieve civilized driving.
  • the display of the projector lamp and the external display screen can realize mutual cooperation (associated display) for different scenarios, thus To achieve the effect of making the interaction between the vehicle and the outside world more targeted and intelligent.
  • the "U-Turn Reminder” function is activated by the autonomous driving domain of the vehicle, and a relevant reminder signal is sent to the vehicle body.
  • the body domain generates external display control commands based on the relevant reminder signals received, and sends them to the external display control device.
  • the external display control device can control the projection lamp and the external display screen to project and display "please pay attention to safety, this car turns around" A similar sentence or display an image about the vehicle turning around, thereby reminding other traffic participants to pay attention to avoidance and achieve civilized driving.
  • the driver of the vehicle can also actively trigger this function through the interactive interface, generate the external display control command and forward it to the external display control device via the body domain, and the external display control device controls the projection lamp and the external display screen to project.
  • the "reversing reminder” function is activated by the automatic driving domain of the vehicle, and the relevant reminder signal is sent to the body.
  • the body domain generates an external display control command based on the relevant reminder signals received, and sends it to the external display control device.
  • the external display control device can control the projection lamp and the external display screen to project and display "please pay attention to safety, this car is reversing" A similar sentence or display an image about the vehicle reversing, thereby reminding other traffic participants to pay attention to avoidance and achieve civilized driving.
  • the driver of the vehicle can also actively trigger this function through the interactive interface, generate the external display control command and forward it to the external display control device via the body domain, and the external display control device controls the projection lamp and the external display screen to project.
  • the "parking reminder” function is activated by the automatic driving domain of the vehicle, and the relevant reminder signal is sent to the vehicle body.
  • the body domain generates an external display control command based on the relevant reminder signals received, and sends it to the external display control device.
  • the external display control device can control the projection lamp and the external display screen to project and display "please pay attention to safety, this car is parked" A similar sentence or display an image about the parking of the vehicle, thereby reminding other traffic participants to pay attention to avoidance and achieve civilized driving.
  • the driver of the vehicle can also actively trigger this function through the interactive interface, generate the external display control command and forward it to the external display control device via the body domain, and the external display control device controls the projection lamp and the external display screen to project.
  • the automatic driving domain Start the "Brake Reminder” function, and send the relevant reminder signals to the body domain. Based on the relevant reminder signals received, the body domain generates an external display control command and sends it to the external display control device.
  • the external display control device can control the projection lamp to display "" Please brake” or display images related to braking, thereby reminding the driver of the vehicle to pay attention to the brakes, and you can also control the external screen to display sentences or images such as “brake this vehicle, please pay attention to safety” to remind other traffic participants to pay attention Avoid and realize civilized driving.
  • the driver of the vehicle can also actively trigger this function through the interactive interface, generate the external display control command and forward it to the external display control device via the body domain, and the external display control device controls the projection lamp and the external display screen to perform similar operations. show.
  • the autopilot domain of the vehicle can activate the function after the driver of the vehicle has driven for a certain period of time, and send the relevant reminder signal to the body domain.
  • Relevant reminder signals received generate external control instructions, and send them to the external display control device.
  • the external display control device can control the projection lamp to display similar sentences such as "please pay attention to the driving time to prevent fatigue driving" or display related images. In this way, the driver of the vehicle is reminded, and the external screen can also be controlled to display sentences or images such as "please pay attention to traffic safety and prevent fatigue driving” to remind other vehicles and realize civilized driving.
  • the automatic driving domain of the vehicle can detect that the driver's driving state may be abnormal (such as the head-down state or the eye-closed state that exceeds a certain period of time, which is too frequent). After the state of blinking, etc.), start the function and send the relevant reminder signal to the body domain.
  • the body domain generates an external display control command based on the received relevant reminder signal and sends it to the external display control device. Control the projection lamp to display similar sentences like "please pay attention to your driving status" or display related images, thereby reminding the driver of the vehicle, and you can also control the external screen to display sentences or images such as "please pay attention to traffic safety and prevent fatigue driving". Remind other vehicles to achieve civilized driving.
  • the "pedestrian first indication” for example, during the driving process of the vehicle, if there is a pedestrian crossing the road ahead, it can actively stop, wait for the pedestrian to cross the road, and use the external control
  • the device is used to control the projection lights and the display of the external display screen to indicate that pedestrians have priority to pass.
  • the process may be as follows: when a pedestrian crossing the road in front of the vehicle is detected by radar or a camera (this is one of the scenarios where the vehicle is located), the user (for example, the driver of the vehicle) can actively park the vehicle, Yield Here To Peds.
  • the user can manually trigger or enable the "Pedestrian First Indication” function (for example, through the interactive interface of the in-vehicle device on the vehicle) Or triggered or turned on by the user's smart device, this function corresponds to the display theme of "Pedestrian First Indication") to notify the external control device to control the projector to project a dynamic zebra crossing on the road passing by the pedestrian, and also control the front of the vehicle at the same time.
  • the external display screen of the upper part displays a reminder image (for example, an image similar to that of a pedestrian walking fast).
  • the projection display and the display of the external display screen are only examples. As mentioned above, they can be displayed according to different display modes, display sequences, display durations, etc., which will not be repeated here.
  • the display of the projection lamp and the display of the external display screen can be displayed in priority based on the display level of the display theme. Therefore, if the vehicle detects that there is a vehicle approaching in front/rear/side during the pedestrian crossing the road, the Pedestrian look-ahead function can be stopped immediately, but switched to display the display theme of "Front/Rear/Side Distance Reminder", for example, the display at this time can be a text such as "Pay attention to vehicle distance" projected through the projector lamp and/or related images, and similar reminders can also be displayed on the corresponding external screen.
  • the display of the projection light can also be switched to project a reminder of "pay attention to the distance between vehicles" under the pedestrian's feet according to the current scene.
  • a display correspondence table can be established in advance, and the table is used to establish the mapping relationship among the scene where the vehicle is located, the display theme, and the display content, so as to be used in various scenarios (including In various complex scenarios), the display theme and display content of the projection lamp and the external display screen can be quickly determined by looking up this table by, for example, the audio-visual domain, the automatic driving domain, the external display control device, the intelligent device, the central control device, etc. .
  • the above-mentioned display correspondence table can be stored in the audio-visual domain, automatic driving domain, external display control device, smart device, central control device, etc., or in the memory on the vehicle-mounted device, or in the server or cloud.
  • the information in this table can be read by accessing the server or cloud when needed. You can also perform operations such as adding, modifying, and deleting information in the table.
  • "traffic situation indication” when the vehicle is driving, for example, in the absence of other indication topics that need to be displayed, such as warnings, reminders, or higher display levels, automatic driving can be performed.
  • the domain actively provides traffic conditions.
  • the automatic driving domain can actively activate the "traffic situation indication" function, and the body domain generates the corresponding external control commands and sends them to the external display control device, and the external display control device is based on the received external display control commands.
  • control the display of the projection lamp and the external display screen for example, the projection lamp displays red or green or yellow to represent whether the traffic condition within a certain distance ahead is "congested", “clear” or “not so smooth", or through the projection images to present a similar schematic effect, and similar displays are made through external display screens at the front and/or rear of the vehicle. Similar signaling functions can also be triggered manually by the driver, which will not be repeated here.
  • road condition indication when the vehicle is driving, it can be based on radar or radar when there is no other indication subject that needs to be displayed, such as warnings, reminders, or higher display levels.
  • the detection results of the camera, or based on the map information actively provide road conditions (for example, road conditions such as muddy, flat, wide, narrow, etc.) via the autonomous driving domain.
  • the autonomous driving domain can actively activate the "road condition indication” function, the body domain generates corresponding external display control instructions and sends them to the external display control device, and the external display control device controls the display of the projection lamp and the external display screen based on the received external display control instructions. Similar signaling functions can also be triggered manually by the driver, which will not be repeated here.
  • weather condition indication for example, when the vehicle is driving, it can be based on radar or a The detection results of the camera, or based on the map information, actively provide weather condition reports (for example, cold, hot, or specific temperature, etc.) through the autonomous driving domain.
  • the domain generates corresponding external display control instructions and sends them to the external display control device, and the external display control device controls the display of the projection lamp and the external display screen based on the received external display control instructions. Similar signaling functions can also be triggered manually by the driver, which will not be repeated here.
  • the autopilot domain actively provides the projection display and/or the external display screen display related to the emotion regulation indication.
  • the autopilot domain can actively activate the "emotion regulation indication” function, and the body domain generates the corresponding external display control instructions and sends them to the external display control device.
  • the external display control device controls the display of the projection lamp and the external display screen based on the received external display control instructions, for example, displaying words or images such as "good mood every day", smiley expressions, and the like.
  • the projection lamp and the external display screen can of course present different display contents, which can be set through the above-mentioned display correspondence table, or through the interactive interface.
  • the lighting effect projection can be lit for pedestrians when parking and waiting for pedestrians to pass, for example, it is displayed as a zebra crossing paved with projected lights to help pedestrians pass safely, and can be displayed on the front of the vehicle. Images of pedestrians walking fast or the words "Be Safe” are displayed on the display screen.
  • each display theme can have its own display level.
  • the display theme to be presented can be determined according to the display levels of different display themes.
  • the external display control device may control the display theme to switch, ie, stop the current display, so as to preferentially display the display theme of the high display level.
  • the present disclosure provides an intelligent interactive control method for a vehicle, the method may include:
  • Step S100 receiving an explicit control instruction corresponding to the scene where the vehicle is located
  • Step S200 based on the external display setting in the external display control instruction, control the light effect projection display of the projection lamp installed outside the vehicle and the display of the external display screen.
  • the method may further include:
  • Display content corresponding to the scene in which the vehicle is located is received, and the display content is in the form of text, image, video, or a combination thereof.
  • the display control device may control the projection lamp and the external display screen to display the received display content corresponding to the scene where the vehicle is located.
  • the lighting effect projection display and the display of the external display screen include synchronous display between the lighting effect projection display and the display of the external display screen, asynchronous display overlapping each other, and asynchronous display not overlapping each other, such as as described above.
  • the method may further include:
  • Step S300 the sound effect device of the vehicle is controlled to generate sound effects, so that together with the lighting effect projection display and the display of the external display screen, a stereo response effect for the scene where the vehicle is located is presented.
  • a sound effect device of a vehicle is controlled to generate sound effects, so as to present a stereoscopic response effect for the scene where the vehicle is located together with the lighting effect projection display and the display of the external display screen, and the external display control instructions include: An ordered set of display instructions, each of which may correspond to at least one of said particular display topics.
  • These display instructions can also be generated by the body domain itself, or received by the body domain from the automatic driving domain or the audio-visual domain. Since different scenes in which the vehicle is located correspond to different display themes, different display instructions are determined accordingly. For example, if the detection device (camera or radar, etc.) of the vehicle detects that the distance between the vehicle and the pedestrian is too close, the display subject can be determined to be, for example, "Pedestrian Reminder Ahead", so that the automatic driving domain can generate a display instruction about "Pedestrian Reminder Ahead” , and can send it to the body domain. The body domain judges that the light effect projection display and the external display screen display can be turned on, and then forwards the display instruction to the external display control device.
  • the detection device camera or radar, etc.
  • the external display control device can control the projection lamp and the external display screen to display corresponding content based on the received display instruction.
  • the display content can be actively requested or passively received from the audio and video domain, or stored in the vehicle body. In the domain or the external display storage device, the present invention does not make any limitation to this.
  • the light effect projection display for the light effect projection display, it can project lights at the position of pedestrians (for example, under the feet) to attract the attention of vehicle drivers and pedestrians, or it can be displayed on at least one external display screen at the front of the vehicle A text reminder of "please pay attention to safety", or an animation about "pay attention to safety” can be played on the external display screen, so that pedestrians can greatly improve their safety awareness and take evasive measures quickly, thus achieving a stronger relationship between the vehicle and the outside world. It can greatly improve the safety of vehicle driving, greatly enhance the sense of technology and ritual of the vehicle, and greatly improve the user experience.
  • a database of display themes can be set up for users to choose and use according to their preferences or situations. This makes the display effect richer and more vivid.
  • the display subject database can be modified, deleted, added, updated, maintained, etc. Such operations can be performed through, for example, the user's smart device, central control device, or the interactive interface of the vehicle-mounted system, which is not limited in the present invention.
  • the display subject database can be stored in the audio-visual domain, or in the vehicle body domain, and can also be directly stored in the external display control device if the storage capacity of the external display control device is large enough.
  • the external display control device in response to receiving an external display control instruction related to an early warning, controls the projection lamp to project and display a corresponding early warning image and controls the external display screen to simultaneously display a corresponding safety reminder image.
  • the external display control device in response to receiving an external display control instruction related to a reminder, controls the projection lamp to project and display a corresponding reminder image and controls the external display screen to simultaneously display a corresponding safety reminder image.
  • the shown external display control device in response to receiving a schematic-related external display control instruction, controls the projection lamp and the external display screen to display respective corresponding schematic images.
  • step S101 in response to a scene with a collision risk within a specific distance range, the external display control device receives a display instruction related to the collision risk and a display instruction for a safety reminder.
  • step S102 based on the received display instruction, the external display control device respectively controls the projection lamps to project and display the image related to the collision risk, and controls the external display screen to simultaneously display the image related to the safety reminder.
  • collision risk scenario includes a “front/rear/side” collision risk scenario, which may correspond to the above-mentioned display theme of "front/rear/side collision reminder".
  • step S201 in response to a scene in which there is a pedestrian ahead within a certain distance range (for example, within 300m), the external display control device receives a display instruction for reminding the pedestrian ahead and a display instruction for the pedestrian ahead. Display instructions for rear safety reminders.
  • step S202 based on the received display instruction, the external display control device respectively controls the projection lamps to project and display an image of the reminder of the pedestrian ahead, and controls the external display screen located at the rear of the vehicle among the external display screens to display the same as the projection display. Simultaneously, images of rear safety reminders are displayed.
  • the display reminder is given to the pedestrian in front of the vehicle, but also the reminder to pay attention to safety is given to the vehicle behind.
  • Such an associated display or combined display that is, a display that cooperates with each other, can enable a strong sense of intelligent interaction between the vehicle and the outside world.
  • step S301 in response to a scene where the vehicle needs to stop to avoid pedestrians, the external display control device receives a display instruction for reminding the vehicle to give way, and a reminder for pedestrians ahead. Display instructions for the rear and display instructions for rear safety reminders.
  • step S302 based on the received display instruction, the external display control device respectively controls the projection lamps to project and display the image of the reminder of the vehicle to give way, the image of the reminder of the pedestrian ahead, and to control the vehicle located in the external display screen.
  • a rear display screen to display images of rear safety reminders.
  • a zebra crossing when projecting an image that reminds the vehicle to give way, for example, a zebra crossing can be projected under the pedestrian's feet with the light of the projection lamp, thereby treating the pedestrian with courtesy and realizing a more civilized driving.
  • This example provides a richer interactive experience than the previous example, and gains more advantages in the safety of vehicles and pedestrians, the experience of the driver of the vehicle and related vehicles, and pedestrians.
  • step S303 in the display execution process, in response to receiving a new display instruction, the external display control device determines the display included in the new display instruction Whether the level is higher than the display level of each currently displayed reminder, if yes, switch the currently displayed image of the corresponding reminder to the image corresponding to the new display instruction.
  • the external display control device controls to switch the current display to the corresponding relevant vehicle distance
  • the display of reminders for example, displays the display subject of the corresponding front/rear/side distance reminders.
  • the present disclosure provides a vehicle 10 that may include one of the above-mentioned intelligent interactive control systems.
  • the present disclosure provides a machine-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements one of the above-mentioned intelligent interactive control methods.
  • the intelligent interaction between the vehicle and the outside world is mainly considered.
  • the vehicle can save all the configuration information of the user in the cloud (eg, server) according to the user's preference.
  • the cloud e.g, server
  • information including every interaction between the vehicle and the outside world will also be recorded, and artificial intelligence algorithms can be used to learn, follow up, and train an optimized processing model to achieve more intelligent interaction.
  • An embodiment of the present application provides a vehicle lamp control method, as shown in FIG. 11 , the method includes:
  • Step S1101 when the chassis of the vehicle is not parallel to the driving surface, determine the vertical projection angle of the exterior lights of the vehicle according to the driving posture of the vehicle or the condition of the driving surface;
  • Step S1102 according to the vertical projection angle, trigger the exterior lights to project an indication image matching the width of the vehicle on the driving surface.
  • a number of external lights such as conventional lights, projection lights, and interactive signal display (ISD) lights, are arranged on the periphery of the vehicle body. Exterior lights can project an indication image on the driving surface that matches the width of the vehicle, enabling driving area prediction.
  • the “driving surface” can be understood as the medium that carries the vehicle during the driving process of the vehicle, such as road surface, bridge, etc.
  • “driving” may include a state of being running, that is, the vehicle is moving; and may also include a state of parking, that is, a state of the vehicle being stationary.
  • the indicator image includes two indicator rays, which respectively indicate the left edge and the right edge of the vehicle.
  • the indicator image can also be called a light carpet.
  • the indicator image may be projected on the driver's surface by projection lights as projection data.
  • Projection lamps can be set at the front of the vehicle body to project pictures, videos, etc., and can also be used as conventional lights of vehicles, such as low beam and high beam.
  • Projection lamps can use digital light (Digital Light Processing, DLP) lamps.
  • the DLP light controller is connected to the exterior light module through the CAN bus to receive the vehicle light master control command from the exterior light module.
  • the DLP light controller is connected to the external light module through Low-Voltage Differential Signaling (LVDS) to receive projection data such as video or pictures from the external light module.
  • LVDS Low-Voltage Differential Signaling
  • the vertical projection angle may be the angle between the light projected by the outer lamp and the chassis of the vehicle.
  • A is the light emitted by the outer lamp on one side, and the vertical projection angle is ⁇ .
  • the vertical projection angle is 0, that is, it is not necessary to set the vertical projection angle when the exterior lights are projected.
  • the chassis of the vehicle when the chassis of the vehicle is not parallel to the driving surface, the chassis of the vehicle usually has a certain inclination angle (the inclination angle of the chassis relative to the driving surface). As shown in FIG. 14 , if it is necessary to ensure that the light A projected by the exterior lights is parallel to the driving surface S2 , the vertical projection angle ⁇ needs to be determined, and the exterior lights are triggered to project the indication image at the vertical projection angle ⁇ .
  • the vertical projection angle can be determined according to the driving posture or driving surface conditions of the vehicle.
  • the driving posture may be the relative positional relationship between the chassis and the driving surface during the driving of the vehicle, for example, the inclination angle (tilt angle) of the chassis relative to the driving surface.
  • the condition of the driving surface is the flatness of the driving surface relative to the reference plane (such as the horizontal plane S0), which can also be called the slope.
  • step S1101 includes:
  • Step S1501 determining the inclination of the chassis relative to the driving surface according to the suspension information of the vehicle;
  • Step S1502 Determine the vertical projection angle according to the inclination angle.
  • Suspension information may include the suspension height of one or more suspensions and the distance between the front and rear suspensions.
  • the suspension height may be the distance between the chassis and the contact portion of the wheel and the driving surface, such as the left front suspension height, the right front suspension height, the left front suspension height and the right front suspension height.
  • the specific definition method is not limited in the embodiment of the present application, as long as it is ensured that the four wheels are of a uniform standard.
  • the suspension height may be obtained based on a suspension height sensor mounted on the vehicle.
  • the driving surface S2 is a slope, and its gradient is ⁇ .
  • the inclination angle of chassis S1 relative to the driving surface S2 is ⁇
  • the vertical projection angle is ⁇ . Since the vertical projection angle is the angle between the ray A and the chassis S1, and the ray A is parallel to the driving surface S2, the vertical projection angle ⁇ is equal to the relative angle of the chassis S1.
  • the tilt angle can be calculated from the left front suspension height H_FL, the left rear suspension height H_RL, and the distance L0 between the front and rear suspensions (the distance between B1 and B2). ⁇ . Thereby, the vertical projection angle ⁇ can be obtained.
  • step S1101 includes:
  • Step S1601 determine the slope of the driving surface
  • Step S1602 determining a target angle range from a plurality of preset angle ranges according to the gradient
  • Step S1603 taking the preset angle corresponding to the target angle range as the vertical projection angle.
  • the slope of the driving surface can be obtained based on satellite map signals.
  • the vehicle can communicate with the cloud or roadside equipment to send the position of the vehicle, and then obtain the driving surface information returned by the cloud or roadside equipment.
  • the slope of the driving surface may be included.
  • the gradient of the driving surface can also be obtained according to the detection information of the driving surface by the sensors on the vehicle.
  • the gradient may also be determined based on the driving state of the vehicle, such as wheel speed, heading rate, steering angle, and suspension information.
  • the signal Ax_sensor measured by the body longitudinal acceleration sensor includes the component g*sin(a) of the gravitational acceleration along the slope, while the acceleration Ax_cal obtained from the vehicle speed does not include this information, so it can be used The difference between the two is used to estimate the longitudinal slope.
  • the left front wheel longitudinal wheel speed VX_FL_CAL, the left front wheel speed Vx_FL, the heading angle rate Yaw, the front wheel steering angle Ang, the distance L1 from the front axle to the center of mass, the distance L2 from the rear axle to the center of mass, and the track Track Satisfy the following relationship:
  • VX_FL_CAL ⁇ Vx_FL+[(L1+L2)*Yaw*sin(Ang)] ⁇ /cos(Ang)+Yaw*Track/2
  • Vehicle's right front wheel longitudinal speed VX_FR_CAL, right front wheel speed Vx_FR, heading angle rate Yaw, the steering angle Ang of the front wheel, the distance L1 from the front axle to the center of mass, the distance L2 from the rear axle to the center of mass, and the track Track satisfy the following relationships:
  • VX_FR_CAL ⁇ Vx_FR-[(L1+L2)*Yaw*sin(Ang)] ⁇ /cos ⁇ Ang ⁇ -Yaw*Track/2
  • the vehicle's left rear longitudinal wheel speed VX_RL_CAL, left rear wheel speed Vx_RL, heading angle rate Yaw and track Track satisfy the following relationship:
  • VX_RL_CAL Vx_RL+Yaw*Track/2;
  • VX_RR_CAL Vx_RR-Yaw*Track/2.
  • the wheel speed of the four wheels of the vehicle can be obtained, and then the longitudinal speed of the vehicle can be calculated by the wheel speed, and then the actual longitudinal acceleration Ax_cal of the vehicle can be calculated according to the longitudinal speed of the vehicle.
  • H_DIFF (H_RR+H_RL)/2–(H_FL+H_FR)/2;
  • H_RR, H_RL, H_FL, H_FR are the suspension heights of the right rear wheel, the left rear wheel, the left front wheel, and the right front wheel, respectively.
  • the front-to-rear height difference/the front-to-rear distance of the suspension can be obtained as sin(sus_ang), and sus_ang is the inclination angle of the suspension system.
  • the slope is arcsin((ax_sensor–ax_cal)/g)–sus_ang, where ax_sensor is the acceleration value of the on-board acceleration sensor, and g is the gravitational acceleration.
  • multiple angular ranges may be preset, and each angular range corresponds to a preset angle, that is, a vertical projection angle. Therefore, after determining the slope of the driving surface, the corresponding target angle range can be found from the preset multiple angle ranges, and then the preset angle corresponding to the target angle range can be determined, that is, the vertical projection angle corresponding to the current slope can be obtained. .
  • the slope determined according to the wheel speed, heading angle rate, steering angle, and suspension information of the vehicle that is, arcsin((ax_sensor–ax_cal)/g)–sus_ang, can be used as the difference between the driving surface and the reference surface. Initial tilt angle.
  • the vehicle speed signal is estimated according to the wheel speed, when the wheel has a large slip rate
  • the vehicle speed signal cannot reflect the actual vehicle speed
  • the wheel speed contains lateral components and cannot accurately reflect the longitudinal acceleration
  • body jitter and severe acceleration fluctuations will also affect the slope estimation: such as driving on uneven roads, sudden acceleration and sudden braking Wait.
  • step S1601 may include: determining the initial inclination angle of the driving surface relative to the reference surface according to the wheel speed, heading angle rate, steering angle and suspension information of the vehicle; when the vehicle is in an acceleration condition, The acceleration level of the vehicle is determined; the corresponding first filter parameter is determined according to the acceleration level; the initial inclination angle is corrected by using the first filter parameter to obtain the gradient.
  • the acceleration severity level that is, the acceleration level
  • the acceleration level can be determined according to the acceleration gradient, the driving torque, and the acceleration.
  • acceleration level W1 L_TOR+L_D_AX*L_AX.
  • the acceleration gradient the time derivative of the acceleration obtained by the vehicle sensor-the time derivative of the actual longitudinal acceleration Ax_cal obtained by the above calculation.
  • the corresponding first filtering parameter is determined according to the acceleration level.
  • the initial tilt angle may be filtered using a first-order recursive discrete filter, and at different acceleration levels W1, different first filtering parameters a are used. For example, the larger the acceleration level W1, the larger the first filter parameter a.
  • the first filtering parameter a is used to correct the initial inclination angle to obtain the gradient.
  • Y1n is the output value of the slope
  • X1n is the initial slope angle
  • Y1n-1 is the output value of the slope calculated by sampling at the last moment
  • the cut-off frequency is a/2*pi*T
  • T is the sampling time interval.
  • the reduction effect on the initial tilt angle can be adjusted, thereby reducing the error.
  • step S1601 may include: determining the initial inclination angle of the driving surface relative to the reference surface according to the wheel speed, heading angle rate, steering angle and suspension information of the vehicle; when the vehicle is in a deceleration condition , determine the deceleration level of the vehicle; determine the corresponding second filter parameter according to the deceleration level; use the second filter parameter to correct the initial inclination angle to obtain the gradient.
  • the severity of the deceleration can be classified according to the master cylinder pressure (including the pressure value equivalent to the recovered torque during energy recovery), the deceleration, and the gradient of the deceleration, that is, the deceleration level.
  • the first weighting factor A can be determined based on the driver's action: the brake master cylinder pressure is divided into four grades, and the driving torque gradient is divided into four grades, as shown in the following table:
  • the second weighting factor D can be determined based on the deceleration of the vehicle: the deceleration of the vehicle is divided into four grades, and the numbers D representing the grades are 0, 3, 5, and 8, and can also be represented by other numbers, as shown in the following table Show:
  • the third weighting factor G can be determined based on the vehicle deceleration gradient: it is divided into four grades according to the vehicle deceleration gradient, and the number G representing the grade is 1, 2.35, 2.4, 2.5, and can also be represented by other numbers, as follows The table shows:
  • the deceleration level weight Y ⁇ 5.4 when the deceleration level weight Y ⁇ 5.4, the deceleration level is one; when 5.4 ⁇ Y ⁇ 7.2, the deceleration level is two; when 7.2 ⁇ Y ⁇ 10.4, the deceleration level is three level; when 10.4 ⁇ Y, the deceleration level is level 4.
  • the corresponding second filtering parameter is determined according to the deceleration level.
  • the initial tilt angle may be filtered using a first-order recursive discrete filter, and at different deceleration levels W2, different second filtering parameters b are used.
  • the second filtering parameter b is used to correct the initial inclination angle to obtain the gradient.
  • Y2n is the output value of the slope
  • X2n is the initial slope angle
  • Y2n-1 is the output value of the slope calculated by sampling at the last moment
  • the cut-off frequency is b/2*pi*T
  • T is the sampling time interval.
  • the reduction effect on the initial tilt angle can be adjusted, thereby reducing the error.
  • filtering at the series level may be performed, that is, filtering twice; or a comprehensive level may be determined according to the acceleration level and the steering level, and then based on the comprehensive level One-shot filtering is performed.
  • filtering at the series level may be performed, that is, filtering twice; or a comprehensive level may be determined according to the deceleration level and the steering level, and then based on the comprehensive level One-shot filtering is performed.
  • the method implemented in the present application may further include:
  • Step S1801 Determine the horizontal projection angle of the exterior lights according to the electric power steering angle value of the vehicle and the steering wheel angle value;
  • Step S1802 triggering the external light to project the instruction image at a horizontal projection angle.
  • the electric power steering angle value (EPS value for short) as the horizontal projection angle.
  • the internal corner signal of the EPS is valid and only one of the corner signals of the SAS is valid, the corner value of the valid signal is selected as the horizontal projection angle.
  • the internal corner signal of EPS is valid and the corner signal of SAS is invalid, the horizontal projection angle is 0.
  • the horizontal projection angle is determined according to the steering angle value of the vehicle, and the indication image is projected at the horizontal projection angle, so that the indication image can be moved with the steering of the vehicle (as shown in Figure 19), thus providing the driver with driving directions. Trajectory prediction and auxiliary judgment of passability.
  • triggering conditions can be set for the projection of the indication image, for example, when the lighting conditions and/or vehicle speed conditions meet preset conditions, the exterior lights are triggered to project an indication image matching the width of the vehicle on the driving surface.
  • step S1101 it may include: in the case that the light condition and/or the vehicle speed condition satisfy the preset condition, detecting whether the chassis is parallel to the driving surface.
  • step S1801 it may further include: in the case that the light condition and/or the vehicle speed condition satisfy the preset condition, detecting whether the vehicle turns.
  • the exterior light module of the vehicle is triggered to project an indicator line on the road with the same width as the vehicle.
  • the distance between the roads may be poorly grasped, and there are other unknowns, which can trigger the driving area prediction function, that is, the exterior lights (DLP lights) can project Indicative image of equal body width.
  • the exterior lights DLP lights
  • it can play a role in lighting, and on the other hand, it can be used as a part-time marking guide to provide the driver with auxiliary judgment of driving trajectory and passability. It can be actively opened by the driver at low speed, thereby improving driving safety and avoiding vehicle scratching.
  • the user can manually activate (trigger) the driving area prediction (indicating image) in the following scenarios: When the vehicle is driving at a low speed and the driver is not sure about the lane width, the driving area prediction function can be manually turned on.
  • the enable switch signal is triggered, and the audio and video domain controller (IDCM) sends the information to the vehicle body domain controller (IDCM) through the central gateway.
  • IDCM vehicle body domain controller
  • BDCM sends the driving area prediction function enable switch signal
  • the BDCM sends the driving area prediction function enable switch signal, the light button AUTO signal, the ignition switch ON signal, the low beam start signal and the vehicle speed signal to the external light module, and forwards them to the DLP light.
  • the controller, the DLP lamp controller inputs the control signal into the driving module of the DLP lamp, and then drives the DLP lamp to display an indication image in front of the own vehicle when the driving area prediction function is activated.
  • the embodiment of the present application also provides a vehicle lamp control device, as shown in FIG. 21 , the device includes:
  • the vertical projection angle determination module 2101 is used to determine the vertical projection angle of the exterior lights of the vehicle according to the driving posture of the vehicle or the condition of the driving surface when the chassis of the vehicle is not parallel to the driving surface;
  • the first indication image projection module 2102 is used for triggering the exterior lights to project an indication image matching the width of the vehicle on the driving surface at a vertical projection angle.
  • the vertical projection angle determination module 2101 includes:
  • the inclination angle determination sub-module is used to determine the inclination angle of the chassis relative to the driving surface according to the suspension information of the vehicle, the suspension information includes the suspension height of one or more suspensions and the distance between the front and rear suspensions;
  • the first vertical projection angle determination submodule is used for determining the vertical projection angle according to the inclination angle.
  • the vertical projection angle determination module 2101 includes:
  • the gradient determination sub-module is used to determine the gradient of the driving surface
  • the target angle range determination submodule is used to determine the target angle range from the preset multiple angle ranges according to the slope;
  • the second vertical projection angle determination sub-module is used for taking the preset angle corresponding to the target angle range as the vertical projection angle.
  • the gradient determination sub-module is used to: determine the initial inclination angle of the driving surface relative to the reference surface according to the wheel speed, heading angle rate, steering angle and suspension information of the vehicle; when the vehicle is in an acceleration condition Next, the acceleration level of the vehicle is determined; the corresponding first filter parameter is determined according to the acceleration level; the initial inclination angle is corrected by using the first filter parameter to obtain the gradient.
  • the gradient determination sub-module is used to: determine the acceleration gradient weight, the driving torque weight and the acceleration weight respectively according to the acceleration gradient, the driving torque and the acceleration of the vehicle; determine the acceleration gradient weight, the driving torque weight and the acceleration weight according to the acceleration gradient weight, the driving torque weight and the acceleration weight Acceleration level.
  • the gradient determination sub-module is used to: determine the initial inclination angle of the driving surface relative to the reference surface according to the wheel speed, heading angle rate, steering angle and suspension information of the vehicle; when the vehicle is in a deceleration condition Next, determine the deceleration level of the vehicle; determine the corresponding second filter parameter according to the deceleration level; use the second filter parameter to correct the initial inclination angle to obtain the gradient.
  • the gradient determination sub-module is used to: determine the first weighting factor according to the brake master cylinder pressure and the driving torque gradient of the vehicle; determine the second weighting factor according to the deceleration of the vehicle; and determine the second weighting factor according to the deceleration gradient of the vehicle Determine the third weighting factor; determine the deceleration level weight according to the first weighting factor, the second weighting factor and the third weighting factor; determine the deceleration level according to the deceleration level weight.
  • the gradient determination sub-module is used to: determine the initial inclination angle of the driving surface relative to the reference surface according to the wheel speed, heading angle rate, steering angle and suspension information of the vehicle; when the vehicle is in a steering condition Next, the steering level of the vehicle is determined; the corresponding third filtering parameter is determined according to the steering level; the initial inclination angle is corrected by using the third filtering parameter to obtain the gradient.
  • the gradient determination sub-module is used to: determine the lateral acceleration gradient weight according to the lateral acceleration gradient of the vehicle; determine the lateral acceleration weight according to the lateral acceleration obtained by the sensor of the vehicle; determine the heading angle according to the heading angle rate Velocity weighting; the steering level is determined according to the lateral acceleration gradient weight, the lateral acceleration weight and the heading angle rate weight.
  • the apparatus further includes:
  • the horizontal projection angle determination module is used to determine the horizontal projection angle of the exterior lights according to the electric power steering angle value of the vehicle and the steering wheel angle value;
  • the second indication image projection module is used for triggering the outer light to project the indication image at a horizontal projection angle.
  • the apparatus further includes:
  • the parallel detection module is used to detect whether the chassis is parallel to the driving surface when the light conditions and/or vehicle speed conditions meet the preset conditions.
  • Embodiments of the present application further provide a vehicle, including the vehicle lamp control device of any one of the above embodiments.
  • the vehicle lamp control method includes: when the light condition and/or the vehicle speed condition meets the preset condition, triggering the exterior lamp module of the vehicle to project on the road an indication line (also called the width of the vehicle) that matches the width of the vehicle. It can be called a light carpet, as shown in Figure 12), so as to realize the driving area prediction (driving area prediction) function.
  • the exterior light module of the vehicle is triggered to project an indicator line on the road with the same width as the vehicle.
  • the distance between the roads may be poorly grasped, and there are other unknowns, which can trigger the driving area prediction function, that is, the exterior lights (DLP lights) can project two A road marking (indicating line) with the same width as the vehicle body, on the one hand, can play a role in lighting, on the other hand, it can be used for part-time marking guidance, providing the driver with auxiliary judgment of the driving trajectory and passability, which can be used by the driver at low speed. Actively open to improve driving safety and avoid vehicle scratching.
  • the exterior lights DLP lights
  • the user can activate (trigger) the driving area prediction (light carpet) in the following scenarios: When the vehicle is driving at a low speed and the driver is not sure about the lane width, the driving area prediction function can be manually turned on.
  • the intelligent headlight controller receives the signal from the body to control the headlights to project a highlight line of the same width as the vehicle.
  • the curvature of the line will be based on the rudder of the vehicle.
  • the angle signal is adaptively adjusted (as shown in Figure 19).
  • cancel the [enable switch of the headlight driving track prompt] and the product provides a first-level button.
  • the button is in a pressable state.
  • the button is set to grayed out.
  • the driving track prompt trigger button is displayed in the first-level menu.
  • the button is grayed out.
  • the button is displayed in a pressable state for users to trigger the function in real time.
  • the preconditions for triggering the driving area prediction function include: ignition switch ON; In the control, select [Enable Switch for Headlight Driving Track Reminder] and enable the switch to be on.
  • the entry conditions include: the self-vehicle speed is less than or equal to 30km/h (TBD); and/or the gear is in the D gear state; and/or the user manually chooses to open the [travel track prompt trigger request signal] enable button.
  • the exit conditions include: the ignition switch is switched to OFF; and/or the low beam is turned off; and/or the status of the light knob is switched to non-AUTO; status and the self-vehicle speed is greater than 30km/h; and/or the user does not choose to turn on the [travel track prompt trigger request signal] enable button.
  • the [Enable Switch for Headlight Driving Track Reminder] is required, which has two states of on and off, and can be a virtual button for the secondary menu.
  • the default state of the enable switch is pending.
  • the [Travel Track Prompt Button Signal] button is required on the central control interface. It is a first-level button. When the preconditions and entry conditions are met, the button is activated and displayed; when the above conditions are not met, the button is grayed out, and the default is off. state.
  • the table below shows an example of how the driving area prediction function is implemented.
  • the enable switch signal is triggered, and the audio and video domain controller (IDM) sends the information to the vehicle body domain through the central gateway.
  • the controller (BDCM) sends the driving area prediction function enable switch signal, the BDCM sends the driving area prediction function enable switch signal, the light button AUTO signal, the ignition switch ON signal, the low beam start signal and the vehicle speed signal to the exterior light module, and forwards them.
  • the DLP light controller inputs the control signal into the driving module of the DLP light, and then drives the DLP light to display equal-width lines (light carpet) at both ends of the vehicle when the driving area prediction function is activated.
  • the BDCM sends the steering wheel angle signal and the actual steering value of the wheel to the external light module, and forwards it to the DLP light controller.
  • the DLP light controller inputs the control signal to the driving module of the DLP light, and then drives the light carpet of the DLP light to follow the steering of the vehicle in real time. adjust.
  • the execution timing of the driving area prediction function is shown in the following table:
  • the DLP Master ECU When the DLP Master ECU detects its own fault, it will automatically turn off the projection function, and report the Master fault to the vehicle through the bus or diagnosis; the basic low beam function is still valid when the DLP Master ECU fails; the DLP Master ECU functional safety level is QM, no Functional safety requirements.
  • An embodiment of the present application provides a vehicle lamp control device, including:
  • the triggering module is used for triggering the exterior light module of the vehicle to project an indication line matching the width of the vehicle on the road when the light condition and/or the vehicle speed condition meet the preset condition.
  • the trigger module is further used for:
  • FIG. 22 shows a structural block diagram of a vehicle lamp control apparatus according to an embodiment of the present invention.
  • the device includes: a memory 2201 and a processor 2202 , and a computer program that can be executed on the processor 2202 is stored in the memory 2201 .
  • the processor 2202 executes the computer program, the methods in the above-mentioned embodiments are implemented.
  • the number of the memory 2201 and the processor 2202 may be one or more.
  • the device also includes:
  • the communication interface 2203 is used to communicate with external devices and perform data interactive transmission.
  • the bus can be an industry standard architecture (Industry Standard Architecture, ISA) bus, a peripheral device interconnect (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus and the like.
  • ISA Industry Standard Architecture
  • PCI peripheral device interconnect
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into address bus, data bus, control bus and so on. For ease of presentation, only one thick line is shown in FIG. 22, but it does not mean that there is only one bus or one type of bus.
  • the memory 2201, the processor 2202 and the communication interface 2203 are integrated on one chip, the memory 2201, the processor 2202 and the communication interface 2203 can communicate with each other through an internal interface.
  • An embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and when the program is executed by a processor, implements the method provided in the embodiment of the present application.
  • An embodiment of the present application further provides a chip, the chip includes a processor, and is configured to call and execute an instruction stored in the memory from a memory, so that a communication device with the chip installed executes the method provided by the embodiment of the present application.
  • An embodiment of the present application further provides a chip, including: an input interface, an output interface, a processor, and a memory, the input interface, the output interface, the processor, and the memory are connected through an internal connection path, and the processor is used to execute codes in the memory , when the code is executed, the processor is used to execute the method provided by the embodiment of the application.
  • processor may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processing (digital signal processing, DSP), application specific integrated circuit (application specific integrated circuit, ASIC), field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or any conventional processor or the like. It should be noted that the processor may be a processor supporting an advanced RISC machine (ARM) architecture.
  • ARM advanced RISC machine
  • the above-mentioned memory may include read-only memory and random access memory, and may also include non-volatile random access memory.
  • the memory may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory.
  • the non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically programmable read-only memory (EPROM). Erase programmable read-only memory (electrically EPROM, EEPROM) or flash memory.
  • Volatile memory may include random access memory (RAM), which acts as an external cache. By way of example and not limitation, many forms of RAM are available.
  • SRAM static RAM
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • double data rate synchronous dynamic random access Memory double data date SDRAM, DDR SDRAM
  • enhanced synchronous dynamic random access memory enhanced SDRAM, ESDRAM
  • synchronous link dynamic random access memory direct ram bus RAM, DRRAM
  • direct ram bus RAM direct ram bus RAM
  • Embodiments of the present application further provide a vehicle, including the above-mentioned vehicle lamp control device.
  • a computer program product includes one or more computer instructions.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device.
  • Computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with “first”, “second” may expressly or implicitly include at least one of that feature.
  • plurality means two or more, unless otherwise expressly and specifically defined.
  • any description of a process or method in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a specified logical function or step of the process .
  • the scope of the preferred embodiments of the present application includes alternative implementations in which the functions may be performed out of the order shown or discussed, including performing the functions substantially concurrently or in the reverse order depending upon the functions involved.
  • each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist physically alone, or two or more units may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules. If the above-mentioned integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.
  • the storage medium may be a read-only memory, a magnetic disk or an optical disk, and the like.

Abstract

本公开涉及一种用于车辆的智能交互控制系统与方法、车辆及存储介质。所述智能交互控制系统包括：外显控制装置，被配置用于接收对应于车辆所处场景的外显控制指令，并且基于所述外显控制指令中的外显设置，控制安装在车辆外部的投影灯的灯效投影显示和外显屏幕的显示。所述智能交互控制系统与方法、车辆及存储介质能够使得车辆与其他交通参与者的交互增多并且更加智能化，由此大大增强了车辆的科技感和仪式感，有效提升了用户体验。

Description

用于车辆的智能交互控制系统与方法、车辆及存储介质
本申请要求三项优先权，分别为：(1)2020年7月10日提交中国专利局、申请号为202010664420.5、发明名称为“用于车辆的智能交互控制系统与方法、车辆及存储介质”的中国专利申请；(2)2020年9月9日提交中国专利局、申请号为202010943085.2、发明名称为“车灯控制方法、装置、设备及车辆”的中国专利申请；(3)2020年11月13日提交中国专利局、申请号为202011273075.9、发明名称为“车灯控制方法、装置、设备及车辆”的中国专利申请。上述三件专利申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能交互控制领域，尤其涉及基于车灯的智能交互控制领域。
背景技术
目前，车辆与外界(例如行人、其他车辆等交通参与者)的交互较少，主要通过驾驶员对车辆上安装的照明灯(如前照灯、转向灯等)和扬声器的控制来实现。车辆的车灯通常包括日行灯、转向灯、制动灯、倒车灯、远光灯等，它们可以为车辆提供传统的照明、指示、提醒等功能。目前，部分车辆还可以提供一些氛围灯，一定程度上可以提高用户体验。然而，这些功能一方面不够智能，另一方面功能比较单一和局限。
另外，在车辆要转向之前打开转向灯来向外界进行转向提醒。或者，在行人距离车辆过近时，驾驶员按动车辆上的扬声器来向行人发出提醒。这种交互方式已无法满足用户对于车辆与外界交互更加智能化的强烈需求。
本部分旨在为权利要求书中陈述的本公开的实施方式提供背景或上下文。此处的描述不因为包括在本部分中就承认是现有技术。
发明内容
本公开提供用于车辆的智能交互控制系统与方法、车辆及机器可读存储介质，以解决或缓解现有技术中的一项或更多项技术问题。
根据本公开的实施例，提供一种用于车辆的智能交互控制系统，包括：外显控制装置，被配置用于接收对应于车辆所处场景的外显控制指令，并且基于所述外显控制指令中的外显设置，控制安装在车辆外部的投影灯的灯效投影显示和外显屏幕的显示。
根据本公开的实施例，提供一种用于车辆的智能交互控制方法，包括：
接收对应于车辆所处场景的外显控制指令，以及
基于所述外显控制指令中的外显设置，控制安装在车辆外部的投影灯的灯效投影显示和外显屏幕的显示。
根据本公开的实施例，提供一种车辆，包括：本公开实施例所述的智能交互控制系统。
所述智能交互控制系统与方法、车辆及可读存储介质能够使得车辆与外界(行人、前后车辆、和/或其他交通参与者)的交互增多且更加智能化，由此大大增强了车辆的科技感和仪式感，有效提升了用户体验。
根据本公开的实施例，提供一种车灯控制方法，包括：
在车辆的底盘与驾驶面不平行的情况下，根据车辆的驾驶姿态或驾驶面状况，确定车辆的外灯的垂直投射角度；
触发外灯以垂直投射角度在驾驶面上投射出与车辆宽度匹配的指示图像。
根据本公开的实施例，提供一种车灯控制装置，包括：
垂直投射角度确定模块，用于在车辆的底盘与驾驶面不平行的情况下，根据车辆的驾驶姿态或驾驶面状况，确定车辆的外灯的垂直投射角度；
第一指示图像触发模块，用于触发外灯以垂直投射角度在驾驶面上投射出与车辆宽度匹配的指示图像。
根据本公开的实施例，提供一种车灯控制方法，包括：
在光线条件和/或车速条件满足预设条件的情况下，触发车辆的外灯模块在道路上投影出与所述车辆的宽度匹配的指示线。
根据本公开的实施例，提供一种车灯控制装置，包括：
触发模块，用于在光线条件和/或车速条件满足预设条件的情况下，触发车辆的外灯模块在道路上投影出与所述车辆的宽度匹配的指示线。
根据本公开的实施例，提供一种车灯控制设备，包括处理器和存储器，存储器中存储指令，指令由处理器加载并执行，以实现本公开实施例的车灯控制方法。
根据本公开的实施例，提供一种计算机可读存储介质，计算机可读存储介质存储计算机程序，当计算机程序在计算机上运行时，本公开实施例的方法被执行。
根据本公开的实施例，提供一种车辆，包括本公开实施例的车灯控制装置或车灯控制设备。
本申请实施例采用上述技术方案可以丰富车灯功能，提供更智能更准确的车灯显示方式，提升了用户体验。
本公开不以任何方式受到上述说明的任何限制。除上面描述的示意性的方面、实施方式和特征之外，通过参考附图和以下的详细描述，本公开的进一步的方面、实施方式和特征也将会是清晰的。
附图说明
在附图中，除非另外规定，否则贯穿多个附图的相同或相似的附图标记表示相同或相似的部件或要素。这些附图不一定是按照比例绘制的。应该理解，这些附图仅描绘了根据本公开的一些实施方式，而不应将其视为是对本公开保护范围的限制。
图1-1为根据本申请实施例的投影灯的投影效果的示意图；
图1-2为根据本申请实施例的车辆前端的ISD屏幕(外显屏幕)的显示效果的示意图；
图1-3为根据本申请实施例的车辆后端的ISD屏幕(外显屏幕)的显示效果的示意图；
图1-4为根据本申请实施例的车辆前端的ISD灯的显示效果的示意图；
图1-5为根据本申请实施例的车辆后端的ISD灯的显示效果的示意图；
图1-6为根据本申请实施例的车辆的第一车灯的应用示意图；
图2为根据本公开一个实施例的车灯控制系统的一个应用示例的示意图；
图3示意性地示出了根据本公开一个实施例的用于车辆的智能交互控制系统的框图；
图4示意性地示出了根据本公开一个实施例的外显控制装置与其他部件之间的连接关系的框图；
图5示出了根据本公开一个实施例的用于车辆的智能交互控制方法的流程图；
图6示出了根据本公开另一个实施例的用于车辆的智能交互控制方法的流程图；
图7示出了根据本公开再一个实施例的用于车辆的智能交互控制方法的流程图；
图8示出了根据本公开又一个实施例的用于车辆的智能交互控制方法的流程图；
图9示出了根据本公开再另一个实施例的用于车辆的智能交互控制方法的流程图；
图10示出了本公开一个实施例的车辆的结构框图；
图11为根据本申请实施例一种实施方式的车灯控制方法的流程图；
图12为根据本申请实施例的指示图像的一个应用示意图；
图13为根据本申请实施例一种实施方式的车灯控制系统的示意图；
图14为根据本申请实施例的车灯控制方法的一个应用示例的示意图；
图15为根据本申请实施例另一种实施方式的车灯控制方法的流程图；
图16为根据本申请实施例又一种实施方式的车灯控制方法的流程图；
图17为根据本申请实施例的车灯控制方法的减速等级的应用示例图；
图18为根据本申请实施例再一种实施方式的车灯控制方法的流程图；
图19为根据本申请实施例的指示图像的又一个应用示意图；
图20-1为根据本申请实施例的车灯控制方法的一个应用示例的时序图；
图20-2为根据本申请实施例的车灯控制方法的又一个应用示例图；
图21为根据本申请实施例的车灯控制装置的结构框图；
图22为根据本申请实施例的车灯控制设备的结构框图。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本申请的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
如前所述，当前的车辆与外界其他交通参与者的交互方式单一且枯燥无趣，无法满足当前用户对于车辆与外界的交互更加智能化的强烈需求。
本申请实施例提供一种车辆，在车辆的车身外围设置有若干个第一车灯，如常规灯、投影灯、互动信号显示(Interactive signal display，ISD)灯等。
在一个示例中，常规灯即为传统车辆的功能灯，如侧转向灯、后雾灯、日行灯、位置灯、转向灯、制动灯、倒车灯、Logo灯、前后贯穿灯等。
在一个示例中，投影灯可以设置在车身前端，用来投影文字、图像、视频等，还可以用作车辆的近远光灯。投影灯可以选用数字光(Digital Light Processing，DLP)投影灯，如图1-1所示为投影灯的投影效果的示意图。
在一个示例中，ISD灯可以设置在车身前部和/或后部，用来显示文字、图像、视频等。图1-4和图1-5分别示出了车辆前部的ISD灯和车辆后部的ISD灯的显示效果的示意图。如图1-6所示，ISD灯可以包括常规灯521(如日行灯、位置灯、转向灯、制动灯、倒车灯、Logo灯、前后贯穿灯等)以及ISD屏幕(以下也称为“外显屏幕”)522，例如：通过常规灯521的动态显示实现相应的灯光效果。其中，ISD屏幕(外显屏幕)522可以为由多个发光二极管(Light Emitting Diode，LED)灯形成的矩阵式屏幕。图1-2和图1-3示出了ISD屏幕的显示效果的示意图。
下面结合图1-6介绍本申请实施例中的车辆的第一车灯的应用示意图。如图1-6所示，第一车灯可以包括左前灯(DLP投影灯51和ISD灯 52)、右前灯(DLP投影灯51和ISD灯52)、左后灯(ISD灯)和右后灯(ISD灯)。其中，DLP投影灯51可以用于常规远近光灯，也可用于投影文字、图像、视频等投影数据；前后ISD灯52共4组，每组ISD灯52包括常规灯521以及在常规灯521下方的ISD屏幕(“外显屏幕”)522。
在一个示例中，如图1-2所示，左前灯中的ISD灯52可以包括：常规灯521，如远光辅助灯521A、近光辅助灯521B、位置灯521C(可以为贯穿灯)、日行灯/位置灯/转向灯521D，以及ISD屏幕(“外显屏幕”)522。其中，左前灯中的ISD屏幕522可以作为日行灯、位置灯、转向灯和掉头灯。如图1-3所示，左后灯中的ISD灯52可以包括：常规灯521，如位置灯/刹车灯521E、位置灯521F(可以为贯穿灯)、倒车灯521G、位置灯/制动灯/转向灯521H，以及ISD屏幕522。其中，左后灯中的ISD屏幕(“外显屏幕”)522可以作为制动灯、位置灯、转向灯和掉头灯。右前灯可以与左前灯对称设置，右后灯可以与左后灯对称设置，在此不再赘述。另外，在车辆后端的中部还可以设置logo灯，在车辆后端的顶部可以设置高位制动灯。
本领域技术人员明白，上面描述的第一车灯的构造仅是根据本公开的一种示例形式，本公开不应被仅限于这一种形式，而是可以有各种各样的变形和替换方式。
本申请实施例的车辆还包括车灯控制系统。
在一种实施方式中，如图2所示，本申请实施例的车灯控制系统还可以包括多媒体模块(下文中也称为“影音域”)和车身控制模块(下文中也称为“车身域”)。
多媒体模块可以包括车辆上的屏幕或其他多媒体组件(如音频设备)，从而可以得到多媒体数据，如用户指令、多媒体组件获取的多媒体数据(如图片、视频、动画等)、车辆仪表盘上得到的时间、天气、车辆续航里程等信息。其中，多媒体数据可以包括用于投影灯投影的投影数据和用于IDS灯显示的显示数据(这里的“投影数据”与“显示数据”包括后面将要描述的“显示内容”)。
车身控制模块可以包括车辆的主控器(例如下文中提到的车载设备的 中控设备)，从而可以得到车辆信息。车辆信息可以包括车辆环境信息，如车辆行驶状态、车辆与身份识别设备的位置关系等。其中，车辆身份识别设备可以为钥匙。车辆信息还可以包括车身组件信息，如车辆各功能组件的状态(如车灯的当前状态、车身悬挂高度、车门状态、刹车状态、电力供应状态等)。其中，车灯包括第一车灯和第二车灯。
车身控制模块(车身域)可以根据车辆信息，进行内部的逻辑判断后下文提到的外显控制装置发送控制命令，如判断是否满足灯光开启条件及灯光开启方式(包括例如投影灯投影或外显屏幕显示或二者同时开启)。
也就是说，车身控制模块(车身域)可以自动触发第一车灯工作。例如：(车身域)根据车辆信息确定场景(例如下文描述的“车辆所处场景”)，并根据该场景生成对应的第一控制命令(包括例如下文描述的“外显控制指令”)，进而发送给第一车灯主控器(例如下文描述的“外显控制装置”)，第一车灯主控器(“外显控制装置”)可以根据第一车灯主控命令(“外显控制指令”)调用该场景对应的灯光显示配置文件(例如下文描述的“显示对应表”、“显示主题数据库”、“显示设置”等等)，控制第一车灯工作(包括下文描述的例如投影灯的显示和/或外显屏幕的显示)。
另外，第一车灯主控器还可以包括第一车灯子控器，该第一车灯子控器可以用于控制例如投影灯的显示和/或外显屏幕的显示，即，可以用作下文描述的外显控制装置。即，外显控制装置可以是第一车灯主控器，也可以是第一车灯子控器。由此可见，本公开并不特别限制由哪个控制器来执行对于投影灯的显示和/或外显屏幕的显示的控制，而是只要能够顺利实现这样的控制功能即可。
在一种实施方式中，如图2所示，本申请实施例的车灯控制系统还可以包括多媒体模块(影音域)和车身控制模块(车身域)。
多媒体模块(影音域)可以包括车辆上的屏幕或其他多媒体组件(如音频设备)，从而可以得到多媒体数据，如用户指令、多媒体组件获取的多媒体数据(如图片、视频、动画等)、车辆仪表盘上得到的时间、天气、车辆续航里程等信息。其中，多媒体数据可以包括用于投影灯投影的投影数据和用于IDS灯显示的显示数据。
车身控制模块(车身域)可以包括车辆的主控器，从而可以得到车辆信息。车辆信息可以包括车辆环境信息，如车辆行驶状态(如车辆行驶状态)、车辆与身份识别设备的位置关系等。其中，车辆身份识别设备可以为钥匙。车辆信息还可以包括车身组件信息，如车辆各功能组件的状态(如车灯的当前状态、车身悬挂高度、车门状态、刹车状态、电力供应状态等)。其中，车灯包括第一车灯(例如外灯)和第二车灯(例如内灯)。
多媒体模块可以向车身控制模块发送多媒体数据，如车辆当前续航信息、天气信息、时间、节日、纪念日等。第一车灯主控器(外灯模块)收到多媒体数据和第一车灯主控器后，调用内部对应的灯光控制文件，生成第一车灯主控命令，发送给对应的投影灯控制器和ISD灯控制器，从而控制DLP投影灯、ISD灯等第一车灯(外灯)工作。进一步地，第一车灯主控器(外灯模块)向车身控制模块返回第一车灯(外灯)的执行结果。
例如：DLP投影灯根据预设的灯光视频投影逻辑进行投影，如投影视频为依次播放品牌Logo、欢迎文字、天气、日期、节日。其中天气、日期、节日、纪念日信息会跟随多媒体模块发送的信息进行投影显示，ISD灯同样按照预设视频进行播放，与DLP投影进行同步显示。
在一种实施方式中，如图2所示，本申请实施例的车灯控制系统还可以包括网关。多媒体模块和车身控制模块均可连接于中央网关。
多媒体模块还用于根据用户命令生成车灯设置数据，并通过网关向车身控制模块发送车灯设置数据；车身控制模块还可用于根据车灯设置数据生成第一车灯主控命令。
也就是说，多媒体模块和车身控制模块可以通过网关进行通讯。多媒体模块可以通过网关向车身控制模块发送第一车灯设置数据，如用户的车灯开关设置项。车身控制模块根据多媒体模块发送的第一车灯设置数据生成对应的第一控制命令，如用户的车灯开关设置项。第一车灯主控器根据该开关设置项以及车辆信息判断第一车灯是否执行灯光功能。
其中，第一车灯设置数据可以由多媒体模块根据用户命令而生成。用户可以通过屏幕开关、手势、简笔画、语音等形式发送用户命令。
在一种实施方式中，如图2所示，本申请实施例的车灯控制系统还可 以包括自动驾驶模块，其连接到网关，以向车身控制模块发送自动驾驶预警等数据；车身控制模块还用于根据自动驾驶预警等数据生成第一控制命令(例如下文提到的外显控制指令)。
自动驾驶模块通过摄像头、雷达等传感器获取的数据，判断驾驶过程中的安全功能(如行人或车辆识别、前方碰撞预警、后方碰撞预警、变道辅助等)，并将识别的驾驶安全功能结果，即自动驾驶预警数据发送到车身控制模块。车身控制模块根据自动驾驶预警数据生成第一控制命令，如安全或预警信息，并将第一车灯主控命令发送给第一车灯主控器。第一车灯主控器第一车灯主控命令根据触发相应的第一车灯执行灯光点亮命令。
在一种实施方式中，本申请实施例的车灯控制系统还可以包括第二车灯主控器和至少一个第二车灯子控器。第二车灯主控器可以与多媒体模块连接，用于根据多媒体模块发送的第二控制命令生成第二车灯主控命令发送给第二车灯子控器。第二车灯子控器根据第二车灯主控命令和多媒体数据触发相应的第二车灯工作。
在一个示例中，第二车灯可以设置在车辆内部，如氛围灯或顶灯等。相应地，第二车灯子控器可以为氛围灯控制器、顶灯控制器。
在一个应用示例中，如图2所示，车辆行驶过程中，自动驾驶模块通过雷达与摄像头等传感器识别车辆周边环境得到相应的识别结果，并经内部处理识别结果而判断周边环境有危险时，通过网关发送自动驾驶预警数据，如危险报警信息及具体危险的内容(预警详细信息)至车身控制模块及多媒体模块。多媒体模块接收到自动驾驶模块发出的预警详细信息后，通过中控屏显示预警信息或声音提醒，并触发第二车灯(内灯)工作(如红色闪烁)，提示注意预警信息。车身控制模块接收到自动驾驶模块发送的预警详细信息后，通过逻辑运算判断需要DLP大灯投影或ISD屏幕灯显示，进而生成第一控制命令(例如下文描述的“外显控制指令”)，至第一车灯主控器(外灯模块，其包括例如下文描述的“外显控制装置”)，第一车灯主控器(外灯模块，其包括例如下文描述的“外显控制装置”)触发DLP大灯投影具体预警信息或触发ISD屏幕灯显示具体预警信息，提醒用户或其他车辆注意预警信息。
在本公开中，还提供了一种用于车辆的智能交互控制方法和系统，比如在用户使用车辆(例如，车辆正常行驶、变道、拐弯、调头、暂停、泊车、倒车等操作)过程中，控制安装在车辆外部的投影灯的投影和外显屏幕的显示，实现车辆与外界的智能交互。
如前所述，所述投影灯可以为安装在车辆前部的DLP(Digital Light Processing，数字光处理)投影大灯。
另外，如前所述，所述外显屏幕可以为安装在车辆前部和/或后部的ISD(Interactive Signal Display，互动信号显示)屏幕。根据一个实施例，可以分别在一辆车的前部和后部分别安装两个ISD显示屏幕，即，一辆车可以共有四个ISD显示屏幕。当然，这样的显示屏幕也可以安装在车辆的其他位置，例如车顶。而且，本公开对于外显屏幕的数量不作任何限制，也就是说，任何合理数量的外显屏幕都是可以的。
在本公开中，在提到“图像”时，通常可以表示包括文字、符号、静态或动态图像(视频)等各种形式。
根据本公开的实施例，提供一种用于车辆的智能交互系统100，该系统可以包括外显控制装置110，如图3所示。
其中，所述外显控制装置110可以被配置用于接收外显控制指令，并且基于所述外显控制指令中的外显设置，控制安装在车辆外部的投影灯的灯效投影显示与外显屏幕的显示。
外显控制装置可以为专门用于控制投影灯和外显屏幕的显示的外显模块(例如可以包括在车辆的“外灯系统”或“外灯模块”中)，也可以直接为例如用于控制整个车辆的运行和/或显示的车载控制器(也可称为“车身域”)或者为包括在这样的车载控制器中的子控制器，还可以是用户的能够与该车辆互联(例如，通过Wifi、蓝牙等无线方式或者通过通信接口等的有线方式)的智能设备(例如移动终端、计算机、平板电脑等等)的一个或多个处理器。总之，只要能实现需要的功能即可，无需限定外显控制装置的具体形式与具体所在。进一步说，该外显控制装置并不一定要位于车内，而是也可以位于其他任何合适的位置。本公开在这点上不应受到任何限制。
另外，外显控制装置110可以包括投影灯控制装置111和外显屏幕控 制装置112，它们可以分别用于控制投影灯的灯效投影显示和控制外显屏幕的显示。也就是说，灯效投影显示的控制和外显屏幕的显示的控制既可以由一个总体的外显控制装置110实施，也可以由单独设立的投影灯控制装置111和外显屏幕控制装置112分别实施。在单独设立投影灯控制装置111和外显屏幕控制装置112的情况下，本文将两者总称为“外显控制装置110”。
根据本公开的实施例，所述外显控制装置不仅能够分别控制投影灯和/或外显屏幕的单独显示，还能够控制投影灯与外显屏幕的关联显示。
也就是说，在车辆与外界交互时，不仅仅能够使得投影灯单独与外界交互，或者使得外显屏幕单独与外界交互(包括一个外显屏幕与外界单独交互或者多个外显屏幕分别与外界单独交互)，还能够使得投影灯与一个或多个外显屏幕互相关联地显示以与外界交互。
这里，投影灯与一个或多个外显屏幕相互关联地显示体现出互相之间的配合，可以向外界呈现更立体、更印象深刻的显示效果。由此，更加体现出车辆与外界交互的智能化。
根据本公开的实施例，所述外显控制指令中的所述外显设置可以包含以下至少之一：
用于投影灯的灯效投影显示的显示参数；
用于外显屏幕的显示的显示参数；
用于投影灯与外显屏幕相互关联地显示的显示参数。
这里，通过单独的投影灯的显示参数与外显屏幕的显示参数也能实现控制它们之间的关联显示的作用，但是通过专门的用于投影灯与外显屏幕相互关联地显示的关联显示参数可以更方便地确定和控制它们的关联显示。稍后将对此举例说明。
根据本公开的实施例，所述显示参数可以包括如下至少之一：
与显示次序有关的参数；
与显示时长或显示速度有关的参数；
与显示开始时间和/或显示结束时间有关的参数；
与显示方式有关的参数；
与显示级别和/或车辆场景有关的参数。
这里的“显示次序”包括投影灯与外显屏幕之间的显示次序，也包括不同外显屏幕之间的显示次序。
“显示方式”包括例如外显屏幕的间隔显示、连续显示、上下滚动显示、左右滚动显示等等呈现方式，以及投影灯的光束形状、光束投射方式(例如集中投射、散射、直射等等)、灯效的间隔显示或连续显示等等。
“与显示时长或显示速度有关的参数”用于规定显示的时间长短(例如，希望呈现时间为10s)或者希望呈现的速度效果(例如，希望以原本速度的两倍速播放，以获取快速呈现的效果)，或者两者的结合(例如，希望在10s内以两倍速呈现)。
“与显示开始时间和/或显示结束时间有关的参数”用于规定显示的开始时间和/或显示的结束时间，可以包括例如如下这样的设置：立刻开始、20s后开始、30s后结束、**时**分**秒(一个具体的时间)结束等等。这里需要注意，通过例如设置不同的显示开始时间和/或显示结束时间也能够控制灯效投影显示与外显屏幕的显示之间的次序。
另外，如果想要如上所述那样控制投影灯与外显屏幕的关联显示，可以通过单独地设置它们各自的显示开始时间、显示时长、显示方式等至少之一来呈现，也可以通过在专门的关联显示参数中进行更方便的设置、以更有效地呈现想要的显示效果。比如，想要使得投影灯比显示屏幕早10s显示，晚5s结束，则如果通过单独控制，则需要通过分别设置投影灯的显示开始时间、显示结束时间和相应外显屏幕的显示开始时间与显示结束时间，而如果通过关联显示参数来控制，则可以将关联显示参数直接设置为“投影灯比显示屏幕早10s显示、晚5s结束”。
上面虽然列举出了一些显示参数，但是本领域技术人员应当明白，本公开不限于上述这些，而是可以包含所有已知的以及将来可能会有的其他显示参数以及相关的外显设置。
根据本公开的实施例，所述灯效投影显示和外显屏幕的显示用于表现相应的显示主题，各显示主题属于相应的显示级别。
根据本公开的实施例，所述显示级别至少可以包括警示级别、提醒级 别、示意级别等。
根据本公开的实施例，显示级别与车辆所处场景有关。例如，警示级别可以针对车辆处于危险或突发状况的场景，例如后面将要提到的碰撞预警、突然从路边窜出一只宠物等情形。提醒级别可以针对没有那么危险但是需要提醒的场景，比如在前方可接受的距离范围内有行人，此时可以提醒本车驾驶员注意行人。另外，如果行人距离车辆太近，超出了可接受距离(也可称为“相对安全距离”)，则从“提醒”级别变成了更高的“警示”级别。“示意”级别可以是针对文明驾驶、交通状况、天气状况、情绪疏导或心理关怀等方面提供的信息。
可以看出，在上述三种示例出的显示级别中，“警示级别”最高，“提醒级别”其次，然后是“示意级别”。通常，对于显示级别高的显示主题(显示内容)，需要优先显示，即便低级别的主题/内容正在显示中，也可以紧急切换成显示级别高的主题/内容。
即，所述显示级别可以依据车辆所处的场景来确定。另外，所述外显控制装置可以控制所述投影灯和所述外显屏幕优先显示具有更高的显示级别的显示主题。
例如，可以通过所述外显设置中的相应显示参数(例如，如上面说明的那样，可以在外显设置中例如单独设立一个名为“显示级别”的显示参数)来指定显示级别，也可以由外显控制装置在收到外显控制指令之后，通过该指令所对应的场景来判断显示级别。即，在本公开中，也可以在外显控制指令中设置“车辆场景”相关的显示参数，外显控制装置通过该显示参数，也可以判断出显示级别。
虽然上面例举出一些例子。本领域技术人员应当明白，“外显控制指令中的外显设置”不限于上面提到的这些参数，而是还可以包括其他类似的或者不同的参数。
另外，上述对于显示级别的划分是按照车辆所处场景(更具体地，比如按照危险等级)来进行的，还可以按照其他方式来划分显示级别。再者，显示级别可以不限于三种，而是可以有更多或者更少。在本公开中，划分显示级别的一个目的是区分显示优先级，以便于优先显示更需要紧急显示 的内容。本领域技术人员理解，还可以按照其他的区分显示优先级的方法来实施优先显示。
根据一个实施例，所述外显控制装置110还可以被配置用于从所述车辆的影音域接收对应于车辆所处场景的显示内容。
这里，由上可知，车辆的影音域可以与外显控制装置连接。车辆的影音域可以用于控制车内的屏幕以及提供多媒体素材和显示内容。还可以用于控制车辆本身的设置，例如该车上相关设施的开关，比如控制普通车灯的开关、以及投影灯的开关、外显屏幕的开关等。
顺便在此描述图4示出的自动驾驶域210、车身域220、以及影音域230，以及它们之间的连接关系。
其中，自动驾驶域用于控制车辆的自动驾驶系统，提供车辆周围环境感测，例如可以通过雷达、摄像头、以及其他传感器，来检测路况、相邻车辆的状况、行人情况等。在自动驾驶域210自动检测到车辆处于危险或其他需要警示/提醒的场景时，会将用于提供处于危险或警示/提醒场景的这种信号传送给车身域。此时，车身域可以判断是否需要开启灯效投影显示和外显屏幕显示，并且判断如果需要，便生成外显控制指令，传送给外显控制装置。
另外，也可以由自动驾驶域210自身生成外显控制指令并发送给车身域，然后车身域直接转发给外显控制装置。或者，车身域收到自动驾驶域发送的外显控制指令后，判断是否需要开启灯效投影显示和外显屏幕显示，并且判断如果需要，才将外显控制指令转发给外显控制装置。
车身域可以与外显控制装置连接。影音域230可以不将控制或设置相关的指令直接发送给外显控制装置而是通过车身域来转发，不过影音域230可以向外显控制装置直接发送(例如通过以太网，也可以通过其他通信方式)影音相关的内容，例如，灯效投影显示与外显屏幕显示所需的显示内容(比如视频、图片、文本、声音等信息)。例如，车身域可以依据上面描述的影音域的开关设置，将比如影音域对车辆设施的开关设置(例如常规灯光命令等)发送给相应的控制模块，比如上述的外显控制装置。另外，车身域还可以转发自动驾驶域的安全/预警等相关的指令到相应的控制 模块。
上面描述了可以通过车身域来向外显控制装置转发指令或设置信息，也可以采取不通过车身域转发而由影音域或自动驾驶域自身向外显控制装置发送指令或设置信息，本公开对此不作限制。
请注意，外显控制指令可以不限于仅由车身域生成，而是可以由相关的各处理设备、控制设备等等生成，例如也可以由自动驾驶域生成，由影音域生成，由用户的智能设备或车载设备(例如车载设备上的中控设备)等等来生成，甚至还可以由外显控制装置自己来生成。但是，在下面为了描述方便，基本上将“外显控制指令的生成”统一描述为由车身域执行，因此，本领域技术人员应该明白，在后续的各种示例中大篇幅的这种描述不代表着只能由车身域生成外显控制指令，而是可以由各设备根据需要来生成。
根据一个实施例，可以通过网关，例如中央网关(Central Gateway,CGW)240，来连接车身域220、自动驾驶域210和影音域230，如图4所示。也可以通过其他的通信方式来连接它们。或者，它们相互之间也可以通过不同的通信方式来连接。
根据一个实施例，所述外显控制指令可以是从所述车辆的车身域、或者从所述车辆的中控设备或用户的智能设备接收的。
一方面，如上所述，车辆的自动驾驶域可以通过感测装置(可以包括雷达或摄像机、其他传感器等)识别车辆所处场景，并响应于识别的所述场景，自动地向所述车身域发送对应于该场景的信号，所述车身域基于所述信号来生成对应的外显控制指令并发送给所述外显控制装置。
另一方面，还可以响应于用户在交互界面上的操作，或者可以响应于检测到用户的特定姿态(比如类似长时低头姿势、眼睛长时闭合姿势等、用户的特定动作(比如频繁眨眼、弹指等)、或者用户的特定语音命令(比如“开启后方车距提醒”、“开启行人距离太近提醒”等)，所述车辆的中控设备或所述用户的智能设备生成外显控制指令并发送至车辆的所述车身域，所述车身域将所述外显控制指令转发给所述外显控制装置。
这里给出的用户的特定姿态、特定动作或者特定语音命令都仅是示例 性的，在本公开中还可以包括其他的各种各样的姿态、动作或者语音命令。
其中，如上所述，所述车身域在自己生成外显控制指令之前或者在将接收的外显控制指令转发给外显控制装置之前，可以判断是否满足灯效投影条件与屏幕显示条件，比如可以考虑天气(下雨时可能不进行屏幕显示)情况、可以考虑时间(比如晚上不适合某些灯效或屏幕显示)因素等。总之，可以根据实际情况和需求来决定考量的因素。
如上所述，外显控制装置110可以从车身域接收所述外显控制指令。另外，外显控制装置110也可以接收来自用户的智能设备或车辆的中控设备的外显控制指令，更具体地，接收(例如由与车辆互联的用户智能设备中的处理器)基于在交互接口(交互界面)上的用户操作而生成的外显控制指令。
这里的中控设备可以是另外的控制设备，可以与车身域不同。
从而，对于投影灯和外显屏幕的显示，可以由车辆(具体地，由车辆的自动驾驶系统)自动触发，也可以由用户通过例如智能设备或中控设备的交互界面来手动触发。
根据一个实施例，文本(例如字母、符号、文字、数字等各种形式的文本)、图像(例如各种图片、表情等等)、视频(动态画面)或者它们的组合均可以用作灯效投影显示与外显屏幕显示的显示内容。由此，外显控制装置可以控制所述投影灯和所述外显屏幕来显示从影音域接收的对应于车辆所处场景的显示内容。
根据一个实施例，所述灯效投影显示和外显屏幕的显示包括灯效投影显示与外显屏幕的显示之间的同步显示、互相有重叠的异步显示、以及互相没有重叠的异步显示等。
这里与灯效投影显示和外显屏幕的显示的显示次序有关，也就是说，两者的显示可以是同步的，即同时开启显示；也可以是不同步的，即有先有后。在不同步显示的情况下，还可以互相有重叠地显示(比如在灯效投影显示尚未结束之前，开始外显屏幕的显示，反之亦可)，也可以互相没有重叠地显示(比如在灯效投影结束之后，开始外显屏幕的显示，反之亦可)。这种组合显示可以更多吸引关注，获得更强的智能交互效果，从而在显示 的提醒下更加注意安全，获取更强的主动安全性；同时还能够有效提升车辆的科技感和仪式感。
进一步地，还可以在显示的同时，配合使用车辆的音效装置来产生多维立体效果，由此，使得智能交互感更强，从而使得车辆的主动安全性和科技感、仪式感更强。
根据本公开实施例，所述灯效投影显示和外显屏幕的显示均能够用于提供如下的特定显示主题至少之一或它们的任意组合：前方碰撞预警、后方碰撞预警、侧方碰撞预警、车道偏离预警、变道辅助预警、前方行人提醒、前方安全提醒、前方车距提醒、后方安全提醒、后方车距提醒、左侧车距提醒、左侧安全提醒、右侧车距提醒、右侧安全提醒、前方交通灯提醒、前方车速监测提醒、前方拍照提醒、本车让行提醒、关闭远光提醒、调头提醒、倒车提醒、停车提醒、刹车提醒、驾驶时长提醒、驾驶状态提醒、交通情况示意、道路状况示意、天气状况示意、情绪调节示意、人行道灯效投影示意、点赞示意、行人先行示意、车辆使用过程中的其他异常情况提醒、预警和/或所需的其他信息的示意。虽然这里列举了很多种特定显示主题的例子，但是本领域技术人员应当明白，还可以有更多的可以显示的主题，本公开在这方面没有任何限制。
这里，本领域技术人员应该明白，虽然通过灯效或者通过屏幕，均可实现上述这样的显示主题，不过显示的效果可以有明显的区别，毕竟灯效显示和屏幕显示本身的显示效果就有相当的区别。
关于什么是显示主题，以下将进行具体的解释。由于上面已经具体地解释过显示方式、显示次序等等相关的显示参数，下面将仅以某种示例的方式来描述显示，而不再冗余地例举各种可能的形式。
下面将先解释“预警”类(或者级别)的场景。由于“预警”针对的基本都是危险或突发状况，需要紧急应对，所以通常需要立刻显示。也就是说，如前所述，“预警”级别的显示主题的显示优先级高于“提醒”级别和“示意”级别。
1、根据本公开实施例，例如，关于“前方碰撞预警”，比如摄像头或雷达检测到前方有车辆距离本车过近(例如超过第一阈值距离)，则可以在自 动驾驶域自动触发“前方碰撞预警”功能，生成相关警示信号发送到车身域，车身域基于收到的警示信号，可以自动生成外显控制指令，发送给外显控制装置。或者，也可以是由用户(例如驾驶员)手动触发“前方碰撞预警”功能(例如通过车辆内的车载设备的交互界面或者通过用户的智能设备的交互界面)，由此通过车载设备(例如通过车载设备的中控设备)或用户的智能设备生成外显控制指令并发送至车辆的车身域，车身域将外显控制指令转发给外显控制装置。外显控制装置基于所收到的关于“前方碰撞预警”的外显控制指令，控制投影灯立刻紧急显示相关预警投影图像(例如在两车之间位置显示聚光灯效果)和/或文字(例如“注意防撞”)等信息，还可以在显示过程中变换灯光的显示方式(如以上所描述的，在外显设置中可以包括显示方式相关的参数)来更明显地警示本车和对车以及相关交通参与方。另外，还可以在车辆前部的外显屏幕上进行相应的警示显示，例如显示“紧急刹车”的视频或图像和/或显示“请勿靠近！”的文字，或者类似这样的组合，以通过各种方式警示对车和相关交通参与方。另外，如上所述，还可以通过声效控制来以更多方式进行警示，从而使得车辆与外界的交互方式更加丰富，交互感更加智能化。
2、根据本公开实施例，例如，关于“后方碰撞预警”，比如摄像头或雷达检测到后方有车辆距离本车过近(例如超过第二阈值距离)，则可以在自动驾驶域自动触发“后方碰撞预警”功能，生成相关警示信号发送到车身域，车身域基于收到的警示信号，可以自动生成外显控制指令，发送给外显控制装置。或者，也可以是由用户(例如驾驶员)手动触发“后方碰撞预警”功能(例如通过车辆内的车载设备的交互界面或者通过用户的智能设备的交互界面)，生成相应的外显控制指令并经由车身域发送到外显控制装置。外显控制装置基于所收到关于“后方碰撞预警”的外显控制指令，可以在车辆后部的外显屏幕上进行相应的警示显示，例如显示“紧急刹车”的视频或图像和/或显示“请勿靠近！”的文字，或者类似这样的组合，以通过各种方式警示后车和相关交通参与方。另外，如上所述，还可以通过声效控制来以更多方式进行警示，从而使得车辆与外界的交互方式更加丰富，交互感更加智能化。
3、根据本公开实施例，例如，关于“侧方碰撞预警”，比如摄像头或雷达检测到侧方有车辆距离本车过近(例如超过第三阈值距离)，则可以在自动驾驶域自动触发“侧方碰撞预警”功能，生成相关警示信号发送到车身域，车身域基于收到的警示信号，可以自动生成外显控制指令，发送给外显控制装置。或者，也可以是由用户(例如驾驶员)手动触发“侧方碰撞预警”功能(例如通过车辆内的车载设备的交互界面或者通过用户的智能设备的交互界面)，生成相应的外显控制指令并经由车身域发送到外显控制装置。外显控制装置可以基于所收到的关于“前方碰撞预警”的外显控制指令，控制投影灯立刻紧急显示相关预警投影图像(例如在偏向该侧方来车的方向显示聚光灯效果)和/或文字(例如“注意防撞”)等信息，还可以在显示过程中变换灯光的显示方式(如以上所描述的，在外显设置中可以包括显示方式相关的参数)来更明显地警示本车和该侧方来车以及相关交通参与方。另外，还可以在车辆前部的外显屏幕上进行相应的警示显示，例如显示“请勿靠近！”的文字和/或显示“紧急刹车”的视频或图像，或者类似这样的组合，以通过各种方式警示该侧方来车和相关交通参与方。另外，如上所述，还可以通过声效控制来以更多方式进行。
4、根据本公开实施例，例如，关于“车道偏离预警”，比如摄像头或雷达检测到本车在行驶车道上有偏移现象发生(例如过分的偏移，即已经不属于可接受的轻微偏移，例如超过第四偏离阈值)，则可以在自动驾驶域自动触发“车道偏离预警”功能，生成相关警示信号发送到车身域，车身域基于收到的警示信号，可以自动生成外显控制指令，发送给外显控制装置。或者，也可以是由用户(例如驾驶员)手动触发“车道偏离预警”功能(例如通过车辆内的车载设备的交互界面或者通过用户的智能设备的交互界面)，生成相应的外显控制指令并经由车身域发送到外显控制装置。外显控制装置基于所收到的关于“车道偏离预警”的外显控制指令，控制投影灯立刻紧急显示相关预警投影图像(例如打向本车道两侧的灯光)和/或文字(“车道偏离”)等信息，还可以在显示过程中变换灯光的显示方式(如以上所描述的，在外显设置中可以包括显示方式相关的参数)来更明显地警示本车以及相关交通参与方。另外，还可以在外显屏幕上进行相应的警示 显示，例如显示“车道偏移”或者“打方向盘”之类的视频或图像或者显示“车道偏移！”的文字，或者类似这样的组合，以通过各种方式警示相关交通参与方。另外，如上所述，还可以通过声效控制来以更多方式进行警示，从而使得车辆与外界的交互方式更加丰富，交互感更加智能化。
这种车道偏离的自动检测可以是在驾驶员没有操作方向盘进行移动的情况下，由传感器检测车道是否发生了偏移(属于“无意偏移”)。当然，在驾驶员操作方向盘移动的情况下，也同样可以检测车道的偏移(可能属于“有意偏移”)。可以是只要检测到车辆有一定的车道偏移(超过某种程度，比如20％的车道偏移)的情况下，就发出“车道偏移警示”，也可以是只在检测到“无意偏移”的情况下，才发出“车道偏移警示”。或者，依据“无意偏移”或者“有意偏移”的不同程度，来决定是否发出“车道偏移警示”。
关于车道偏离预警，比如在驾驶员拐弯之后，方向盘没有完全打正的情况下，虽然驾驶员没有动方向盘，但是车辆会逐渐偏离车道，在检测到车道偏离之后，自动驾驶域可以类似地发送警示信号到车身域，车身域根据情况生成外显控制指令并发送给外显控制装置，然后外显控制装置控制灯效投影显示和外显屏幕的显示。此时的关于“车道偏离预警”的显示，是主要针对驾驶员来提供的，灯效投影显示可以表现为将该车道两边的车道线打亮，或者是打出一道直直往前延伸的并且够粗的亮光，以便吸引驾驶员的注意。此时，也可以不进行外显屏幕的显示。
5、根据本公开实施例，例如，关于“变道辅助预警”，在车辆变道时，在摄像头或雷达检测到变道过程中有异常或突发状况时，由自动驾驶系统自动启动“变道辅助预警”功能，生成相关警示信号发送到车身域，车身域基于收到的警示信号，可以自动生成外显控制指令，发送给外显控制装置。或者，也可以是由用户(例如驾驶员)手动触发“变道辅助预警”功能(例如通过车辆内的车载设备的交互界面或者通过用户的智能设备的交互界面)，生成相应的外显控制指令并经由车身域发送到外显控制装置。外显控制装置基于所收到的关于“变道辅助预警”的外显控制指令，控制投影灯立刻紧急显示相关预警投影图像(例如打向正确变道方向的灯光)或文字等信息，还可以在显示过程中变换灯光的显示方式(如以上所描述的，在外 显设置中可以包括显示方式相关的参数)来更明显地警示本车以及相关交通参与方。另外，还可以在外显屏幕上进行相应的警示显示，例如显示变道相关的视频或图像或者显示“变道异常”的文字，或者类似这样的组合，以通过各种方式警示相关交通参与方。另外，如上所述，还可以通过声效控制来以更多方式进行警示，从而使得车辆与外界的交互方式更加丰富，交互感更加智能化。
以上关于“预警”类场景检测与显示给出了一些例子，本领域技术人员应当明白，本公开不仅限于这些例子，而是应该涵盖有关交通方面的任何“预警”类场景。
另外，根据本公开实施例，即便同样为“预警”类场景，对应的显示级别也可以不同，比如“前方/后方/侧方碰撞预警”可以比“车道偏移预警”的显示级别高。如果正在显示“车道偏离预警”的主题时，“碰撞预警”功能被启动或触发，则此时可以停止当前的“车道偏离预警”的显示，而优先地紧急切换成“碰撞预警”的显示。也就是说，可以根据车辆所处场景的危险程度来进一步细分显示等级。
下面将描述“提醒”类场景。如上所述，“提醒”类场景针对的是比“预警”类场景的显示级别低的、用于为车辆、行人、周围车辆及其他交通参与者提供信息提示或提醒的场景。
由于“提醒”级别比“预警”级别低，所以，“预警”级别的显示主题可以优先显示。例如，优先显示的含义包括：如果“提醒”级别与“预警”级别的显示主题都需要显示，则此时优先显示高级别的显示主题，即“预警”级别的显示主题。另外，优先显示的含义还包括：如果正在显示低级别的显示主题，例如“提醒”级别的显示主题，而在高级别(例如“预警”级别)的对应功能被启动或触发的情况下，可以紧急切换成高级别的显示主题，即紧急切换成该“预警”级别的显示主题，以保障行车安全。
类似地，对于“示意”级别的显示，当与级别更高的对应功能都需要被显示时，则优先显示级别更高的显示主题。当级别更高的功能被启动或触发的情况下，可以将该“示意”级别的显示紧急切换成显示该级别更高的功能对应的显示主题。
进一步地，根据本公开实施例，在同类(同显示级别的)显示主题下，也可以进一步细分显示级别，以保障高显示级别的主题优先显示，保障行车安全。
另一方面，根据本公开的实施例，在切换显示时，可以全部切换，也可以部分切换。例如，如果当前在显示一个低级别的显示主题，当高级别的显示需要被执行时，可以使用例如投影灯显示高级别的显示主题，使用外显屏幕显示当前显示的(低级别的)显示主题，也可以反过来，例如，使用外显屏幕切换显示高级别的显示主题，使用投影灯显示当前低级别的显示主题。另外，还可以根据车辆所处场景来决定是要切换为使用投影灯显示还是使用外显屏幕来显示高显示级别的显示主题。对于具体的切换方式，本公开不做具体限制。
6、根据本公开实施例，例如，关于“前方行人提醒”，比如摄像头或雷达检测到行人距离车辆过近(例如超过第五阈值距离)，则可以在自动驾驶域生成相关提醒信号，发送到车身域，车身域基于收到的提醒信号，生成外显控制指令，发送给外显控制装置，外显控制装置基于收到的关于“前方行人提醒”的外显控制指令，控制投影灯在行人附近(例如行人脚下)投射灯光以提醒驾驶员和行人(例如通过投射的灯光来呈现相应的提醒图像或文字)，并且可以在外显屏幕上显示“注意安全”之类的提示语或者有关安全提醒的图像或视频等。或者，也可以由例如本车驾驶员手动触发该功能，生成相应的外显控制指令并经由车身域发送到外显控制装置，由此控制投影灯在行人附近(例如行人脚下)投射灯光以提醒行人(例如通过投射的灯光来呈现相应的提醒图像或文字)，并且可以在外显屏幕上显示“注意安全”之类的提示语或者有关安全提醒的图像或视频等。
7、根据本公开实施例，关于“前方车距提醒”，例如，在车辆行驶过程中，如果比如摄像头或雷达检测到前车距离本车过近(例如超过第六阈值距离)，则可以在自动驾驶域生成相关提醒信号，发送到车身域，车身域基于收到的提醒信号，生成外显控制指令，发送给外显控制装置，外显控制装置基于收到的关于“前方车距提醒”的外显控制指令，控制投影灯在本车前方(例如可以是在本车与前车之间)投射灯光(例如通过投射的灯光 来呈现相应的提醒图像或文字)以进行提醒，并且可以在外显屏幕上显示“注意安全”之类的提示语和/或者显示有关安全提醒的图像、视频等。或者，也可以由例如本车驾驶员手动触发该功能，生成相应的外显控制指令并经由车身域发送到外显控制装置，由此控制投影灯和外显屏幕的类似显示。
8、根据本公开实施例，关于“前方安全提醒”，例如，在车辆行驶过程中，如果比如摄像头或雷达检测到前车、前方的行人或者前方的其他交通参与者距离本车过近(例如超过第七阈值距离)，则可以在自动驾驶域生成相关提醒信号，发送到车身域，车身域基于收到的提醒信号，生成外显控制指令，发送给外显控制装置，外显控制装置基于收到的关于“前方安全提醒”的外显控制指令，控制投影灯在本车前方投射灯光来呈现相应的提醒图像或文字以进行提醒，并且可以在外显屏幕上显示“注意安全”之类的提示语和/或者显示有关安全提醒的图像、视频等。或者，也可以由例如本车驾驶员手动触发该功能，生成相应的外显控制指令并经由车身域发送到外显控制装置，由此控制投影灯和外显屏幕的类似显示。
9、根据本公开实施例，关于“后方安全提醒”，例如，在车辆行驶过程中，如果有需要提示后方车辆、行人、或者其他交通参与者注意安全的场景，可以通过自动检测而经由自动驾驶域触发该功能，生成外显控制指令经由车身域转发到外显控制装置，或者，也可以由例如本车驾驶员手动触发该功能，生成相应的外显控制指令并经由车身域发送到外显控制装置，以便由外显控制装置控制在车辆后部的外显屏幕上显示“注意安全”的文字或者安全相关的图像或视频。
需要进行后方安全提醒的场景可能有：本车将要停车或者在停车状态，本车在减速状态或者在刹车状态、本车在将要变道或者在变道状态、本车在将要转弯或调头状态或者已经在转弯或调头状态等等。
10、根据本公开实施例，关于“后方车距提醒”，与上述的“后方安全提醒”类似，在车辆行驶过程中，如果有需要提示后方车辆注意车距的场景，可以在车辆后部的外显屏幕上显示“注意车距”的文字或者安全相关的图像或视频。
需要进行后方车距提醒的场景与后方安全提醒的场景类似，不过两者的区别在于，后方车距提醒针对的对象是后方的车辆，而后方安全提醒针对的不仅可以包括后方的车辆，还可以包括后方的行人以及其他交通参与者。
例如，如果是在高速公路上，后方只有车辆，此时可以使用“后方车距提醒”，而如果是在交通参与者种类较多(例如，行人、自行车、三轮车、汽车等等)的辅路上，则可以使用“后方安全提醒”。
11、根据本公开实施例，关于“左侧安全提醒”，在车辆行驶过程中，如果有需要提示左侧车辆、行人或者其他交通参与者注意安全的场景，可以通过投影灯在偏左方向投射“注意安全”的字样或者投射相关的提醒图像。
12、根据本公开实施例，关于“左侧车距提醒”，与“左侧安全提醒”类似，在车辆行驶过程中，如果有需要提示左侧车辆注意车距的场景，可以通过投影灯在偏左方向投射“注意车距”的字样或者投射相关的提醒图像。
13、根据本公开实施例，关于“右侧安全提醒”，在车辆行驶过程中，如果有需要提示右侧车辆、行人或者其他交通参与者注意安全的场景，可以通过投影灯在偏右方向投射“注意安全”的字样或者投射相关的提醒图像。
14、根据本公开实施例，关于“右侧车距提醒”，与“左侧车距提醒”类似，在车辆行驶过程中，如果有需要提示右侧车辆注意车距的场景，可以通过投影灯在偏右方向投射“注意车距”的字样或者投射相关的提醒图像。
15、根据本公开实施例，关于“前方交通灯提醒”，例如，在车辆行驶过程中，如果比如摄像头或雷达检测到或者地图信息提示前方特定距离范围内有交通灯，则可以在自动驾驶域生成相关提醒信号，发送到车身域，车身域基于收到的提醒信号，生成外显控制指令，发送给外显控制装置，外显控制装置基于收到的关于“前方交通灯提醒”的外显控制指令，控制投影灯在本车前方投射灯光(例如通过投射的灯光来呈现相应的提醒图像或 文字)以进行提醒，并且可以在外显屏幕上显示“注意交通安全”之类的提示语和/或者显示有关安全提醒的图像、视频等。
16、根据本公开实施例，关于“前方车速监测提醒”，例如，在车辆行驶过程中，如果比如摄像头或雷达检测到或者地图信息提示前方有车速监测设施，则可以在自动驾驶域生成相关提醒信号，发送到车身域，车身域基于收到的提醒信号，生成外显控制指令，发送给外显控制装置，外显控制装置基于收到的关于“前方车速监测提醒”的外显控制指令，控制投影灯在本车前方投射灯光(例如通过投射的灯光来呈现“车速监测”相关的提醒图像或文字)以进行提醒。
17、根据本公开实施例，关于“前方拍照提醒”，例如，在车辆行驶过程中，如果比如摄像头或雷达检测到或者地图信息提示前方有交通违规拍照设施，则可以在自动驾驶域生成相关提醒信号，发送到车身域，车身域基于收到的提醒信号，生成外显控制指令，发送给外显控制装置，外显控制装置可以基于收到的关于“前方拍照提醒”的外显控制指令，控制投影灯在本车前方投射灯光(例如通过投射的灯光来呈现“前方有拍照”相关的提醒图像或文字)以进行提醒。
18、根据本公开实施例，关于“本车让行提醒”，例如，在车辆行驶过程中，如果遇到前方有行人横过马路或者有其他交通参与者穿行需要让行的场景，这例如可以由摄像头或雷达主动检测到并由自动驾驶域启动“本车让行提醒”功能，将相关提醒信号发送给车身域，车身域基于收到的相关提醒信号，生成外显控制指令，发送给外显控制装置，外显控制装置可以基于收到的关于“本车让行提醒”的外显控制指令，控制投影灯的灯效投影显示(例如，在本车正前方投影显示“主动停车”相关图像或文字)来提醒本车驾驶员主动停车让行，还可以控制车辆前部的外显屏幕的显示以提示上述行人或其他交通参与者“请继续通行”。
19、根据本公开实施例，关于“关闭远光提醒”，例如，可以在本车的雷达或摄像头等检测到其他车辆的远光灯打开并且影响了本车驾驶员的驾驶时，由自动驾驶域启动“关闭远光提醒”功能，将相关提醒信号发送给车身域，车身域基于收到的相关提醒信号，生成外显控制指令，发送给外显 控制装置，或者也可以由例如本车驾驶员通过交互界面来主动触发该功能，经由车身域将生成的外显控制指令发送到外显控制装置，由此外显控制装置可以控制相应的外显屏幕(如果该其他车辆位于本车对面方向，例如，与本车属于对向行驶，则使用本车前部的外显屏幕来显示；如果该其他车辆位于本车后方，则使用本车后部的外显屏幕来显示)显示“请关闭远光灯”的类似语句或者显示有关远光灯关闭的图像，还可以控制投影灯在合适位置(比如，该其他车辆属于对车时，投影在前方；该其他车辆位于本车后方时，投影在后方；尤其在需关闭远光灯的其他车辆位于本车侧方时，其他车辆的驾驶员可能看不到本车显示屏幕上的显示，此时需要通过投影灯的投影显示来提醒侧方的该车辆，此时，可以将投影灯的投影偏向侧方来显示)来投影显示“请关闭远光灯”的类似语句或显示有关远光灯关闭的图像。
另外，根据本公开实施例，还可以在本车的远光灯忘记关闭时，由本车的自动驾驶域启动“关闭远光提醒”功能，将相关提醒信号发送给车身域，车身域基于收到的相关提醒信号，生成外显控制指令，发送给外显控制装置，由此外显控制装置可以控制投影灯来投影显示“请关闭本车远光灯”的类似语句或显示有关远光灯关闭的图像，由此提醒本车驾驶员关闭远光灯，以便不干扰其他交通参与者的正常交通，实现文明驾驶。
通过上面针对不同的场景呈现不同的显示主题(其包括显示内容、显示方式等)可以看出，投影灯与外显屏幕的显示可以针对不同的场景实现互相之间的配合(关联显示)，从而达到使得车辆与外界的交互更有针对性，更智能化的效果。
20、根据本公开实施例，关于“调头提醒”，例如，在本车将要调头之前和/或在此过程中，由本车的自动驾驶域启动“调头提醒”功能，将相关提醒信号发送给车身域，车身域基于收到的相关提醒信号，生成外显控制指令，发送给外显控制装置，由此外显控制装置可以控制投影灯和外显屏幕来投影显示“请注意安全，本车调头”的类似语句或显示有关车辆调头的图像，由此提醒其他交通参与者注意避让，实现文明驾驶。类似地，也可以由例如本车驾驶员通过交互界面来主动触发该功能，生成外显控制指令 并经由车身域转发到外显控制装置，由此外显控制装置控制投影灯和外显屏幕来投影显示“请注意安全，本车调头”的类似语句或显示有关车辆调头的图像。
21、根据本公开实施例，关于“倒车提醒”，例如，在本车将要倒车之前和/或在此过程中，由本车的自动驾驶域启动“倒车提醒”功能，将相关提醒信号发送给车身域，车身域基于收到的相关提醒信号，生成外显控制指令，发送给外显控制装置，由此外显控制装置可以控制投影灯和外显屏幕来投影显示“请注意安全，本车倒车”的类似语句或显示有关车辆倒车的图像，由此提醒其他交通参与者注意避让，实现文明驾驶。类似地，也可以由例如本车驾驶员通过交互界面来主动触发该功能，生成外显控制指令并经由车身域转发到外显控制装置，由此外显控制装置控制投影灯和外显屏幕来投影显示“请注意安全，本车调头”的类似语句或显示有关车辆调头的图像。
22、根据本公开实施例，关于“停车提醒”，例如，在本车将要停车之前和/或在此过程中，由本车的自动驾驶域启动“停车提醒”功能，将相关提醒信号发送给车身域，车身域基于收到的相关提醒信号，生成外显控制指令，发送给外显控制装置，由此外显控制装置可以控制投影灯和外显屏幕来投影显示“请注意安全，本车停车”的类似语句或显示有关车辆停车的图像，由此提醒其他交通参与者注意避让，实现文明驾驶。类似地，也可以由例如本车驾驶员通过交互界面来主动触发该功能，生成外显控制指令并经由车身域转发到外显控制装置，由此外显控制装置控制投影灯和外显屏幕来投影显示“请注意安全，本车停车”的类似语句或显示有关车辆调头的图像。
22、根据本公开实施例，关于“刹车提醒”，例如，在本车的雷达或摄像头检测到本车需要刹车(例如前方突现行人或宠物或其他车辆)的场景时，由本车的自动驾驶域启动“刹车提醒”功能，将相关提醒信号发送给车身域，车身域基于收到的相关提醒信号，生成外显控制指令，发送给外显控制装置，由此外显控制装置可以控制投影灯显示“请刹车”的类似语句或显示有关刹车的图像，由此提醒本车驾驶员注意刹车，还可以控制外显 屏幕显示“本车刹车，请注意安全”等语句或图像来提醒其他交通参与者注意避让，实现文明驾驶。类似地，也可以由例如本车驾驶员通过交互界面来主动触发该功能，生成外显控制指令并经由车身域转发到外显控制装置，由此外显控制装置控制投影灯和外显屏幕进行类似显示。
23、根据本公开实施例，关于“驾驶时长提醒”，例如，可以由本车的自动驾驶域在本车驾驶员行驶特定时长之后，启动该功能，将相关提醒信号发送给车身域，车身域基于收到的相关提醒信号，生成外显控制指令，发送给外显控制装置，由此外显控制装置可以控制投影灯显示“请注意驾驶时长，防止疲劳驾驶”之类的类似语句或显示有关图像，由此提醒本车驾驶员，还可以控制外显屏幕显示“请注意交通安全，防止疲劳驾驶”等语句或图像来提醒其他车辆，实现文明驾驶。
24、根据本公开实施例，关于“驾驶状态提醒”，例如，可以由本车的自动驾驶域在检测到本车驾驶员驾驶状态可能异常(比如超过特定时长的低头状态或者闭眼状态，过于频繁眨眼的状态等等)之后，启动该功能，将相关提醒信号发送给车身域，车身域基于收到的相关提醒信号，生成外显控制指令，发送给外显控制装置，由此外显控制装置可以控制投影灯显示“请注意驾驶状态”之类的类似语句或显示有关图像，由此提醒本车驾驶员，还可以控制外显屏幕显示“请注意交通安全，防止疲劳驾驶”等语句或图像来提醒其他车辆，实现文明驾驶。
25、根据本公开实施例，关于“行人先行示意”，例如，在车辆行驶过程中，如果遇到前方有行人横过马路，则可以主动停车，等待行人过马路，并通过所述外显控制装置来控制投影灯和外显屏幕的显示来示意行人优先通行。
该过程例如可以是如下这样：在通过雷达或摄像头等检测到车辆前方有行人横过马路时(此为车辆所处场景之一)，则用户(比如可以是车辆的驾驶员)可以主动停车，礼让行人。此时，可以由用户(比如可以是车辆的驾驶员或者是具有权限的副驾驶员或其他人等)手动触发或开启“行人先行示意”功能(例如可以通过在车辆上的车载设备的交互界面或者通过用户的智能设备来触发或开启，该功能对应于“行人先行示意”的显示主题)以 通知外显控制装置控制投影仪在该行人通过的马路上投射动态斑马线，还可以同时控制车辆前部的外显屏幕显示提醒图像(例如类似于行人快走的图像)。投影显示与外显屏幕的显示在此处示出的仅是例子，如前所述，它们可以按照不同的显示方式、显示次序、显示时长等等进行显示，在此不再赘述。
如前所述，投影灯的显示与外显屏幕的显示可以基于显示主题的显示级别来优先显示，因此，如果在行人通过马路过程中，车辆检测到前方/后方/侧方有车辆靠近，则可以立即停止行人先行功能，而是切换成显示“前方/后方/侧方车距提醒”的显示主题，例如，此时的显示可以是通过投影灯投影例如“注意车距”的文字和/或相关的图像，同时也可以在相应的外显屏幕上显示类似的提醒。
另外，如上所述，也可以执行部分切换，比如，仅将外显屏幕的显示切换为“车距提醒”显示主题的显示，而投影灯的显示不变。再或者，也可以将投影灯的显示根据当前场景，切换成在行人脚下投射“注意车距”的提醒。
另外，根据本公开实施例，可以预先建立一个显示对应表，该表用于建立车辆所处场景、显示主题、以及显示内容这三者之间的映射关系，以便在各种不同的场景(包括各种复杂的场景)下，由例如影音域、自动驾驶域、外显控制装置、智能设备、中控设备等通过查找该表，就能够快速确定投影灯与外显屏幕的显示主题与显示内容。
上述的显示对应表可以存储在影音域、自动驾驶域、外显控制装置、智能设备、中控设备等中，也可以存储在车载设备上的存储器中，或者存储在服务器端或云端，以便在需要时通过访问服务器端或云端来读取该表中的信息。还可以对该表中的信息进行添加、修改、删除等操作。
26、根据本公开实施例，关于“交通情况示意”，例如，在车辆行驶时，可以在例如无其他需要警示、提醒、或更高显示级别的示意显示主题需要显示的情况下，经由自动驾驶域主动提供交通情况，具体可以由自动驾驶域主动启动“交通情况示意”功能，车身域生成相应的外显控制指令，发送给外显控制装置，由此外显控制装置基于接收的外显控制指令，控制投影 灯和外显屏幕的显示，例如，通过投影灯显示红色或绿色或黄色来代表前方一定距离范围内的交通状况是“拥堵”、“畅通”还是“不太畅通”，或者通过投影图像来呈现类似的示意效果，通过车辆前部和/或后部的外显屏幕来进行类似的显示。也可以由驾驶员手动触发实现类似的示意功能，在此不再赘述。
26、根据本公开实施例，关于“道路状况示意”，例如，在车辆行驶时，可以在例如无其他需要警示、提醒、或更高显示级别的示意显示主题需要显示的情况下，基于雷达或摄像头的检测结果，或者基于地图信息，经由自动驾驶域主动提供道路状况(例如，道路泥泞、平坦、宽广、窄小等类似的道路状况)，具体可以由自动驾驶域主动启动“道路状况示意”功能，车身域生成相应的外显控制指令，发送给外显控制装置，由此外显控制装置基于接收的外显控制指令，控制投影灯和外显屏幕的显示。也可以由驾驶员手动触发实现类似的示意功能，在此不再赘述。
27、根据本公开实施例，关于“天气状况示意”，例如，在车辆行驶时，可以在例如无其他需要警示、提醒、或更高显示级别的示意显示主题需要显示的情况下，基于雷达或摄像头的检测结果，或者基于地图信息，经由自动驾驶域主动提供天气状况报告(例如，寒冷、炎热、或者具体的气温等等)，具体可以由自动驾驶域主动启动“天气状况示意”功能，车身域生成相应的外显控制指令，发送给外显控制装置，由此外显控制装置基于接收的外显控制指令，控制投影灯和外显屏幕的显示。也可以由驾驶员手动触发实现类似的示意功能，在此不再赘述。
28、根据本公开实施例，关于“情绪调节示意”，例如，在车辆行驶时，可以在例如无其他需要警示、提醒、或更高显示级别的示意显示主题需要显示的情况下，经由自动驾驶域主动提供情绪调节示意相关的投影显示和/或外显屏幕显示，具体可以由自动驾驶域主动启动“情绪调节示意”功能，车身域生成相应的外显控制指令，发送给外显控制装置，由此外显控制装置基于接收的外显控制指令，控制投影灯和外显屏幕的显示，例如，显示“每天好心情”、笑脸表情等等类似的文字或图像。
顺便提及，投影灯与外显屏幕当然可以呈现不同的显示内容，这些都 是可以通过上述的显示对应表来设置，或者通过交互界面来设置的。
28、关于“人行道灯效投影示意”，可以在停车等候行人通行时，为行人点亮灯效投影，例如显示为用投影灯光铺成的斑马线，帮助行人安全通行，并且可以在车辆前部的外显屏幕上显示行人快走的图像或者“注意安全”的字样。
29、关于“点赞示意”，可以在行人或其他车辆主动让行时，投影出大拇指或爱心等点赞示意，并且还可以在车辆前部的外显屏幕上显示“非常感谢”的感谢辞或者“好人一生平安”等类似的祝福语。
实际上，显示主题可以有非常多，本文无法一一罗列，但是本领域技术人员应当明白，本公开适用于显示任何可能的合法主题。另外，关于车辆使用过程中的任何其他警示、提醒、和/或示意，都可以按照上面描述的这些思想和精神，进行相应的显示。
另外，如上所述，每个显示主题都可以有自己所属的显示级别，在实际显示时，可以依据不同显示主题的显示级别来确定要呈现的显示主题，而且，即便是正在显示的过程中，响应于对应于高显示级别的外显控制指令被生成，外显控制装置可以控制显示主题进行切换，即，停止当前的显示，以便优先显示高显示级别的显示主题。
如图5所示，根据一个实施例，本公开提供一种用于车辆的智能交互控制方法，该方法可以包括：
步骤S100，接收对应于车辆所处场景的外显控制指令，以及
步骤S200，基于所述外显控制指令中的外显设置，控制安装在车辆外部的投影灯的灯效投影显示和外显屏幕的显示。
根据一个实施例，该方法还可以包括：
接收对应于车辆所处场景的显示内容，所述显示内容的形式包括文本、图像、视频或者它们的组合。
由此，在步骤S200，所述显示控制装置可以控制所述投影灯和所述外显屏幕来显示接收的对应于车辆所处场景的显示内容。
根据一个实施例，所述灯效投影显示和外显屏幕的显示包括灯效投影显示与外显屏幕的显示之间的同步显示、互相有重叠的异步显示、以及互 相没有重叠的异步显示，如上面已经描述过的那样。
如图6所示，根据一个实施例，该方法还可以包括：
步骤S300，控制车辆的音效装置，以产生音效，从而使其与灯效投影显示和外显屏幕的显示一起，呈现针对车辆所处场景的立体响应效果。
根据本公开的实施例控制车辆的音效装置产生音效，以与所述灯效投影显示和所述外显屏幕的显示一起，呈现针对车辆所处场景的立体响应效果，所述外显控制指令包括有序的一组显示指令，该组显示指令中的每一个可以至少对应于一种所述特定显示主题。
这些显示指令同样可以是由车身域自己生成的，或者由车身域从自动驾驶域或影音域接收到的。由于车辆所处的不同的场景对应于不同的显示主题，由此来确定不同的显示指令。比如，车辆的检测装置(摄像头或雷达等)检测到当前与行人距离过近，则可以确定显示主题例如为“前方行人提醒”，由此自动驾驶域可以生成关于“前方行人提醒”的显示指令，并可以将其发送给车身域，车身域判断灯效投影显示和外显屏幕显示可以开启，则将该显示指令转发给外显控制装置。由此，外显控制装置可以基于接收到的该显示指令来控制投影灯和外显屏幕显示相应的内容，该显示内容可以是从影音域主动请求或者被动接收到的，也可以是存储在车身域或者外显存储装置中的，本发明对此不作任何限制。
关于显示的内容，对于灯效投影显示来说，可以是在行人的位置(例如脚下)投影灯光，引起车辆驾驶员和行人的关注，也可以是在车辆前部的至少一个外显屏幕上显示“请您注意安全”的文字提醒，还可以是在外显屏幕上播放关于“注意安全”的动画，从而使得行人极大提高安全意识并迅速采取躲避措施，由此实现车辆与外界之间更强的智能交互感，从而大大提高车辆行驶的安全性，并大大提升车辆的科技感和仪式感，极大提升用户体验。此外，还可以在投影灯光的同时，投影出有关“刹车提醒”主题的图像(该图像比如可以为“停车”或者“暂停”的标志)，提醒车辆驾驶员随时准备刹车，从而提高行驶安全性。
这里，关于显示主题，可以设立一个显示主题数据库，可供用户依据喜好或情况来挑选使用。由此使得显示效果更丰富、更生动。该显示主题 数据库可以进行修改、删除、添加、更新、维护等，这样的操作可以通过例如用户的智能设备、中控设备、或者车载系统的交互界面来进行，本发明对此不作任何限制。该显示主题数据库可以存储在影音域，也可以存储在车身域，在外显控制装置的存储容量足够大的情况下，也可以直接存储在外显控制装置中。
根据本公开实施例，响应于接收到有关预警的外显控制指令，所示外显控制装置控制投影灯来投影显示相应的预警图像以及控制所述外显屏幕同时显示相应的安全提醒图像。
根据本公开实施例，响应于接收到有关提醒的外显控制指令，所示外显控制装置控制投影灯来投影显示相应的提醒图像以及控制所述外显屏幕同时显示相应的安全提醒图像。
根据本公开实施例，响应于接收到有关示意的外显控制指令，所示外显控制装置控制投影灯和所述外显屏幕来分别显示各自相应的示意图像。
为了便于理解，下面将对于具体的场景和应用来举例进行说明。
如图7所示，在步骤S101，响应于特定距离范围内有碰撞风险的场景，外显控制装置接收到有关碰撞风险的显示指令和用于安全提醒的显示指令。
在步骤S102，外显控制装置基于接收到的显示指令，分别控制投影灯来投影显示出有关碰撞风险的图像以及控制所述外显屏幕同时显示出关于安全提醒的图像。
这里，关于上述的“碰撞风险”的场景包括有“前方/后方/侧方”碰撞风险的场景，可以分别对应于上述的“前方/后方/侧方碰撞提示”的显示主题。
如图8所示，根据本公开实施例，在步骤S201，响应于前方有行人处于特定距离范围(例如300m以内)的场景，外显控制装置接收到用于前方行人提醒的显示指令和用于后方安全提醒的显示指令。
在步骤S202，外显控制装置基于接收到的显示指令，分别控制投影灯来投影显示出关于前方行人提醒的图像以及控制所述外显屏幕之中位于车辆后部的外显屏幕来与投影显示同时地显示出关于后方安全提醒的图像。
在这个例子中，不仅对于车辆前方的行人给出了显示提醒，还对于后 方车辆给出注意安全的提醒。这样的关联显示或者说组合显示，也即互相配合的显示，能够使得车辆与外界之间实现很强的智能交互感。
如图9所示，根据本公开实施例，在步骤S301，响应于本车需停车避让行人的场景，外显控制装置接收到用于本车让行的提醒的显示指令、用于前方行人提醒的显示指令和用于后方安全提醒的显示指令。
在步骤S302，外显控制装置基于接收到的显示指令，分别控制投影灯来投影显示出关于本车让行的提醒的图像、关于前方行人提醒的图像以及控制所述外显屏幕之中位于车辆后部的外显屏幕来显示出关于后方安全提醒的图像。
其中，在投影显示关于本车让行的提醒的图像时，可以例如在行人脚下用投影灯的灯光投射出斑马线，由此礼遇行人，实现更加文明的驾驶。
本例比上一个例子给出了更丰富的交互体验，在车辆与行人的安全性、在本车与相关车辆驾驶员、以及行人的体验上获得更多的优势。
如图10所示，根据本公开实施例，在步骤S303，在所述显示执行过程中，响应于接收到新的显示指令，所述外显控制装置判断所述新的显示指令中包含的显示级别是否高于当前显示的各提醒的显示级别，如果是，则将当前显示的相应提醒的图像切换成针对所述新的显示指令的图像。
例如，在针对停车避让行人的场景或者前方行人提醒的场景进行显示时，响应于特定距离范围内有车辆靠近的场景，所述外显控制装置进行控制，将当前显示切换为相应的有关车距提醒的显示，例如，显示相应的前方/后方/侧方车距提醒的显示主题。
由于上面已经具体描述过从低显示级别切换为高显示级别的具体操作的示例，在此不再赘述。
鉴于篇幅的限制，在此不再列举更多的例子。不过，本领域技术人员通过上面的描述可以明白，通过本公开的技术方案，能够实现车辆与外界之间的更加智能化的交互。
如图8所示，根据一个实施例，本公开提供一种车辆10，该车辆可以包括上述的智能交互控制系统之一。
根据一个实施例，本公开提供一种机器可读存储介质，其上存储有计 算机程序，当该程序被处理器执行时实现如上所述的智能交互控制方法之一。
由此，在本公开的技术方案中，主要考虑了车辆与外界之间的智能交互。
另外，在本公开中，当用户设置好车辆的配置信息之后，车辆可以根据用户的偏好，将用户的所有配置信息保存在云端(例如，服务器端)。而且，包括每一次车辆与外界互动的操作等等这些信息也都会记录，并且可以通过人工智能算法来学习、跟进，训练出优化的处理模型，来实现更加智能的交互。
本申请实施例提供一种车灯控制方法，如图11所示，该方法包括：
步骤S1101、在车辆的底盘与驾驶面不平行的情况下，根据车辆的驾驶姿态或驾驶面状况，确定车辆的外灯的垂直投射角度；
步骤S1102、根据垂直投射角度，触发外灯在驾驶面上投射出与车辆宽度匹配的指示图像。
本申请实施例中，在车辆的车身外围设置有若干个外灯，如常规灯、投影灯、互动信号显示(Interactive signal display，ISD)灯等。外灯可以在驾驶面上投影出与车辆宽度匹配的指示图像，从而实现驾驶区域预测功能。
其中，“驾驶面”可以理解为车辆驾驶过程中，承载车辆的介质，如路面、桥梁等。本申请实施例中，“驾驶”可以包括正在行驶的状态中，即车辆正在移动中；也可以包括停驻状态，即车辆静止状态。
在一个示例中，如图12所示，指示图像包括两条指示光线，分别指示车辆的左边缘和右边缘。指示图像也可以叫做光毯。
在一个示例中，指示图像作为投影数据可以由投影灯投射在驾驶面上。投影灯可以设置在车身前端，用来投影图片、视频等，还可以用作车辆的常规灯，如近远光灯。投影灯可以选用数字光(Digital Light Processing，DLP)灯。
如图13所示，DLP灯控制器通过CAN总线与外灯模块连接，以从外灯模块接收车灯主控命令。DLP灯控制器通过低电压差分信号 (Low-Voltage Differential Signaling，LVDS)连接外灯模块，以从外灯模块接收视频或图片等投影数据。
本申请实施例中，垂直投射角度可以为外灯投射出的光线与车辆的底盘的夹角。例如，如图14所示，A为一侧的外灯出的光线，垂直投射角度为α。
在车辆的底盘与驾驶面平行的情况下，外灯投射出的光线与驾驶面平行，因此，垂直投射角度为0，即不需要设置外灯投射时的垂直投射角度。
但是在车辆的底盘与驾驶面不平行的情况下，车辆底盘通常会有一定的倾角(底盘相对驾驶面的倾斜角度)。如图14所示，如果需要保证外灯投射出的光线A与驾驶面S2平行，则需要确定垂直投射角度α，并触发外灯以该垂直投射角度α投射指示图像。
具体地，可以根据车辆的驾驶姿态或驾驶面状况，确定垂直投射角度。其中，驾驶姿态可以为车辆在驾驶过程中底盘与驾驶面的相对位置关系，例如底盘相对驾驶面的倾斜角度(倾角)。驾驶面状况即驾驶面相对基准面(如水平面S0)的平坦程度，也可以叫坡度。
在车辆的底盘与驾驶面不平行的情况下，调整外灯的垂直投射角度，从而使投射出的光线与驾驶面平行，以更好地投射指示图像。
在一种实施方式中，可以根据车辆的驾驶姿态，确定车辆的外灯的垂直投射角度。具体地，如图15所示，在步骤S1101中包括：
步骤S1501、根据车辆的悬架信息确定底盘相对驾驶面的倾角；
步骤S1502、根据倾角确定所述垂直投射角度。
悬架信息可以包括一个或多个悬架的悬架高度和前后悬架之间的距离。本申请实施例中，悬架高度可以为底盘和轮子与驾驶面的接触部位之间的距离，如左前悬架高度、右前悬架高度、左前悬架高度和右前悬架高度。具体定义方式本申请实施例不作限定，只要保证四个轮子为统一的标准即可。悬架高度可以基于安装于车辆上的悬架高度传感器获得。
在一个示例中，如图14所示，驾驶面S2为坡面，其坡度为β。底盘S1相对驾驶面S2的倾角为γ，垂直投射角度为α，由于垂直投射角度为光线A与底盘S1的夹角，而光线A与驾驶面S2平行，因此，垂直投射角 度α等于底盘S1相对驾驶面S2的倾角γ。
由于车辆底盘在垂直纸面的平面上没有倾斜，因此，可以根据左前悬架高度H_FL、左后悬架高度H_RL以及前后悬架之间的距离L0(B1与B2之间的距离)，计算倾角γ。由此，可以得到垂直投射角度α。
在一种实施方式中，可以根据驾驶面状况，确定车辆的外灯的垂直投射角度。具体地，如图16所示，在步骤S1101中包括：
步骤S1601、确定驾驶面的坡度；
步骤S1602、根据坡度从预设的多个角度范围中确定出目标角度范围；
步骤S1603、将目标角度范围所对应的预设角度作为垂直投射角度。
在一个示例中，驾驶面的坡度可以基于卫星地图信号得到，例如，车辆可以与云端或路侧设备通讯，发送本车的位置，进而获得云端或路侧设备返回的驾驶面信息，该信息中可以包括驾驶面的坡度。
在另一个示例中，驾驶面的坡度也可以根据车辆上的传感器对驾驶面的检测信息而得到。
在又一个示例中，坡度还可以根据车辆的驾驶状态，如轮速、航向角速率、转向角以及悬架信息等确定。
当车辆在坡路上行驶时，车身纵向加速度传感器测得的信号Ax_sensor中包括重力加速度沿坡度的分量g*sin(a)，而由车速求导得到的加速度Ax_cal则不包括此信息，因此可以用二者的差异进行纵向坡度的估计。
具体地，车辆的左前轮纵向轮速VX_FL_CAL、左前轮轮速Vx_FL、航向角速率Yaw、前轮转向角Ang、前轴到质心的距离L1、后轴到质心的距离L2和轮距Track满足以下关系：
VX_FL_CAL＝{Vx_FL+[(L1+L2)*Yaw*sin(Ang)]}/cos(Ang)+Yaw*Track/2车辆的右前轮纵向轮速VX_FR_CAL、右前轮轮速Vx_FR、航向角速率Yaw、前轮转向角Ang、前轴到质心的距离L1、后轴到质心的距离L2和轮距Track满足以下关系：
VX_FR_CAL＝{Vx_FR-[(L1+L2)*Yaw*sin(Ang)]}/cos□Ang□-Yaw*Track/2
车辆的左后轮纵向轮速VX_RL_CAL、左后轮轮速Vx_RL、航向角速率Yaw和轮距Track满足以下关系：
VX_RL_CAL＝Vx_RL+Yaw*Track/2；
车辆的右后轮纵向轮速VX_RR_CAL、右后轮轮速Vx_RR、航向角速率Yaw和轮距Track满足以下关系：
VX_RR_CAL＝Vx_RR-Yaw*Track/2。
根据以上公式可以得到车辆四个轮子的轮速，然后通过轮速可以计算车辆的纵向速度，再根据车辆的纵向速度可以计算车辆实际的纵向加速度Ax_cal。
而通过四个悬架的高度信号，得出悬架系统前后的平均高度差：
H_DIFF＝(H_RR+H_RL)/2–(H_FL+H_FR)/2；
其中，H_RR、H_RL、H_FL、H_FR分别是右后轮、左后轮、左前轮、右前轮的悬架高度。
进一步地，前后高度差/悬架前后距离可以得到sin(sus_ang)，sus_ang为悬架系统倾角。
因此，坡度为arcsin((ax_sensor–ax_cal)/g)–sus_ang，其中，ax_sensor为车载加速度传感器的加速度值，g为重力加速度。
进一步地，可以预设多个角度范围，每个角度范围对应有一个预设角度，即垂直投射角度。因此，在确定驾驶面的坡度后，可以从预设的多个角度范围中找出对应的目标角度范围，然后确定该目标角度范围所对应的预设角度，即得到当前坡度对应的垂直投射角度。
在一种实施方式中，根据车辆的轮速、航向角速率、转向角以及悬架信息等确定的坡度，即arcsin((ax_sensor–ax_cal)/g)–sus_ang，可以作为驾驶面相对基准面的初始倾斜角度。在车辆激烈驾驶行为下，将初始倾斜角度作为坡度会影响精度，原因在于：加速度信号的噪声与干扰会对坡度估计有影响；车速信号是根据轮速估算得到的，当车轮存在较大滑动率时，车速信号不能反应实际车速；当转向时，轮速包含侧向成分，不能精确反应纵向加速度；车身抖动及加速度剧烈波动也会对坡度估计有影响：如不平路行驶、急加速急制动等。
在一个示例中，在步骤S1601中可以包括：根据车辆的轮速、航向角速率、转向角以及悬架信息，确定驾驶面相对基准面的初始倾斜角度；在 车辆处于加速工况的情况下，确定车辆的加速等级；根据加速等级确定对应的第一滤波参数；采用第一滤波参数对初始倾斜角度进行修正，以得到坡度。
车辆在下坡过程中，突然抬起制动踏板；或者突然深踩加速踏板等情况，都可以产生加速效果，使车辆处于加速工况。
进而，可以根据加速度梯度、驱动扭矩、加速度三者来确定加速度剧烈程度分级，即加速等级。
首先，按照下表定义加速度梯度权重、驱动扭矩权重、加速度权重：
Figure PCTCN2021117807-appb-000001
进而，加速等级W1＝L_TOR+L_D_AX*L_AX。
其中，加速度梯度＝车辆传感器获取的加速度对时间导数-以上计算得到的实际的纵向加速度Ax_cal对时间的导数。
进一步地，根据加速等级确定对应的第一滤波参数。在一个示例中，可以使用一阶递归离散滤波器对初始倾斜角度进行滤波，在不同的加速等级W1下，使用不同的第一滤波参数a。例如：加速等级W1越大，第一滤波参数a越大。
进一步地，采用第一滤波参数a对初始倾斜角度进行修正，以得到坡度。具体地，一阶递归离散滤波器的函数为：Y1n＝a*X1n+(1-a)*Y1n-1。其中，Y1n是坡度的输出值，X1n为初始倾斜角度，Y1n-1是上一时刻采样计算的坡度的输出值，截止频率为a/2*pi*T,T为采样时间间隔。
通过设置不同的第一滤波参数a，可以调整对初始倾斜角度的缩小效 果，从而降低误差。
在另一个示例中，在步骤S1601中可以包括：根据车辆的轮速、航向角速率、转向角以及悬架信息，确定驾驶面相对基准面的初始倾斜角度；在车辆处于减速工况的情况下，确定车辆的减速等级；根据减速等级确定对应的第二滤波参数；采用第而滤波参数对初始倾斜角度进行修正，以得到坡度。
车辆在坡面行驶过程中，如果突然抬起油门，车辆突然失去动力，在阻力作用下，产生明显的减速效果；或者滑行能量回收；或者制动时主缸压力上升，产生制动力等情况，都可以产生减速效果，使车辆处于减速工况。
进而，可以根据主缸压力(含能量回收时回收扭矩等效成的压力值)、减速度、减速度的梯度，对减速度剧烈程度进行分级，即减速等级。
(1)可以基于驾驶员动作确定第一权重因子A：将制动主缸压力分成四个等级，将驱动扭矩梯度分成四个等级，如下表所示：
Figure PCTCN2021117807-appb-000002
(2)可以基于车辆减速度确定第二权重因子D：将车辆减速度分成四个等级，表示等级的数字D为0、3、5、8，也可以用其他的数字来表示，如下表所示：
Figure PCTCN2021117807-appb-000003
Figure PCTCN2021117807-appb-000004
(3)可以基于车辆减速度梯度确定第三权重因子G：根据车辆减速度梯度分成四个等级，表示等级的数字G为1、2.35、2.4、2.5，也可以用其他的数字来表示，如下表所示：
Figure PCTCN2021117807-appb-000005
进一步地，基于第一权重因子A、第二权重因子D和第三权重因子G，确定减速等级权重Y＝A*D+G，如图7所示。然后，基于减速等级权重确定最终的减速等级。
例如，可以划分为四个级别：当减速等级权重Y<5.4时，减速等级为一级；当5.4≤Y<7.2时，减速等级为二级；当7.2≤Y<10.4时，减速等级为三级；当10.4≤Y时，减速等级为四级。
进一步地，根据减速等级确定对应的第二滤波参数。在一个示例中，可以使用一阶递归离散滤波器对初始倾斜角度进行滤波，在不同的减速等级W2下，使用不同的第二滤波参数b。例如：减速等级W2越大，第二滤波参数b越大。
进一步地，采用第二滤波参数b对初始倾斜角度进行修正，以得到坡度。具体地，一阶递归离散滤波器的函数为：Y2n＝b*X2n+(1-b)*Y2n-1。其中，Y2n是坡度的输出值，X2n为初始倾斜角度，Y2n-1是上一时刻采样计算的坡度的输出值，截止频率为b/2*pi*T,T为采样时间间隔。
通过设置不同的第三滤波参数c，可以调整对初始倾斜角度的缩小效果，从而降低误差。
在一种实施方式中，如果同时出现加速工况和转向工况，可以进行串联级别的滤波，即进行两次滤波；也可以根据加速等级和转向等级，确定一个综合等级，然后基于该综合等级进行一次性滤波。
在一种实施方式中，如果同时出现减速工况和转向工况，可以进行串联级别的滤波，即进行两次滤波；也可以根据减速等级和转向等级，确定一个综合等级，然后基于该综合等级进行一次性滤波。
在一种实施方式中，如图18所示，本申请实施的方法还可以包括：
步骤S1801、根据车辆的电动助力转向转角值以及方向盘转角值，确定外灯的水平投射角度；
步骤S1802、触发外灯以水平投射角度投射指示图像。
具体地，当电动助力转向系统(Electric Power Steering，EPS)的内部转角信号有效，方向盘转角传感器(Steering Angle Sensor，SAS)的转角信号也有效的情况下，采用EPS内部的电动助力转向转角值(简称EPS值)作为水平投射角度。当EPS的内部转角信号有效和SAS的转角信号只有一个有效的情况下，选择有效信号的转角值作为水平投射角度。当EPS的内部转角信号有效和SAS的转角信号均无效时，水平投射角度为0。
在车辆的转向过程中，根据车辆的转角值确定水平投射角度，并以该水平投射角度投射指示图像，可以实现指示图像随车辆转向而动(如图19所示)，从而为驾驶员提供驾驶轨迹预测和通过性的辅助判断。
在一种实施方式中，指示图像的投射可以设置触发条件，例如：在光线条件和/或车速条件满足预设条件的情况下，触发外灯在驾驶面上投射出与车辆宽度匹配的指示图像。
也就是说，在步骤S1101之前可以包括：在光线条件和/或车速条件满足预设条件的情况下，检测底盘与驾驶面是否平行。或者，在步骤S1801之前还可以包括：在光线条件和/或车速条件满足预设条件的情况下，检测车辆是否转向。
在一个示例中，在光线的明亮程度低于第一预设标准，以及车速低于第二预设标准，触发车辆的外灯模块在道路上投影出与车辆的宽度相同的指示线。
例如：车速低于30km/h，且车辆夜间驾驶在光线不明的道路上时，道路间距可能掌握不好，还有其他未知数，可以触发驾驶区域预测功能，即外灯(DLP灯)可以投射出与车身宽度相等的指示图像。一方面可以起到照明作用，另一方面可以兼职标线引导，为驾驶员提供驾驶轨迹和通过性的辅助判断，在低速时可由驾驶员主动打开，从而提高行车安全，避免车辆的刮蹭。
用户在如下场景下可以手动激活(触发)驾驶区域预测(指示图像)：车辆在低速驾驶且驾驶员不确定车道宽度时，可手动开启驾驶区域预测功能。
在一个示例中，如图20-1所示，当用户通过中控大屏选择该开启该功能时，使能开关信号被触发，影音域控制器(IDCM)通过中央网关向车身域控制器(BDCM)发送驾驶区域预测功能使能开关信号，BDCM向外灯模块发送驾驶区域预测功能使能开关信号、灯光按钮AUTO信号、点火开关ON信号、近光灯开启信号和车速信号，并转发给DLP灯控制器，DLP灯控制器将控制信号输入DLP灯的驱动模块，进而驱动DLP灯在激活驾驶区域预测功能时，在自己车辆前方显示指示图像。
本申请实施例还提供一种车灯控制装置，如图21所示，该装置包括：
垂直投射角度确定模块2101，用于在车辆的底盘与驾驶面不平行的情况下，根据车辆的驾驶姿态或驾驶面状况，确定车辆的外灯的垂直投射角度；
第一指示图像投射模块2102，用于触发外灯以垂直投射角度在驾驶面上投射出与车辆宽度匹配的指示图像。
在一种实施方式中，垂直投射角度确定模块2101包括：
倾角确定子模块，用于根据车辆的悬架信息确定底盘相对驾驶面的倾角，悬架信息包括一个或多个悬架的悬架高度以及前后悬架之间的距离；
第一垂直投射角度确定子模块，用于根据倾角确定垂直投射角度。
在一种实施方式中，垂直投射角度确定模块2101包括：
坡度确定子模块，用于确定驾驶面的坡度；
目标角度范围确定子模块，用于根据坡度从预设的多个角度范围中确定出目标角度范围；
第二垂直投射角度确定子模块，用于将目标角度范围所对应的预设角度作为垂直投射角度。
在一种实施方式中，坡度确定子模块用于：根据车辆的轮速、航向角速率、转向角以及悬架信息，确定驾驶面相对基准面的初始倾斜角度；在车辆处于加速工况的情况下，确定车辆的加速等级；根据加速等级确定对 应的第一滤波参数；采用第一滤波参数对初始倾斜角度进行修正，以得到坡度。
在一种实施方式中，坡度确定子模块用于：根据车辆的加速度梯度、驱动扭矩和加速度，分别确定加速度梯度权重、驱动扭矩权重和加速度权重；根据加速度梯度权重、驱动扭矩权重和加速度权重确定加速等级。
在一种实施方式中，坡度确定子模块用于：根据车辆的轮速、航向角速率、转向角以及悬架信息，确定驾驶面相对基准面的初始倾斜角度；在车辆处于减速工况的情况下，确定车辆的减速等级；根据减速等级确定对应的第二滤波参数；采用第二滤波参数对初始倾斜角度进行修正，以得到坡度。
在一种实施方式中，坡度确定子模块用于：根据车辆的制动主缸压力和驱动扭矩梯度，确定第一权重因子；根据车辆的减速度确定第二权重因子；根据车辆的减速度梯度确定第三权重因子；根据第一权重因子、第二权重因子和第三权重因子，确定减速等级权重；根据减速等级权重确定减速等级。
在一种实施方式中，坡度确定子模块用于：根据车辆的轮速、航向角速率、转向角以及悬架信息，确定驾驶面相对基准面的初始倾斜角度；在车辆处于转向工况的情况下，确定车辆的转向等级；根据转向等级确定对应的第三滤波参数；采用第三滤波参数对初始倾斜角度进行修正，以得到坡度。
在一种实施方式中，坡度确定子模块用于：根据车辆的侧向加速度梯度确定侧向加速度梯度权重；根据车辆的传感器获得的侧向加速度确定侧向加速度权重；根据航向角速率确定航向角速率权重；根据侧向加速度梯度权重、侧向加速度权重和航向角速率权重，确定转向等级。
在一种实施方式中，该装置还包括：
水平投射角度确定模块，用于根据车辆的电动助力转向转角值以及方向盘转角值，确定外灯的水平投射角度；
第二指示图像投射模块，用于触发外灯以水平投射角度投射指示图像。
在一种实施方式中，该装置还包括：
平行检测模块，用于在光线条件和/或车速条件满足预设条件的情况下，检测底盘与驾驶面是否平行。
本申请实施例各装置中的各模块的功能可以参见上述方法中的对应描述，在此不再赘述。
本申请实施例还提供一种车辆，包括以上任一种实施方式的车灯控制装置。
在一个应用示例中，车灯控制方法包括：在光线条件和/或车速条件满足预设条件的情况下，触发车辆的外灯模块在道路上投影出与所述车辆的宽度匹配的指示线(也可以叫做光毯，如图12所示)，从而实现行驶区域预测(驾驶区域预测)功能。
在光线的明亮程度低于第一预设标准，以及车速低于第二预设标准，触发车辆的外灯模块在道路上投影出与车辆的宽度相同的指示线。
例如：车速低于30km/h，且车辆夜间行驶在光线不明的道路上时，道路间距可能掌握不好，还有其他未知数，可以触发行驶区域预测功能，即外灯(DLP灯)可以投射出两条与车身宽度相等的道路标线(指示线)，一方面可以起到照明作用，另一方面可以兼职标线引导，为驾驶员提供行驶轨迹和通过性的辅助判断，在低速时可由驾驶员主动打开，从而提高行车安全，避免车辆的刮蹭。
用户在如下场景下可以激活(触发)行驶区域预测(光毯)：车辆在低速行驶且驾驶员不确定车道宽度时，可手动开启行驶区域预测功能。
车辆在低速行驶时，行驶区域预测功能被手动开启后，智能大灯控制器(外灯模块)接收来自车身的信号控制前照灯投影与车辆等宽的高亮线条，线条的曲率会根据车辆舵角信号自适应调整(如图19所示)。
在一个示例中，根据产品输入，取消【大灯行驶轨迹提示使能开关】，产品提供一个一级按钮，当车辆满足以上条件时此按钮呈可按状态，当不满足条件时，此按键置灰显示。行驶轨迹提示触发按钮，为一级菜单显示，当条件不满足时，此按钮置灰显示，当满足条件时，此按钮呈可按状态显示，供用户实时触发该功能。
CAN信号流如下表所示：
Figure PCTCN2021117807-appb-000006
Figure PCTCN2021117807-appb-000007
需求来源如下表所示
Figure PCTCN2021117807-appb-000008
在一个示例中，如图20-2所示，触发行驶区域预测功能的前提条件包括：点火开关ON；和/或近光灯开启；和/或灯光旋钮状态为AUTO；和/或用户在中控中选择【大灯行驶轨迹提示使能开关】使能开关处于打开状态。进入条件包括：自车速小于等于30km/h(TBD)；和/或档位为D档状态；和/或用户手动选择打开【行驶轨迹提示触发请求信号】使能按钮。退出条件包括：点火开关切换为OFF；和/或近光灯关闭；和/或灯光旋钮状态切换为非AUTO；【大灯行驶轨迹提示使能开开关】处于关闭状态；档位为非D档状态且自车速大于30km/h；和/或用户未选择打开【行驶轨迹提示触发请求信号】使能按钮。
中控界面上需要【大灯行驶轨迹提示使能开关】使能开关，有打开和关闭两种状态，可以为二级菜单虚拟按键。使能开关的默认状态待定。
中控界面上需要【行驶轨迹提示按钮信号】按钮，为一级按钮，在满足前提条件和进入条件时，该按钮激活显示；当不满足上述条件时，该按钮呈置灰显示，默认为关闭状态。
下表示出了行驶区域预测功能的实现方式的示例。
Figure PCTCN2021117807-appb-000009
结合图13和图20-1所示，在该示例中，当用户通过中控大屏选择该 开启该功能时，使能开关信号被触发，影音域控制器(IDCM)通过中央网关向车身域控制器(BDCM)发送行驶区域预测功能使能开关信号，BDCM向外灯模块发送行驶区域预测功能使能开关信号、灯光按钮AUTO信号、点火开关ON信号、近光灯开启信号和车速信号，并转发给DLP灯控制器，DLP灯控制器将控制信号输入DLP灯的驱动模块，进而驱动DLP灯在激活行驶区域预测功能时，在自己车辆两端显示等宽线条(光毯)。BDCM向外灯模块发送方向盘转角信号以及车轮实际转向值，并转发给DLP灯控制器，DLP灯控制器将控制信号输入DLP灯的驱动模块，进而驱动DLP灯的光毯跟随自车的转向进行实时调整。
在一个示例中，行驶区域预测功能的执行时序如下表所示：
Figure PCTCN2021117807-appb-000010
当DLP Master ECU检测到自身故障时，主动关闭该投影功能，并通过总线或诊断上报Master故障给整车；DLP Master ECU故障时基本近光功能仍然有效；DLP Master ECU功能安全级别为QM，无功能安全要求。
本申请实施例提供一种车灯控制装置，包括：
触发模块，用于在光线条件和/或车速条件满足预设条件的情况下，触发车辆的外灯模块在道路上投影出与所述车辆的宽度匹配的指示线。
在一种实施方式中，所述触发模块还用于：
在所述光线的明亮程度低于第一预设标准，以及所述车速低于第二预设标准的情况下，触发所述车辆的外灯模块在道路上投影出与所述车辆的宽度相同的指示线。
图22示出根据本发明一实施例的车灯控制设备的结构框图。如图22所示，该设备包括：存储器2201和处理器2202，存储器2201内存储有可在处理器2202上运行的计算机程序。处理器2202执行该计算机程序时实现上述实施例中的方法。实际应用中，存储器2201和处理器2202的数量可以为一个或多个。
该设备还包括：
通信接口2203，用于与外界设备进行通信，进行数据交互传输。
如果存储器2201、处理器2202和通信接口2203独立实现，则存储器2201、处理器2202和通信接口2203可以通过总线相互连接并完成相互间的通信。该总线可以是工业标准体系结构(Industry Standard Architecture，ISA)总线、外部设备互连(Peripheral Component Interconnect，PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，EISA)总线等。该总线可以分为地址总线、数据总线、控制总线等。为便于表示，图22中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
可选的，在具体实现上，如果存储器2201、处理器2202及通信接口2203集成在一块芯片上，则存储器2201、处理器2202及通信接口2203可以通过内部接口完成相互间的通信。
本发明实施例提供了一种计算机可读存储介质，其存储有计算机程序，该程序被处理器执行时实现本申请实施例中提供的方法。
本申请实施例还提供了一种芯片，该芯片包括，包括处理器，用于从存储器中调用并运行存储器中存储的指令，使得安装有芯片的通信设备执行本申请实施例提供的方法。
本申请实施例还提供了一种芯片，包括：输入接口、输出接口、处理器和存储器，输入接口、输出接口、处理器以及存储器之间通过内部连接通路相连，处理器用于执行存储器中的代码，当代码被执行时，处理器用于执行申请实施例提供的方法。
应理解的是，上述处理器可以是中央处理器(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(digital signal processing，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者是任何常规的处理器等。值得说明的是，处理器可以是支持进阶精简指令集机器(advanced RISC machines，ARM)架构的处理器。
进一步地，可选的，上述存储器可以包括只读存储器和随机存取存储器，还可以包括非易失性随机存取存储器。该存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以包括只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以包括随机存取存储器(random access memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用。例如，静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic random access memory，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data date SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct ram bus RAM，DRRAM)。
本申请实施例还提供了一种车辆，包括上述的车灯控制设备。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机程序指令时，全部或部分地产生按照本申请的流程或功能。 计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包括于本申请的至少一个实施例或示例中。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分。并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。
应理解的是，本申请的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。上述实施例方法的全部或 部分步骤是可以通过程序来指令相关的硬件完成，该程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本申请各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。上述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读存储介质中。该存储介质可以是只读存储器，磁盘或光盘等。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到其各种变化或替换，这些都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (64)

  1. 一种用于车辆的智能交互控制系统，包括：
    外显控制装置，被配置用于接收对应于车辆所处场景的外显控制指令，并且基于所述外显控制指令中的外显设置，控制安装在车辆外部的投影灯的灯效投影显示和外显屏幕的显示。
  2. 根据权利要求1所述的智能交互控制系统，其中，所述外显控制装置基于所述外显设置，不仅能够分别控制投影灯和/或外显屏幕的单独显示，还能够控制投影灯与外显屏幕的关联显示。
  3. 根据权利要求1所述的智能交互控制系统，其中，所述外显控制指令中的所述外显设置包含以下至少之一：
    用于投影灯的灯效投影显示的显示参数；
    用于外显屏幕的显示的显示参数；
    用于投影灯与外显屏幕相互关联地显示的显示参数。
  4. 根据权利要求3所述的智能交互控制系统，其中，所述显示参数包括如下至少之一：
    与显示次序有关的参数；
    与显示时长或显示速度有关的参数；
    与显示开始时间和/或显示结束时间有关的参数；
    与显示方式有关的参数；
    与显示级别和/或车辆场景有关的参数。
  5. 根据权利要求1所述的智能交互控制系统，其中，所述灯效投影显示和外显屏幕的显示用于表现相应的显示主题，各显示主题属于相应的显示级别。
  6. 根据权利要求5所述的智能交互控制系统，其中，所述显示级别的确定因素包括车辆所处场景的危险程度，以及其中，所述外显控制装置控制所述投影灯和所述外显屏幕优先显示具有更高的显示级别的显示主题。
  7. 根据权利要求6所述的智能交互控制系统，其中，当较低显示级别的显示主题与较高显示级别的显示主题需要显示时，所述外显控制装置控 制投影灯和/或外显屏幕显示该较高显示级别的显示主题。
  8. 根据权利要求6所述的智能交互控制系统，其中，当一个较低显示级别的显示主题正在显示时，响应于接收到与较高显示级别的显示主题对应的外显控制指令，外显控制装置控制投影灯和/或外显屏幕从当前的显示切换成该较高显示级别的显示主题的显示。
  9. 根据权利要求5-8中的任一项所述的智能交互控制系统，其中，所述显示级别至少包括警示级别、提醒级别、示意级别。
  10. 根据权利要求1所述的智能交互控制系统，其中，所述外显控制装置还被配置用于从所述车辆的影音域接收对应于车辆所处场景的显示内容，所述显示内容的形式包括文本、图像、视频或者它们的组合，以及
    其中，所述外显控制装置控制所述投影灯和所述外显屏幕显示接收的对应于车辆所处场景的显示内容。
  11. 根据权利要求5所述的智能交互控制系统，其中，所述显示主题和显示内容是通过查找预先建立的显示对应表来确定的，该显示对应表用于至少在车辆所处场景、显示主题、显示内容之间建立映射关系。
  12. 根据权利要求5所述的智能交互控制系统，其中，所述显示主题和显示内容是通过查找预先建立的显示对应表来确定的，该显示对应表用于至少在车辆所处场景、显示主题、显示内容、显示级别之间建立映射关系。
  13. 根据权利要求1-8、10-12中的任一项所述的智能交互控制系统，其中，所述灯效投影显示和外显屏幕的显示包括灯效投影显示与外显屏幕的显示之间的同步显示、互相有重叠的异步显示、以及互相没有重叠的异步显示。
  14. 根据权利要求1-8、10-12中的任一项所述的智能交互控制系统，其中，所述外显控制指令是从所述车辆的车身域、或者从所述车辆的中控设备或用户的智能设备接收的，
    其中，所述车辆的自动驾驶域通过感测装置识别车辆所处场景，并响应于识别的所述场景，自动地向所述车身域发送对应于该场景的信号，所述车身域基于所述信号来生成对应的外显控制指令并发送给所述外显控制 装置，以及
    其中，响应于用户在交互界面上的操作，或者响应于检测到用户的特定姿态、用户的特定动作、或者用户的特定语音命令，所述车辆的中控设备或所述用户的智能设备生成外显控制指令并发送至车辆的所述车身域，所述车身域将所述外显控制指令转发给所述外显控制装置，以及
    其中，所述车身域在自己生成外显控制指令之前或者在将接收的外显控制指令转发给外显控制装置之前，判断是否满足灯效投影显示条件与外显屏幕显示条件。
  15. 根据权利要求1-8、10-12中的任一项所述的智能交互控制系统，其中，所述灯效投影显示和外显屏幕的显示均能够用于提供如下的特定显示主题至少之一或它们的任意组合：前方碰撞预警、后方碰撞预警、侧方碰撞预警、车道偏离预警、变道辅助预警、前方行人提醒、前方安全提醒、前方车距提醒、后方安全提醒、后方车距提醒、左侧车距提醒、左侧安全提醒、右侧车距提醒、右侧安全提醒、前方交通灯提醒、前方车速监测提醒、前方拍照提醒、本车让行提醒、关闭远光提醒、调头提醒、倒车提醒、停车提醒、刹车提醒、驾驶时长提醒、驾驶状态提醒、交通情况示意、道路状况示意、天气状况示意、情绪调节示意、人行道灯效投影示意、点赞示意、行人先行示意、以及其他预警、提醒、示意。
  16. 根据权利要求5-8中的任一项所述的智能交互控制系统，其中，所述外显控制指令包括有序的一组显示指令，该组显示指令中的每一个至少对应于一种显示主题。
  17. 根据权利要求1-8、10-12中的任一项所述的智能交互控制系统，其中，
    响应于接收到有关预警的外显控制指令，所示外显控制装置控制投影灯来投影显示相应的预警图像以及控制所述外显屏幕同时显示相应的安全提醒图像。
  18. 根据权利要求1-8、10-12中的任一项所述的智能交互控制系统，其中，
    响应于接收到有关提醒的外显控制指令，所示外显控制装置控制投影 灯来投影显示相应的提醒图像以及控制所述外显屏幕同时显示相应的安全提醒图像。
  19. 根据权利要求1-8、10-12中的任一项所述的智能交互控制系统，其中，
    响应于接收到有关示意的外显控制指令，所示外显控制装置控制投影灯和所述外显屏幕来分别显示各自相应的示意图像。
  20. 根据权利要求16所述的智能交互控制系统，其中，
    响应于前方有行人处于特定距离范围内的场景，外显控制装置接收到用于前方行人提醒的显示指令和用于后方安全提醒的显示指令，并且，外显控制装置基于接收到的显示指令，分别控制投影灯来投影显示出关于前方行人提醒的图像以及控制所述外显屏幕之中位于车辆后部的外显屏幕来与投影显示同时地显示关于后方安全提醒的图像。
  21. 根据权利要求16所述的智能交互控制系统，其中，
    响应于本车需停车避让行人的场景，外显控制装置接收到用于本车让行的提醒的显示指令、用于前方行人提醒的显示指令和用于后方安全提醒的显示指令，并且，外显控制装置基于接收到的显示指令，分别控制投影灯来投影显示出关于本车让行的提醒的图像、关于前方行人提醒的图像以及控制所述外显屏幕之中位于车辆后部的外显屏幕来显示出关于后方安全提醒的图像。
  22. 根据权利要求20-21中的任一项所述的智能交互控制系统，其中，
    在所述显示执行过程中，响应于接收到新的显示指令，所述外显控制装置判断所述新的显示指令中包含的显示级别是否高于当前显示的各提醒的显示级别，如果是，则将当前显示的相应提醒的图像切换成针对所述新的显示指令的图像。
  23. 根据权利要求20-21中的任一项所述的智能交互控制系统，其中，响应于特定距离范围内有车辆靠近的场景，所述外显控制装置进行控制，将当前显示切换为相应的有关车距提醒的显示。
  24. 根据权利要求1-8、10-12中的任一项所述的智能交互控制系统，其中，所述外显控制装置还被配置为控制车辆的音效装置产生音效，以与 灯效投影显示和外显屏幕的显示一起，呈现针对车辆所处场景的立体响应效果。
  25. 根据权利要求1-8、10-12中的任一项所述的智能交互控制系统，其中，所述外显控制装置包括分别用于控制投影灯的灯效投影显示和用于控制外显屏幕的显示的投影灯控制装置和外显屏幕控制装置。
  26. 一种用于车辆的智能交互控制方法，包括：
    接收对应于车辆所处场景的外显控制指令，以及
    基于所述外显控制指令中的外显设置，控制安装在车辆外部的投影灯的灯效投影显示和外显屏幕的显示。
  27. 根据权利要求26所述的智能交互控制方法，其中，基于所述外显设置，控制投影灯和/或外显屏幕的单独显示以及投影灯与外显屏幕的关联显示。
  28. 根据权利要求26所述的智能交互控制方法，其中，所述灯效投影显示和外显屏幕的显示用于表现相应的显示主题，各显示主题属于相应的显示级别。
  29. 根据权利要求28所述的智能交互控制方法，其中，所述显示级别的确定因素包括车辆所处场景的危险程度，以及，
    控制投影灯的灯效投影显示和外显屏幕的显示包括：控制所述投影灯和所述外显屏幕优先显示具有更高的显示级别的显示主题。
  30. 根据权利要求28所述的智能交互控制方法，其中，控制投影灯的灯效投影显示和外显屏幕的显示包括：
    当一个较低显示级别的显示主题正在显示时，响应于接收到与较高显示级别的显示主题对应的外显控制指令，控制投影灯和/或外显屏幕从当前的显示切换成该较高显示级别的显示主题的显示。
  31. 根据权利要求26所述的智能交互控制方法，其中，所述灯效投影显示和外显屏幕的显示包括灯效投影显示与外显屏幕的显示之间的同步显示、互相有重叠的异步显示、以及互相没有重叠的异步显示。
  32. 根据权利要求26-31中的任一项所述的智能交互控制方法，其中，控制投影灯的灯效投影显示和外显屏幕的显示包括：
    响应于接收到有关预警的外显控制指令，控制投影灯来投影显示相应的预警图像以及控制所述外显屏幕同时显示相应的安全提醒图像。
  33. 根据权利要求26-31中的任一项所述的智能交互控制方法，其中，控制投影灯的灯效投影显示和外显屏幕的显示包括：
    响应于接收到有关提醒的外显控制指令，控制投影灯来投影显示相应的提醒图像以及控制所述外显屏幕同时显示相应的安全提醒图像。
  34. 根据权利要求26-31中的任一项所述的智能交互控制方法，其中，控制投影灯的灯效投影显示和外显屏幕的显示包括：
    响应于接收到有关示意的外显控制指令，所示外显控制装置控制投影灯和所述外显屏幕来分别显示各自相应的示意图像。
  35. 一种车辆，包括：
    根据权利要求1-25中的任一项所述的智能交互控制系统。
  36. 一种机器可读存储介质，其上存储有计算机程序，当该程序被处理器执行时实现如权利要求26-34中任一项所述的智能交互控制方法。
  37. 一种车灯控制方法，其特征在于，包括：
    在车辆的底盘与驾驶面不平行的情况下，根据车辆的驾驶姿态或驾驶面状况，确定车辆的外灯的垂直投射角度；
    触发所述外灯以所述垂直投射角度在驾驶面上投射出与车辆宽度匹配的指示图像。
  38. 根据权利要求37所述的方法，其特征在于，根据车辆的驾驶姿态，确定车辆的外灯的垂直投射角度，包括：
    根据车辆的悬架信息确定所述底盘相对所述驾驶面的倾角，所述悬架信息包括一个或多个悬架的悬架高度以及前后悬架之间的距离；
    根据所述倾角确定所述垂直投射角度。
  39. 根据权利要求37所述的方法，其特征在于，根据驾驶面状况，确定车辆的外灯的垂直投射角度，包括：
    确定驾驶面的坡度；
    根据所述坡度从预设的多个角度范围中确定出目标角度范围；
    将所述目标角度范围所对应的预设角度作为所述垂直投射角度。
  40. 根据权利要求39所述的方法，其特征在于，确定驾驶面的坡度，包括：
    根据车辆的轮速、航向角速率、转向角以及悬架信息，确定驾驶面的初始倾斜角度；
    在车辆处于加速工况的情况下，确定车辆的加速等级；
    根据所述加速等级确定对应的第一滤波参数；
    采用所述第一滤波参数对所述初始倾斜角度进行修正，以得到所述坡度。
  41. 根据权利要求40所述的方法，其特征在于，确定车辆的加速等级，包括：
    根据车辆的加速度梯度、驱动扭矩和加速度，分别确定加速度梯度权重、驱动扭矩权重和加速度权重；
    根据所述加速度梯度权重、所述驱动扭矩权重和所述加速度权重确定所述加速等级。
  42. 根据权利要求39所述的方法，其特征在于，确定驾驶面的坡度，包括：
    根据车辆的轮速、航向角速率、转向角以及悬架信息，确定驾驶面的初始倾斜角度；
    在车辆处于减速工况的情况下，确定车辆的减速等级；
    根据所述减速等级确定对应的第二滤波参数；
    采用所述第二滤波参数对所述初始倾斜角度进行修正，以得到所述坡度。
  43. 根据权利要求42所述的方法，其特征在于，确定车辆的减速等级，包括：
    根据车辆的制动主缸压力和驱动扭矩梯度，确定第一权重因子；
    根据车辆的减速度确定第二权重因子；
    根据车辆的减速度梯度确定第三权重因子；
    根据所述第一权重因子、所述第二权重因子和所述第三权重因子，确定减速等级权重；
    根据所述减速等级权重确定所述减速等级。
  44. 根据权利要求39所述的方法，其特征在于，确定驾驶面的坡度，包括：
    根据车辆的轮速、航向角速率、转向角以及悬架信息，确定驾驶面的初始倾斜角度；
    在车辆处于转向工况的情况下，确定车辆的转向等级；
    根据所述转向等级确定对应的第三滤波参数；
    采用所述第三滤波参数对所述初始倾斜角度进行修正，以得到所述坡度。
  45. 根据权利要求44所述的方法，其特征在于，确定车辆的转向等级，包括：
    根据车辆的侧向加速度梯度确定侧向加速度梯度权重；
    根据车辆的传感器获得的侧向加速度确定侧向加速度权重；
    根据所述航向角速率确定航向角速率权重；
    根据侧向加速度梯度权重、侧向加速度权重和航向角速率权重，确定所述转向等级。
  46. 根据权利要求37-45任一项所述的方法，其特征在于，还包括：
    根据车辆的电动助力转向转角值以及方向盘转角值，确定所述外灯的水平投射角度；
    触发所述外灯以所述水平投射角度投射所述指示图像。
  47. 根据权利要求37-45任一项所述的方法，其特征在于，在车辆的底盘与驾驶面不平行的情况下，根据车辆的驾驶姿态或驾驶面状况，确定车辆的外灯的垂直投射角度之前，还包括：
    在光线条件和/或车速条件满足预设条件的情况下，检测底盘与驾驶面是否平行。
  48. 一种车灯控制装置，其特征在于，包括：
    垂直投射角度确定模块，用于在车辆的底盘与驾驶面不平行的情况下，根据车辆的驾驶姿态或驾驶面状况，确定车辆的外灯的垂直投射角度；
    第一指示图像投射模块，用于触发所述外灯以所述垂直投射角度在驾 驶面上投射出与车辆宽度匹配的指示图像。
  49. 根据权利要求48所述的装置，其特征在于，所述垂直投射角度确定模块包括：
    倾角确定子模块，用于根据车辆的悬架信息确定所述底盘相对所述驾驶面的倾角，所述悬架信息包括一个或多个悬架的悬架高度以及前后悬架之间的距离；
    第一垂直投射角度确定子模块，用于根据所述倾角确定所述垂直投射角度。
  50. 根据权利要求48所述的装置，其特征在于，所述垂直投射角度确定模块包括：
    坡度确定子模块，用于确定驾驶面的坡度；
    目标角度范围确定子模块，用于根据所述坡度从预设的多个角度范围中确定出目标角度范围；
    第二垂直投射角度确定子模块，用于将所述目标角度范围所对应的预设角度作为所述垂直投射角度。
  51. 根据权利要求50所述的装置，其特征在于，所述坡度确定子模块用于：
    根据车辆的轮速、航向角速率、转向角以及悬架信息，确定驾驶面的初始倾斜角度；
    在车辆处于加速工况的情况下，确定车辆的加速等级；
    根据所述加速等级确定对应的第一滤波参数；
    采用所述第一滤波参数对所述初始倾斜角度进行修正，以得到所述坡度。
  52. 根据权利要求50所述的装置，其特征在于，所述坡度确定子模块用于：
    根据车辆的轮速、航向角速率、转向角以及悬架信息，确定驾驶面的初始倾斜角度；
    在车辆处于减速工况的情况下，确定车辆的减速等级；
    根据所述减速等级确定对应的第二滤波参数；
    采用所述第二滤波参数对所述初始倾斜角度进行修正，以得到所述坡度。
  53. 根据权利要求50所述的装置，其特征在于，所述坡度确定子模块用于：
    根据车辆的轮速、航向角速率、转向角以及悬架信息，确定驾驶面的初始倾斜角度；
    在车辆处于转向工况的情况下，确定车辆的转向等级；
    根据所述转向等级确定对应的第三滤波参数；
    采用所述第三滤波参数对所述初始倾斜角度进行修正，以得到所述坡度。
  54. 根据权利要求48-53任一项所述的装置，其特征在于，还包括：
    水平投射角度确定模块，用于根据车辆的电动助力转向转角值以及方向盘转角值，确定所述外灯的水平投射角度；
    第二指示图像投射模块，用于触发所述外灯以所述水平投射角度投射所述指示图像。
  55. 根据权利要求48-53任一项所述的装置，其特征在于，还包括：
    平行检测模块，用于在光线条件和/或车速条件满足预设条件的情况下，检测底盘与驾驶面是否平行。
  56. 一种车灯控制方法，其特征在于，包括：
    在光线条件和/或车速条件满足预设条件的情况下，触发车辆的外灯模块在道路上投影出与所述车辆的宽度匹配的指示线。
  57. 根据权利要求56所述的车灯控制方法，其特征在于，在光线条件和/或车速条件满足预设条件的情况下，触发车辆的外灯模块在道路上投影出与所述车辆的宽度匹配的指示线，包括：
    在所述光线的明亮程度低于第一预设标准，以及所述车速低于第二预设标准，触发所述车辆的外灯模块在道路上投影出与所述车辆的宽度相同的指示线。
  58. 一种车灯控制装置，其特征在于，包括：
    触发模块，用于在光线条件和/或车速条件满足预设条件的情况下，触 发车辆的外灯模块在道路上投影出与所述车辆的宽度匹配的指示线。
  59. 根据权利要求58所述的车灯控制装置，其特征在于，所述触发模块还用于：
    在所述光线的明亮程度低于第一预设标准，以及所述车速低于第二预设标准的情况下，触发所述车辆的外灯模块在道路上投影出与所述车辆的宽度相同的指示线。
  60. 一种车辆，其特征在于，包括权利要求58或59所述的车灯控制装置，以及所述外灯模块。
  61. 根据权利要求60所述的车辆，其特征在于，所述外灯模块包括至少一个投影灯，所述投影灯设置在所述车辆的车身前端。
  62. 一种车灯控制设备，其特征在于，包括处理器和存储器，所述存储器中存储指令，所述指令由处理器加载并执行，以实现如权利要求37-47中任一项或权利要求56或权利要求57所述的方法。
  63. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质内存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求37-47中任一项或权利要求56或权利要求57所述的方法。
  64. 一种车辆，其特征在于，包括权利要求48-55中任一项所述的车灯控制装置或权利要求62所述的车灯控制设备。
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