CN116156125A - Vehicle joint projection method, device, vehicle, terminal, storage medium and system - Google Patents

Abstract

The invention relates to the technical field of projection, and discloses a vehicle joint projection method, a device, a vehicle, a terminal, a medium and a system, wherein the method comprises the following steps: transmitting or receiving team request information, and forming a vehicle team with other vehicles according to the team request information; the motorcade comprises N vehicles, wherein N is a positive integer greater than 1; transmitting a pre-configured projection material to a data processing terminal so that the data processing terminal performs segmentation processing on the projection material to obtain N projection material fragments, and respectively transmitting the N projection material fragments to N vehicles; and receiving the projection material fragments, and projecting according to the received projection material fragments. The method can realize the joint projection of a plurality of vehicles.

Description

Translated fromChinese

车辆联合投影方法、装置、车辆、终端、存储介质及系统Vehicle joint projection method, device, vehicle, terminal, storage medium and system

技术领域Technical Field

本发明涉及投影技术领域，尤其涉及一种车辆联合投影方法、装置、车辆、数据处理终端、计算机可读存储介质及系统。The present invention relates to the field of projection technology, and in particular to a vehicle joint projection method, device, vehicle, data processing terminal, computer-readable storage medium and system.

背景技术Background Art

随着人们生活水平的不断提高，对车辆的配置需求也越来越高，车辆不只是一个代步工具，也是出门时的消遣娱乐设备。在使用车辆的过程中，人们不仅有使用车辆播放音频的需求，还有使用车辆播放图片、影像的需求，例如，在车内休息时看场电影或录像等。因此，如何通过车辆进行投影成为需要解决的问题。As people's living standards continue to improve, the demand for vehicle configuration is also getting higher and higher. Vehicles are not only a means of transportation, but also a recreational device when going out. In the process of using vehicles, people not only need to use vehicles to play audio, but also need to use vehicles to play pictures and images, such as watching a movie or video while resting in the car. Therefore, how to project through vehicles has become a problem that needs to be solved.

目前，车辆可以通过DLP(Digital Light Processing，数字光处理)大灯进行简单图像的投影，例如将图像投影在建筑物表面上。然而，在进行投影时DLP大灯的投影区域有限，导致无法投影较大尺寸的图像，无法满足用户需求。Currently, vehicles can project simple images through DLP (Digital Light Processing) headlights, such as projecting images on the surface of a building. However, the projection area of DLP headlights is limited during projection, which makes it impossible to project larger images and cannot meet user needs.

发明内容Summary of the invention

本发明实施例提供了一种车辆联合投影方法、装置、车辆、数据处理终端、计算机可读存储介质及系统，能够实现车辆的联合投影。Embodiments of the present invention provide a vehicle joint projection method, device, vehicle, data processing terminal, computer-readable storage medium and system, which can realize vehicle joint projection.

第一方面，本发明实施例提供了一种车辆联合投影方法，由本车辆执行，包括：In a first aspect, an embodiment of the present invention provides a vehicle joint projection method, which is executed by the vehicle and includes:

发送或接收组队请求信息，根据所述组队请求信息与其他车辆组成车队；其中，所述车队包括N台车辆，N为大于1的正整数；Send or receive team formation request information, and form a team with other vehicles according to the team formation request information; wherein the team includes N vehicles, where N is a positive integer greater than 1;

将预先配置的投影素材发送至数据处理终端，以使所述数据处理终端对所述投影素材进行分割处理，得到N个投影素材碎片，并将N个所述投影素材碎片分别发送至N台所述车辆；Sending the pre-configured projection material to a data processing terminal, so that the data processing terminal performs segmentation processing on the projection material to obtain N projection material fragments, and sending the N projection material fragments to the N vehicles respectively;

接收所述投影素材碎片，并根据接收到的所述投影素材碎片进行投影。The projection material fragments are received, and projection is performed according to the received projection material fragments.

优选地，所述方法还包括:Preferably, the method further comprises:

获取本车辆的位置信息和车灯可投影的区域数据；Obtain the location information of the vehicle and the area data where the headlights can be projected;

将所述位置信息和所述区域数据发送至数据处理终端，以使所述数据处理终端根据接收到的投影素材、所述车队中每一车辆发送的位置信息和区域数据进行联合投影可行性判断，当判定联合投影可行时，对所述投影素材进行分割处理。The position information and the area data are sent to a data processing terminal, so that the data processing terminal makes a feasibility judgment on the joint projection based on the received projection material, the position information and the area data sent by each vehicle in the fleet, and when it is judged that the joint projection is feasible, the projection material is segmented.

优选地，所述方法还包括:Preferably, the method further comprises:

当接收到提示信息时，根据所述提示信息进行车辆位置调整；其中，所述提示信息由所述数据处理终端在判定联合投影不可行时，生成并发送至所述车队中的每一车辆；When receiving the prompt information, adjusting the vehicle position according to the prompt information; wherein the prompt information is generated by the data processing terminal and sent to each vehicle in the fleet when determining that the joint projection is not feasible;

在车辆位置调整完成后，获取调整后的位置信息和区域数据；After the vehicle position adjustment is completed, the adjusted position information and area data are obtained;

将调整后的位置信息和区域数据发送至所述数据处理终端，以使所述数据处理终端根据所述投影素材、所述车队中每一车辆发送的调整后的位置信息和区域数据再次进行联合投影可行性判断，直至判定联合投影可行为止。The adjusted position information and area data are sent to the data processing terminal, so that the data processing terminal again determines the feasibility of joint projection according to the projection material and the adjusted position information and area data sent by each vehicle in the fleet until it is determined that the joint projection is feasible.

优选地，所述发送或接收组队请求信息，根据所述组队请求信息与其他车辆组成车队，包括：Preferably, the sending or receiving team formation request information, and forming a team with other vehicles according to the team formation request information, includes:

发送组队请求信息至其他车辆，根据所述组队请求信息与其他车辆组成车队；或接收队长车辆发送的所述组队请求信息，根据所述组队请求信息与所述队长车辆组成车队；其中，N台车辆中设有一台队长车辆。Send team formation request information to other vehicles, and form a team with other vehicles according to the team formation request information; or receive the team formation request information sent by the team leader vehicle, and form a team with the team leader vehicle according to the team formation request information; wherein there is one team leader vehicle among the N vehicles.

第二方面，本发明实施例提供了一种车辆联合投影装置，所述装置设置于车辆中，包括：In a second aspect, an embodiment of the present invention provides a vehicle joint projection device, which is arranged in a vehicle and includes:

组队模块，用于发送或接收组队请求信息，根据所述组队请求信息与其他车辆组成车队；其中，所述车队包括N台车辆，N为大于1的正整数；A teaming module, used to send or receive teaming request information, and form a team with other vehicles according to the teaming request information; wherein the team includes N vehicles, N is a positive integer greater than 1;

第一发送模块，用于将预先配置的投影素材发送至数据处理终端，以使所述数据处理终端对所述投影素材进行分割处理，得到N个投影素材碎片，并将N个所述投影素材碎片分别发送至N台所述车辆；A first sending module is used to send the pre-configured projection material to the data processing terminal, so that the data processing terminal divides the projection material to obtain N projection material fragments, and sends the N projection material fragments to the N vehicles respectively;

投影模块，用于接收所述投影素材碎片，并根据接收到的所述投影素材碎片进行投影。The projection module is used to receive the projection material fragments and perform projection according to the received projection material fragments.

第三方面，本发明实施例提供了一种车辆，包括车辆本体、处理器、存储器以及存储在所述存储器中且被配置为由所述处理器执行的计算机程序，所述处理器执行所述计算机程序时实现如第一方面任意一项所述的车辆联合投影方法。In a third aspect, an embodiment of the present invention provides a vehicle, comprising a vehicle body, a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the vehicle joint projection method as described in any one of the first aspects is implemented.

第四方面，本发明实施例提供了一种车辆联合投影方法，由数据处理终端执行，包括：In a fourth aspect, an embodiment of the present invention provides a vehicle joint projection method, which is executed by a data processing terminal and includes:

接收车队中车辆发送的投影素材；其中，所述车队包括N台车辆，N为大于1的正整数；Receiving projection materials sent by vehicles in a fleet; wherein the fleet includes N vehicles, and N is a positive integer greater than 1;

对所述投影素材进行分割处理，得到N个投影素材碎片；Segmenting the projection material to obtain N projection material fragments;

将N个所述投影素材碎片分别发送至N台所述车辆，以使所述车辆根据接收到的所述投影素材碎片进行投影。The N projection material fragments are respectively sent to the N vehicles, so that the vehicles perform projection according to the received projection material fragments.

优选地，所述方法还包括：Preferably, the method further comprises:

接收所述车队中每一车辆发送的车辆位置信息和车灯可投影的区域数据；Receiving vehicle position information and area data where vehicle lights can be projected sent by each vehicle in the fleet;

根据接收到的所述投影素材、所述位置信息和所述区域数据，进行联合投影可行性判断，当判定联合投影可行时，对所述投影素材进行分割处理。A feasibility judgment of joint projection is performed according to the received projection material, the position information and the area data, and when it is determined that the joint projection is feasible, the projection material is segmented.

优选地，所述方法还包括：Preferably, the method further comprises:

当判定联合投影不可行时，生成提示信息并发送至所述车队中的每一车辆，以使所述车队中的每一车辆根据所述提示信息进行车辆位置调整，并在车辆位置调整完成后，获取调整后的位置信息和区域数据，将调整后的位置信息和区域数据发送至所述数据处理终端；When it is determined that the joint projection is not feasible, a prompt message is generated and sent to each vehicle in the fleet, so that each vehicle in the fleet adjusts the vehicle position according to the prompt message, and after the vehicle position adjustment is completed, the adjusted position information and area data are obtained, and the adjusted position information and area data are sent to the data processing terminal;

接收所述车队中的每一车辆发送的调整后的位置信息和区域数据，并根据所述投影素材、所述车队中每一车辆发送的调整后的位置信息和区域数据再次进行联合投影可行性判断，直至判定联合投影可行为止。Receive the adjusted position information and area data sent by each vehicle in the fleet, and again determine the feasibility of the joint projection based on the projection material and the adjusted position information and area data sent by each vehicle in the fleet until it is determined that the joint projection is feasible.

优选地，所述根据接收到的所述投影素材、所述位置信息和所述区域数据，进行联合投影可行性判断，包括：Preferably, the performing joint projection feasibility judgment according to the received projection material, the position information and the area data includes:

当N小于预设数量或N为奇数时，根据所述位置信息和所述区域数据，计算首端车辆投影区域与尾端车辆投影区域在水平方向上的最小间距、联合投影区域在竖直方向上的最大高度；When N is less than a preset number or N is an odd number, the minimum horizontal distance between the projection area of the first end vehicle and the projection area of the rear end vehicle and the maximum vertical height of the joint projection area are calculated according to the position information and the area data;

当满足

时，判定水平位置投影可行；When satisfied

When , it is determined that the horizontal position projection is feasible;

当满足

且H_max＞0时，判定垂直位置投影可行；When satisfied

When H_max > 0, the vertical position projection is determined to be feasible;

其中，H_max为联合投影区域在竖直方向上的最大高度，d为首端车辆投影区域与尾端车辆投影区域在水平方向上的最小间距，W_S为所述投影素材的宽度，H_S为所述投影素材的高度；Wherein, H_max is the maximum height of the joint projection area in the vertical direction, d is the minimum distance between the projection area of the leading vehicle and the projection area of the trailing vehicle in the horizontal direction,_WS is the width of the projection material, and_HS is the height of the projection material;

当判定水平位置投影可行且判定垂直位置投影可行时，判定联合投影可行。When the horizontal position projection is determined to be feasible and the vertical position projection is determined to be feasible, the joint projection is determined to be feasible.

优选地，所述方法还包括：Preferably, the method further comprises:

当N大于等于所述预设数量且为偶数时，判断任意4个相邻投影区域是否满足相邻相交且至少一个投影区域与其他三个投影区域均相交；When N is greater than or equal to the preset number and is an even number, it is determined whether any four adjacent projection areas meet the condition of adjacent intersection and at least one projection area intersects with the other three projection areas;

若是，则判定联合投影可行；If so, the joint projection is determined to be feasible;

若否，根据所述位置信息和所述区域数据，计算首端车辆投影区域与尾端车辆投影区域在水平方向上的最小间距、联合投影区域在竖直方向上的最大高度；If not, calculating the minimum horizontal distance between the projection area of the first-end vehicle and the projection area of the rear-end vehicle and the maximum vertical height of the joint projection area according to the position information and the area data;

当满足

时，判定水平位置投影可行；When satisfied

When , it is determined that the horizontal position projection is feasible;

当满足

且H_max＞0时，判定垂直位置投影可行；When satisfied

When H_max > 0, the vertical position projection is determined to be feasible;

其中，H_max为联合投影区域在竖直方向上的最大高度，d为首端车辆投影区域与尾端车辆投影区域在水平方向上的最小间距，W_S为所述投影素材的宽度，H_S为所述投影素材的高度；Wherein, H_max is the maximum height of the joint projection area in the vertical direction, d is the minimum distance between the projection area of the leading vehicle and the projection area of the trailing vehicle in the horizontal direction,_WS is the width of the projection material, and_HS is the height of the projection material;

当判定水平位置投影可行且判定垂直位置投影可行时，判定联合投影可行。When the horizontal position projection is determined to be feasible and the vertical position projection is determined to be feasible, the joint projection is determined to be feasible.

优选地，在所述当判定水平位置投影可行且判定垂直位置投影可行时，判定联合投影可行之后，所述对所述投影素材进行分割处理，得到N个投影素材碎片，包括：Preferably, when the horizontal position projection is determined to be feasible and the vertical position projection is determined to be feasible, after the joint projection is determined to be feasible, the projection material is segmented to obtain N projection material fragments, including:

以首端车辆投影区域的第一个顶点为原点建立二维坐标系，得到所述投影素材在所述二维坐标系中对应的最小横坐标和最大横坐标；A two-dimensional coordinate system is established with the first vertex of the projection area of the head-end vehicle as the origin, and the minimum horizontal coordinate and the maximum horizontal coordinate corresponding to the projection material in the two-dimensional coordinate system are obtained;

根据所述位置信息和所述区域数据，计算每两个相邻的车辆投影区域的交点横坐标的中点，得到N-1个中点横坐标；Calculate the midpoint of the horizontal coordinates of the intersection of every two adjacent vehicle projection areas according to the position information and the area data to obtain N-1 midpoint horizontal coordinates;

根据N-1个所述中点横坐标、所述投影素材的最小横坐标和所述投影素材的最大横坐标，对所述投影素材进行分割处理，得到N个投影素材碎片。The projection material is segmented according to the N-1 midpoint horizontal coordinates, the minimum horizontal coordinate of the projection material, and the maximum horizontal coordinate of the projection material to obtain N projection material fragments.

优选地，在所述若是，则判定联合投影可行之后，所述对所述投影素材进行分割处理，得到N个投影素材碎片，包括：Preferably, after determining that the joint projection is feasible, the projection material is segmented to obtain N projection material fragments, including:

以首端车辆投影区域的第一个顶点为原点建立二维坐标系，根据所述位置信息和所述区域数据，得到任意4个相邻投影区域中相交重叠区域的横坐标和纵坐标；A two-dimensional coordinate system is established with the first vertex of the projection area of the head vehicle as the origin, and the horizontal coordinate and the vertical coordinate of the intersecting and overlapping area in any four adjacent projection areas are obtained according to the position information and the area data;

根据重叠个数将所述相交重叠区域划分为两个相交重叠区域和多个相交重叠区域；其中，所述重叠个数为所述相交重叠区域有投影车辆的个数；Dividing the intersecting overlapping area into two intersecting overlapping areas and a plurality of intersecting overlapping areas according to the number of overlaps; wherein the number of overlaps is the number of vehicles projected in the intersecting overlapping area;

根据所述相交重叠区域的横坐标和纵坐标，得到每一所述两个相交重叠区域的中点坐标；Obtaining the midpoint coordinates of each of the two intersecting overlapping areas according to the abscissa and ordinate of the intersecting overlapping areas;

根据每一所述两个相交重叠区域的中点坐标，对每一所述两个相交重叠区域进行均分切割；According to the midpoint coordinates of each of the two intersecting and overlapping areas, each of the two intersecting and overlapping areas is equally divided and cut;

以顺时针的顺序，依次进行多个相交区域判断，当判定所述多个相交重叠区域包含于所述车辆投影区域内时，将所述多个相交重叠区域划分给对应车辆的投影区域；其中，每一所述多个相交重叠区域只分给一台车辆的投影区域；In a clockwise order, multiple intersection regions are judged in sequence, and when it is determined that the multiple intersection and overlap regions are included in the vehicle projection region, the multiple intersection and overlap regions are divided into projection regions of corresponding vehicles; wherein each of the multiple intersection and overlap regions is only divided into the projection region of one vehicle;

根据所述均分切割和所述多个相交区域判断，得到每一车辆的最终投影区域；According to the equal division and the determination of the plurality of intersection areas, a final projection area of each vehicle is obtained;

根据每一车辆的最终投影区域等比例的切割所述投影素材，得到N个投影素材碎片。The projection material is cut in equal proportion according to the final projection area of each vehicle to obtain N projection material fragments.

第五方面，本发明实施例提供了一种车辆联合投影装置，所述装置设置于数据处理终端中，包括：In a fifth aspect, an embodiment of the present invention provides a vehicle joint projection device, which is arranged in a data processing terminal and includes:

第一接收模块，用于接收车队中车辆发送的投影素材；其中，所述车队包括N台车辆，N为大于1的正整数；A first receiving module is used to receive projection materials sent by vehicles in a fleet; wherein the fleet includes N vehicles, and N is a positive integer greater than 1;

素材分割模块，用于对所述投影素材进行分割处理，得到N个投影素材碎片；A material segmentation module, used to segment the projection material to obtain N projection material fragments;

第二发送模块，用于将N个所述投影素材碎片分别发送至N台所述车辆，以使所述车辆根据接收到的所述投影素材碎片进行投影。The second sending module is used to send the N projection material fragments to the N vehicles respectively, so that the vehicles perform projection according to the received projection material fragments.

第六方面，本发明实施例提供了一种数据处理终端，包括处理器、存储器以及存储在所述存储器中且被配置为由所述处理器执行的计算机程序，所述处理器执行所述计算机程序时实现如第四方面任意一项所述的车辆联合投影方法。In the sixth aspect, an embodiment of the present invention provides a data processing terminal, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the vehicle joint projection method as described in any one of the fourth aspects is implemented.

第七方面，本发明实施例提供了一种计算机可读存储介质，所述计算机可读存储介质包括存储的计算机程序，其中，在所述计算机程序运行时控制所述计算机可读存储介质所在设备执行如第一方面或第四方面任意一项所述的车辆联合投影方法。In the seventh aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the vehicle joint projection method as described in any one of the first aspect or the fourth aspect.

第八方面，本发明实施例提供了一种车辆联合投影系统，包括数据处理终端和N台车辆，N为大于1的正整数，所述车辆与所述数据处理终端通信连接，所述车辆用于执行如第一方面任意一项所述的车辆联合投影方法，所述数据处理终端用于执行如第四方面任意一项所述的车辆联合投影方法。In the eighth aspect, an embodiment of the present invention provides a vehicle joint projection system, comprising a data processing terminal and N vehicles, N being a positive integer greater than 1, the vehicle being communicatively connected to the data processing terminal, the vehicle being used to execute the vehicle joint projection method as described in any one of the first aspect, and the data processing terminal being used to execute the vehicle joint projection method as described in any one of the fourth aspect.

相比于现有技术，本发明实施例具有如下有益效果：Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

本发明实施例提供的一种车辆联合投影方法、装置、车辆、数据处理终端、计算机可读存储介质及系统，通过多个车辆组成车队，由数据处理终端根据接收到的投影素材，对投影素材进行分割处理，得到多个投影素材碎片，从而实现投影素材的分割，然后通过车辆进行联合投影，实现了多个车辆配合投影的效果，能大大满足用户多样化的需求。The embodiments of the present invention provide a vehicle joint projection method, device, vehicle, data processing terminal, computer-readable storage medium and system. A fleet is composed of multiple vehicles. The data processing terminal divides the projection material according to the received projection material to obtain multiple projection material fragments, thereby realizing the segmentation of the projection material. The projection material is then jointly projected through the vehicles, thereby achieving the effect of coordinated projection of multiple vehicles, which can greatly meet the diverse needs of users.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

图1是本发明提供的一种车辆联合投影方法的一个优选实施例的流程示意图；FIG1 is a flow chart of a preferred embodiment of a vehicle joint projection method provided by the present invention;

图2是本发明实施例中车队进行水平联合投影的示意图；FIG2 is a schematic diagram of horizontal joint projection of a fleet in an embodiment of the present invention;

图3是本发明实施例中车队进行多维度联合投影的示意图；FIG3 is a schematic diagram of multi-dimensional joint projection of a fleet in an embodiment of the present invention;

图4是本发明提供的一种车辆联合投影装置的一个优选实施例的结构示意图；FIG4 is a schematic structural diagram of a preferred embodiment of a vehicle joint projection device provided by the present invention;

图5是本发明提供的一种车辆联合投影方法的另一个优选实施例的流程示意图；FIG5 is a flow chart of another preferred embodiment of a vehicle joint projection method provided by the present invention;

图6是本发明提供的一种车辆联合投影装置的另一个优选实施例的结构示意图；FIG6 is a schematic structural diagram of another preferred embodiment of a vehicle joint projection device provided by the present invention;

图7是本发明提供的一种车辆联合投影系统的一个优选实施例的示意图。FIG. 7 is a schematic diagram of a preferred embodiment of a vehicle joint projection system provided by the present invention.

具体实施方式DETAILED DESCRIPTION

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

参照图1，本发明实施例提供了一种车辆联合投影方法，由本车辆执行，包括以下步骤S11至S13：1 , an embodiment of the present invention provides a vehicle joint projection method, which is performed by the vehicle and includes the following steps S11 to S13:

S11，发送或接收组队请求信息至其他车辆，根据所述组队请求信息与其他车辆组成车队；其中，所述车队包括N台车辆，N为大于1的正整数；S11, sending or receiving team formation request information to other vehicles, and forming a team with other vehicles according to the team formation request information; wherein the team includes N vehicles, and N is a positive integer greater than 1;

S12，将预先配置的投影素材发送至数据处理终端，以使所述数据处理终端对所述投影素材进行分割处理，得到N个投影素材碎片，并将N个所述投影素材碎片分别发送至N台所述车辆；S12, sending the pre-configured projection material to the data processing terminal, so that the data processing terminal divides the projection material to obtain N projection material fragments, and sends the N projection material fragments to the N vehicles respectively;

S13，接收所述投影素材碎片，并根据接收到的所述投影素材碎片进行投影。S13: receiving the projection material fragments, and performing projection according to the received projection material fragments.

在步骤S11中，组队请求信息包括组队邀请信息、数字配对信息等。在具体实施中，本车辆可以发送组队请求信息至其他车辆，根据所述组队请求信息与其他车辆组成车队；或接收队长车辆发送的所述组队请求信息，根据所述组队请求信息与所述队长车辆组成车队；其中，N台车辆中设有一台队长车辆。In step S11, the team formation request information includes team formation invitation information, digital pairing information, etc. In a specific implementation, the vehicle can send team formation request information to other vehicles, and form a team with other vehicles according to the team formation request information; or receive the team formation request information sent by the team leader vehicle, and form a team with the team leader vehicle according to the team formation request information; wherein, there is one team leader vehicle among the N vehicles.

在本实施例中，发送组队请求信息的车辆一般为队长车辆，相应的，当本车辆作为队长车辆时，本车辆发送组队请求信息给N-1台其他车辆，以根据组队请求信息中的组队邀请信息、数字配对信息等与N-1台其他车辆共同组成包括N台车辆的车队；当本车辆不作为队长车辆时，本车辆接收队长车辆发送的组队请求信息，以根据组队请求信息中的组队邀请信息、数字配对信息等与队长车辆共同组成车队。In this embodiment, the vehicle that sends the team formation request information is generally the team leader vehicle. Accordingly, when this vehicle serves as the team leader vehicle, this vehicle sends the team formation request information to N-1 other vehicles, so as to form a team consisting of N vehicles together with the N-1 other vehicles according to the team formation invitation information, digital pairing information, etc. in the team formation request information; when this vehicle does not serve as the team leader vehicle, this vehicle receives the team formation request information sent by the team leader vehicle, so as to form a team together with the team leader vehicle according to the team formation invitation information, digital pairing information, etc. in the team formation request information.

需要说明的是，车队的N台车辆中的任意一台车辆都可以设为队长车辆，队长车辆可以根据实际需求进行设置，并且在组成车队后，队长车辆也可以将队长身份转让给车队中其他任意一台车辆，本发明实施例对此不做限定。It should be noted that any one of the N vehicles in the fleet can be set as the captain vehicle, and the captain vehicle can be set according to actual needs. After the fleet is formed, the captain vehicle can also transfer the captain status to any other vehicle in the fleet. This embodiment of the present invention is not limited to this.

在步骤S12中，本车辆将预先配置的投影素材发送至数据处理终端。其中，投影素材由车队中车辆预先配置，例如，车队中每一车辆均可上传原始投影素材至队长车辆，由队长车辆从所有原始投影素材中选取投影素材。在投影素材配置完成后，由任意一台车辆将投影素材发送至数据处理终端，本发明对此不做限定。数据处理终端对投影素材进行分割处理，得到N个投影素材碎片，并将N个投影素材碎片分别发送至N台车辆。需要说明的是，在发送投影素材碎片时，可以根据车辆的位置信息进行分配，投影素材碎片与车辆一一对应，从而保证车辆接收到属于自身投影区域的投影素材碎片。In step S12, the vehicle sends the pre-configured projection material to the data processing terminal. The projection material is pre-configured by the vehicles in the fleet. For example, each vehicle in the fleet can upload the original projection material to the captain vehicle, and the captain vehicle selects the projection material from all the original projection materials. After the projection material configuration is completed, any vehicle sends the projection material to the data processing terminal, and the present invention does not limit this. The data processing terminal divides the projection material to obtain N projection material fragments, and sends the N projection material fragments to N vehicles respectively. It should be noted that when sending the projection material fragments, they can be allocated according to the location information of the vehicle, and the projection material fragments correspond to the vehicle one by one, so as to ensure that the vehicle receives the projection material fragments belonging to its own projection area.

在步骤S13中，本车辆接收数据处理终端发送的投影素材碎片，并根据接收到的投影素材碎片通过DLP大灯进行投影。在本实施例中，本车辆的投影与车队中其他车辆的投影能够拼接，最终形成投影素材的完整投影。在其他实施例中，N台车辆的投影还可以进行联动，例如，多个投影形成图像或灯光闪烁变换的效果。最终的联合投影效果多种多样，可以由用户自行设置，本发明对此不做限定。In step S13, the vehicle receives the projection material fragments sent by the data processing terminal, and projects through the DLP headlights according to the received projection material fragments. In this embodiment, the projection of this vehicle and the projections of other vehicles in the fleet can be spliced to finally form a complete projection of the projection material. In other embodiments, the projections of N vehicles can also be linked, for example, multiple projections form an image or light flashing and changing effects. The final joint projection effect is varied and can be set by the user, and the present invention does not limit this.

进一步地，所述方法还包括：Furthermore, the method further comprises:

获取本车辆的位置信息和车灯可投影的区域数据；Obtain the location information of the vehicle and the area data where the headlights can be projected;

将所述位置信息和所述区域数据发送至数据处理终端，以使所述数据处理终端根据接收到的投影素材、所述车队中每一车辆发送的位置信息和区域数据进行联合投影可行性判断，当判定联合投影可行时，对所述投影素材进行分割处理。The position information and the area data are sent to a data processing terminal, so that the data processing terminal makes a feasibility judgment on the joint projection based on the received projection material, the position information and the area data sent by each vehicle in the fleet, and when it is judged that the joint projection is feasible, the projection material is segmented.

在本实施例中，本车辆可以获取自身的位置信息和车灯可投影的区域数据。例如，车辆上配置有支持RTK(Real-timekinematic,实时动态测量)的高精定位模块，可达到厘米级别的误差，高精定位模块可以获取本车辆的位置信息。车辆上配置有DLP大灯，DLP大灯可以进行投影。同时，车辆上还配置有摄像头，摄像头根据运动成像技术采集车灯可投影的区域数据。数据处理终端能够根据车灯可投影的区域数据等比例模拟出车队中车辆的投影区域以及各个车辆的投影区域的相交状态。其中，车灯可投影的区域大小取决于DLP大灯的型号，例如，可投影的区域大小为1m*1m。当然，在其他实施例中，DLP灯还可以安装于车辆上的其他位置，本发明对此不做限定。In this embodiment, the vehicle can obtain its own location information and the area data where the headlights can be projected. For example, the vehicle is equipped with a high-precision positioning module that supports RTK (Real-time kinematic, real-time dynamic measurement), which can achieve centimeter-level errors, and the high-precision positioning module can obtain the location information of the vehicle. The vehicle is equipped with DLP headlights, which can be used for projection. At the same time, the vehicle is also equipped with a camera, which collects the area data where the headlights can be projected based on motion imaging technology. The data processing terminal can proportionally simulate the projection area of the vehicles in the fleet and the intersection state of the projection areas of each vehicle based on the area data where the headlights can be projected. Among them, the size of the area where the headlights can be projected depends on the model of the DLP headlights. For example, the size of the area that can be projected is 1m*1m. Of course, in other embodiments, the DLP lamp can also be installed at other positions on the vehicle, and the present invention is not limited to this.

需要说明的是，在进行素材分割之前，数据处理终端进行联合投影可行性判断。只有在判定联合投影可行时，数据处理终端对所述投影素材进行分割，从而保证联合投影效果。当然，在发送投影素材之前，车队也可以根据组成的联合投影区域进行联合投影可行性判断，从而选出适合联合投影区域的投影素材。例如，选取与联合投影区域形状相同的投影素材。It should be noted that before dividing the material, the data processing terminal makes a joint projection feasibility judgment. Only when it is determined that the joint projection is feasible, the data processing terminal divides the projection material to ensure the joint projection effect. Of course, before sending the projection material, the fleet can also make a joint projection feasibility judgment based on the formed joint projection area, so as to select the projection material suitable for the joint projection area. For example, a projection material with the same shape as the joint projection area is selected.

在一种实施方式中，所述进行联合投影可行性判断包括以下步骤S21至S24：In one implementation, the performing of the joint projection feasibility judgment includes the following steps S21 to S24:

S21，当N小于预设数量或N为奇数时，根据所述位置信息和所述区域数据，计算首端车辆投影区域与尾端车辆投影区域在水平方向上的最小间距、联合投影区域在竖直方向上的最大高度；S21, when N is less than a preset number or N is an odd number, calculating the minimum horizontal distance between the projection area of the leading vehicle and the projection area of the trailing vehicle and the maximum vertical height of the joint projection area according to the position information and the area data;

S22，当满足

时，判定水平位置投影可行；S22, when satisfied

When , it is determined that the horizontal position projection is feasible;

S23，当满足

且H_max＞0时，判定垂直位置投影可行；S23, when satisfied

When H_max > 0, the vertical position projection is determined to be feasible;

其中，H_max为联合投影区域在竖直方向上的最大高度，d为首端车辆投影区域与尾端车辆投影区域在水平方向上的最小间距，W_S为所述投影素材的宽度，H_S为所述投影素材的高度；Wherein, H_max is the maximum height of the joint projection area in the vertical direction, d is the minimum distance between the projection area of the leading vehicle and the projection area of the trailing vehicle in the horizontal direction,_WS is the width of the projection material, and_HS is the height of the projection material;

S24，当判定水平位置投影可行且判定垂直位置投影可行时，判定联合投影可行。S24, when it is determined that the horizontal position projection is feasible and the vertical position projection is feasible, it is determined that the joint projection is feasible.

相应的，在所述当判定水平位置投影可行且判定垂直位置投影可行时，判定联合投影可行之后，对所述投影素材进行水平分割处理，包括以下步骤S31至S33：Correspondingly, when the horizontal position projection is determined to be feasible and the vertical position projection is determined to be feasible, after the joint projection is determined to be feasible, the projection material is horizontally segmented, including the following steps S31 to S33:

S31，以首端车辆投影区域的第一个顶点为原点建立二维坐标系，得到所述投影素材在所述二维坐标系中对应的最小横坐标和最大横坐标；S31, establishing a two-dimensional coordinate system with the first vertex of the projection area of the head-end vehicle as the origin, and obtaining the minimum horizontal coordinate and the maximum horizontal coordinate corresponding to the projection material in the two-dimensional coordinate system;

S32，根据所述位置信息和所述区域数据，计算每两个相邻的车辆投影区域的交点横坐标的中点，得到N-1个中点横坐标；S32, calculating the midpoint of the horizontal coordinates of the intersections of every two adjacent vehicle projection areas according to the position information and the area data, to obtain N-1 midpoint horizontal coordinates;

S33，根据N-1个所述中点横坐标、所述投影素材的最小横坐标和所述投影素材的最大横坐标，对所述投影素材进行分割处理，得到N个投影素材碎片。S33, dividing the projection material according to the N-1 midpoint horizontal coordinates, the minimum horizontal coordinate of the projection material, and the maximum horizontal coordinate of the projection material to obtain N projection material fragments.

其中，预设数量是满足车辆进行多维度联合投影的车辆取值。在本实施例中，以预设数量为4进行说明。在其他实施例中，用户可以根据自身需要预设数量，例如，将预设数量设置为6、8等。The preset number is a vehicle value that satisfies the multi-dimensional joint projection of the vehicle. In this embodiment, the preset number is 4. In other embodiments, the user can preset the number according to their own needs, for example, set the preset number to 6, 8, etc.

需要说明的是，在具体投影场景中，需要选择一个投影平面作为车队联合投影的投影平面，例如，白色的建筑外墙。在确定好具体的投影平面之后，为了避免一个车辆的投影被其他车辆遮挡，车队中的车辆大致呈直线排列，并且全部排列在投影平面的同一侧，此时的车队中有一个首端车辆和一个尾端车辆。It should be noted that in a specific projection scenario, a projection plane needs to be selected as the projection plane for the joint projection of the fleet, for example, a white building exterior wall. After the specific projection plane is determined, in order to prevent the projection of a vehicle from being blocked by other vehicles, the vehicles in the fleet are arranged roughly in a straight line and all arranged on the same side of the projection plane. At this time, there is a leading vehicle and a trailing vehicle in the fleet.

为了便于理解，下面结合图2对上述步骤S21至S24、步骤S31至S33进行说明。For ease of understanding, the above steps S21 to S24 and steps S31 to S33 are described below in conjunction with FIG. 2 .

参照图2，根据位置信息和区域数据，能够判断出第1台车辆为首端车辆，第3台车辆为尾端车辆。以第1台车辆投影区域的第一个顶点，即左上角顶点为原点建立二维坐标系，以N等于3作为示例进行说明，此时的车队进行水平联合投影。Referring to Figure 2, based on the position information and area data, it can be determined that the first vehicle is the leading vehicle and the third vehicle is the trailing vehicle. A two-dimensional coordinate system is established with the first vertex of the projection area of the first vehicle, i.e., the upper left vertex, as the origin. N is equal to 3 as an example for explanation. At this time, the fleet performs horizontal joint projection.

在步骤S21中，需要根据位置信息和区域数据，计算首端车辆投影区域与尾端车辆投影区域在水平方向上的最小间距、联合投影区域在竖直方向上的最大高度。具体地，3台车辆投影区域的左上角顶点纵坐标分别为0、Y₁、Y₃，3台车辆投影区域的右下角顶点纵坐标分别为Y₂、Y₄、Y₅，联合投影区域在竖直方向上的最大高度H_max的计算公式如下：In step S21, it is necessary to calculate the minimum horizontal distance between the projection area of the leading vehicle and the projection area of the trailing vehicle and the maximum vertical height of the joint projection area according to the position information and the area data. Specifically, the ordinates of the top left corner vertices of the projection areas of the three vehicles are 0, Y₁ , and Y₃ , respectively, and the ordinates of the bottom right corner vertices of the projection areas of the three vehicles are Y₂ , Y₄ , and Y₅ , respectively. The maximum vertical height H_max of the joint projection area is calculated as follows:

H_max＝Min(Y₂，Y₄，Y₅)-Max(0，Y₁，Y₃)H_max =Min (Y₂ , Y₄ , Y₅ )-Max (0, Y₁ , Y₃ )

首端车辆投影区域与尾端车辆投影区域在水平方向上的最小间距d的计算如下：The minimum horizontal distance d between the projection area of the leading vehicle and the projection area of the trailing vehicle is calculated as follows:

d＝X₃-X₂d＝X₃ -X₂

其中，X₂为首端车辆投影区域右下角顶点横坐标，X₃是尾端车辆投影区域左上角顶点横坐标。Among them,_X2 is the horizontal coordinate of the vertex of the lower right corner of the projection area of the leading vehicle, and_X3 is the horizontal coordinate of the vertex of the upper left corner of the projection area of the trailing vehicle.

在步骤S22和步骤S23中，根据步骤S21中求得的数据进行判断，当满足

时，判定水平位置投影可行；当满足

且H_max＞0时，判定垂直位置投影可行。需要说明的是，步骤S22与步骤S23的顺序可以互换。In step S22 and step S23, a judgment is made based on the data obtained in step S21.

When , the horizontal position projection is determined to be feasible; when

When H_max > 0, it is determined that the vertical position projection is feasible. It should be noted that the order of step S22 and step S23 can be interchanged.

在步骤S24中，当判定水平位置投影可行且判定垂直位置投影可行时，判定联合投影可行；当水平位置投影不可行或垂直位置投影不可行时，判定联合投影不可行。在进行水平联合投影时，只有水平位置投影可行且垂直位置投影可行，投影素材才能等比例在投影区域内放大或者缩小，从而避免投影素材变形或失真，保证投影的效果。In step S24, when it is determined that the horizontal position projection is feasible and the vertical position projection is feasible, the combined projection is determined to be feasible; when the horizontal position projection is not feasible or the vertical position projection is not feasible, the combined projection is determined to be not feasible. When performing horizontal combined projection, only when the horizontal position projection is feasible and the vertical position projection is feasible, the projection material can be enlarged or reduced in proportion in the projection area, thereby avoiding deformation or distortion of the projection material and ensuring the projection effect.

在步骤S31中，参照图2，以第1台车辆的投影区域的第一个顶点为原点建立二维坐标系，根据投影素材的宽度和高度在坐标系中的映射，得到投影素材的最小横坐标X_f和最大横坐标X_e。In step S31, referring to FIG2, a two-dimensional coordinate system is established with the first vertex of the projection area of the first vehicle as the origin, and the minimum horizontal coordinate_Xf and the maximum horizontal coordinate_Xe of the projection material are obtained according to the mapping of the width and height of the projection material in the coordinate system.

在步骤S32中，根据位置信息和区域数据，将每一车辆的投影区域映射在坐标系中，计算每两个相邻的车辆投影区域的交点横坐标的中点。In step S32, the projection area of each vehicle is mapped in the coordinate system according to the position information and the area data, and the midpoint of the horizontal coordinate of the intersection of every two adjacent vehicle projection areas is calculated.

其中，X₁、X₂是第1台车辆的投影区域与第2台车辆的投影区域的两个交点横坐标，X₃、X₄是第2台车辆的投影区域与第3台车辆的投影区域的两个交点横坐标。进一步地，分别得到2个中点横坐标X_m1、X_m2，X_m1为交点横坐标X₁、X₂的中点，X_m2为交点横坐标X₃、X₄的中点。Among them,_X1 and_X2 are the horizontal coordinates of the two intersections of the projection area of the first vehicle and the projection area of the second vehicle, and_X3 and_X4 are the horizontal coordinates of the two intersections of the projection area of the second vehicle and the projection area of the third vehicle. Further, two midpoint horizontal coordinates_Xm1 and_Xm2 are obtained respectively,_Xm1 is the midpoint of the intersection horizontal coordinates_X1 and_X2 , and_Xm2 is the midpoint of the intersection horizontal coordinates_X3 and_X4 .

在步骤S33中，参照图2，投影素材的最小横坐标为X_f，投影素材的最大横坐标为X_e，以X_f、X_m1、X_m2、X_e为分割点，将投影素材分割为3个投影素材碎片。其中，3个投影素材碎片的横坐标区域分别为X_fX_m1、X_m1X_m2、X_m2X_e。In step S33, referring to FIG2 , the minimum horizontal coordinate of the projection material is X_f , the maximum horizontal coordinate of the projection material is X_e , and the projection material is divided into three projection material fragments with X_f , X_m1 , X_m2 , and X_e as the division points. The horizontal coordinate areas of the three projection material fragments are X_f X_m1 , X_m1 X_m2 , and X_m2 X_e , respectively.

进一步地，数据处理终端根据位置信息，将横坐标区域为X_fX_m1的投影素材碎片发送至第1台车辆，将横坐标区域为X_m1X_m2的投影素材碎片发送至第2台车辆，将横坐标区域为X_m2X_e的投影素材碎片发送至第3台车辆。Furthermore, the data processing terminal sends the projection material fragments with a horizontal coordinate area of_Xf ×_m1 to the first vehicle, sends the projection material fragments with a horizontal coordinate area of_Xm1 ×_m2 to the second vehicle, and sends the projection material fragments with a horizontal coordinate area of_Xm2 ×_e to the third vehicle according to the position information.

需要说明的是，图2中纵坐标区域为Y₁至Y₂，横坐标区域为0至X₅的阴影区域是车队进行水平联合投影时可以投影的最大区域。为了获得较好的展示效果，在将投影素材等比例缩小或放大时，投影素材不超出阴影部分的区域。It should be noted that the vertical axis area in Figure 2 is_Y1 to_Y2 , and the horizontal axis area is 0 to_X5 . The shadow area is the maximum area that can be projected when the fleet performs horizontal joint projection. In order to obtain a better display effect, when the projection material is proportionally reduced or enlarged, the projection material does not exceed the area of the shadow part.

进一步地，根据不同的投影素材，数据处理终端还可以将分割完成的投影素材碎片继续进行分割。例如，当进行水平联合投影时，对于横坐标区域为X_fX_m1的投影素材碎片，可以识别投影素材碎片的具体内容，根据具体内容继续均匀分割或者不规则分割，此时由该投影碎片分割出来的全部碎片都需要发送至第1台车辆进行投影。Furthermore, according to different projection materials, the data processing terminal can further segment the segmented projection material fragments. For example, when performing horizontal joint projection, for the projection material fragments with a horizontal coordinate area of X_f X_m1 , the specific content of the projection material fragments can be identified, and further evenly segmented or irregularly segmented according to the specific content. At this time, all fragments segmented from the projection fragments need to be sent to the first vehicle for projection.

在另一种实施方式中，所述进行联合投影可行性判断包括以下步骤S41至S43：In another embodiment, the joint projection feasibility determination includes the following steps S41 to S43:

S41，当N大于等于所述预设数量且为偶数时，判断任意4个相邻投影区域是否满足相邻相交且至少一个投影区域与其他三个投影区域均相交；S41, when N is greater than or equal to the preset number and is an even number, determining whether any four adjacent projection areas meet the condition of adjacent intersection and at least one projection area intersects with the other three projection areas;

S42，若是，则判定联合投影可行；S42, if yes, then determine that the joint projection is feasible;

S43，若否，根据所述位置信息和所述区域数据，计算首端车辆投影区域与尾端车辆投影区域在水平方向上的最小间距、联合投影区域在竖直方向上的最大高度；S43, if not, calculating the minimum horizontal distance between the projection area of the first end vehicle and the projection area of the rear end vehicle and the maximum vertical height of the joint projection area according to the position information and the area data;

当满足

时，判定水平位置投影可行；When satisfied

When , it is determined that the horizontal position projection is feasible;

当满足

且H_max＞0时，判定垂直位置投影可行；When satisfied

When H_max > 0, the vertical position projection is determined to be feasible;

其中，H_max为联合投影区域在竖直方向上的最大高度，d为首端车辆投影区域与尾端车辆投影区域在水平方向上的最小间距，W_S为所述投影素材的宽度，H_S为所述投影素材的高度；Wherein, H_max is the maximum height of the joint projection area in the vertical direction, d is the minimum distance between the projection area of the leading vehicle and the projection area of the trailing vehicle in the horizontal direction,_WS is the width of the projection material, and_HS is the height of the projection material;

当判定水平位置投影可行且判定垂直位置投影可行时，判定联合投影可行。When the horizontal position projection is determined to be feasible and the vertical position projection is determined to be feasible, the joint projection is determined to be feasible.

相应的，在所述若是，则判定联合投影可行之后，对所述投影素材进行多维度分割处理，包括以下步骤S51至S57：Correspondingly, after determining that the joint projection is feasible, the projection material is subjected to multi-dimensional segmentation processing, including the following steps S51 to S57:

S51，以首端车辆投影区域的第一个顶点为原点建立二维坐标系，根据所述位置信息和所述区域数据，得到任意4个相邻投影区域中相交重叠区域的横坐标和纵坐标；S51, establishing a two-dimensional coordinate system with the first vertex of the projection area of the head vehicle as the origin, and obtaining the horizontal coordinate and the vertical coordinate of the intersecting and overlapping area in any four adjacent projection areas according to the position information and the area data;

S52，根据重叠个数将所述相交重叠区域划分为两个相交重叠区域和多个相交重叠区域；其中，所述重叠个数为所述相交重叠区域有投影车辆的个数；S52, dividing the intersecting overlapping area into two intersecting overlapping areas and a plurality of intersecting overlapping areas according to the number of overlaps; wherein the number of overlaps is the number of vehicles projected in the intersecting overlapping area;

S53，根据所述相交重叠区域的横坐标和纵坐标，得到每一所述两个相交重叠区域的中点坐标；S53, obtaining the midpoint coordinates of each of the two intersecting and overlapping regions according to the abscissa and ordinate of the intersecting and overlapping regions;

S54，根据每一所述两个相交重叠区域的中点坐标，对每一所述两个相交重叠区域进行均分切割；S54, dividing and cutting each of the two intersecting and overlapping regions equally according to the midpoint coordinates of each of the two intersecting and overlapping regions;

S55，以顺时针的顺序，依次进行多个相交区域判断，当判定所述多个相交重叠区域包含于所述车辆投影区域内时，将所述多个相交重叠区域划分给对应车辆的投影区域；其中，每一所述多个相交重叠区域只分给一台车辆的投影区域；S55, performing multiple intersection area determinations in a clockwise order, and when it is determined that the multiple intersection overlapping areas are included in the vehicle projection area, dividing the multiple intersection overlapping areas into projection areas corresponding to the vehicles; wherein each of the multiple intersection overlapping areas is only divided into the projection area of one vehicle;

S56，根据所述均分切割和所述多个相交区域判断，得到每一车辆的最终投影区域；S56, obtaining a final projection area of each vehicle according to the equal division and the determination of the plurality of intersection areas;

S57，根据每一车辆的最终投影区域等比例的切割所述投影素材，得到N个投影素材碎片。S57, cutting the projection material in equal proportion according to the final projection area of each vehicle to obtain N projection material fragments.

为了便于理解，下面结合图3对上述步骤S41至S43、步骤S51至S57进行说明。For ease of understanding, the above steps S41 to S43 and steps S51 to S57 are described below in conjunction with FIG. 3 .

参照图3，根据位置信息和区域数据，能够判断出第1台车辆为首端车辆。以第1台车辆投影区域的第一个顶点，即左上角顶点为原点建立二维坐标系，以N等于4作为示例进行说明，此时的车队进行多维度联合投影。Referring to Figure 3, based on the location information and area data, it can be determined that the first vehicle is the head vehicle. A two-dimensional coordinate system is established with the first vertex of the projection area of the first vehicle, that is, the upper left vertex, as the origin, and N is equal to 4 as an example. At this time, the fleet performs multi-dimensional joint projection.

在步骤S41中，需要判断任意4个相邻投影区域是否满足相邻相交且至少一个投影区域与其他三个投影区域均相交。在具体实施中，可以通过坐标来判断两个投影区域是否相交。示例性地，第1台车辆的投影区域右上角顶点横坐标为X₃，第3台车辆的投影区域左上角顶点横坐标为X₂，X₃大于X₂，此时可以判定第1台车辆的投影区域与第3台车辆的投影区域相交。In step S41, it is necessary to determine whether any four adjacent projection areas meet the adjacent intersection condition and at least one projection area intersects with the other three projection areas. In a specific implementation, it is possible to determine whether two projection areas intersect by coordinates. For example, the horizontal coordinate of the top right corner vertex of the projection area of the first vehicle is X₃ , and the horizontal coordinate of the top left corner vertex of the projection area of the third vehicle is X₂ , and X₃ is greater than X₂ , at this time, it can be determined that the projection area of the first vehicle intersects with the projection area of the third vehicle.

在图3中，4个相邻投影区域相邻相交，并且第4台车辆的投影区域与其他三个投影区域均相交，因此可判定联合投影可行，此时的车队进行多维度联合投影，也即步骤S42的内容。In FIG3 , four adjacent projection areas are adjacent and intersecting, and the projection area of the fourth vehicle intersects with the other three projection areas, so it can be determined that joint projection is feasible. At this time, the fleet performs multi-dimensional joint projection, which is the content of step S42.

需要说明的是，由于车辆DLP大灯的投影高度有限，当N小于4或N为奇数时，只能进行水平联合投影，不适合多维度联合投影；当N大于等于4且为偶数时，可以进行多维度联合投影，还可以进行水平联合投影判断。在步骤S43中，若不满足多维度联合投影条件，则进行水平联合投影判断。其中，水平联合投影判断的方法与步骤S21至S24相同，在此不再赘述。It should be noted that, due to the limited projection height of the vehicle DLP headlights, when N is less than 4 or N is an odd number, only horizontal joint projection can be performed, which is not suitable for multi-dimensional joint projection; when N is greater than or equal to 4 and is an even number, multi-dimensional joint projection can be performed, and horizontal joint projection judgment can also be performed. In step S43, if the multi-dimensional joint projection conditions are not met, a horizontal joint projection judgment is performed. Among them, the method for horizontal joint projection judgment is the same as steps S21 to S24, which will not be repeated here.

在步骤S51中，参照图3，以第1台车辆的投影区域的第一个顶点为原点建立二维坐标系，并根据位置信息和区域数据，得到任意4个相邻投影区域中相交重叠区域的横坐标和纵坐标。例如，X₂、X₃是第1台车辆的投影区域与第3台车辆的投影区域的两个交点横坐标。In step S51, referring to FIG3, a two-dimensional coordinate system is established with the first vertex of the projection area of the first vehicle as the origin, and the horizontal coordinates and vertical coordinates of the intersecting overlapping areas of any four adjacent projection areas are obtained according to the position information and the area data. For example,_X2 and_X3 are the horizontal coordinates of the two intersection points of the projection area of the first vehicle and the projection area of the third vehicle.

在步骤S52中，根据重叠个数将相交重叠区域划分为两个相交重叠区域和多个相交重叠区域。重叠个数为相交重叠区域有投影车辆的个数，需要通过坐标来判断重叠个数。具体地，多个是指三个或四个，区域B和C都有3台投影车辆叠加，将区域B和C划分为多个相交重叠区域；区域A₁、A₂、A₃、A₄和A₅都有2台投影车辆叠加，将区域A₁、A₂、A₃、A₄和A₅划分为两个相交重叠区域。In step S52, the intersecting overlapping area is divided into two intersecting overlapping areas and multiple intersecting overlapping areas according to the number of overlaps. The number of overlaps is the number of projected vehicles in the intersecting overlapping area, and the number of overlaps needs to be determined by coordinates. Specifically, multiple refers to three or four. Areas B and C have three projected vehicles superimposed, and areas B and C are divided into multiple intersecting overlapping areas; areas_A1 ,_A2 ,_A3 ,_A4 and_A5 have two projected vehicles superimposed, and areas_A1 ,_A2 ,_A3 ,_A4 and_A5 are divided into two intersecting overlapping areas.

在步骤S53和S54中，根据相交重叠区域的横坐标和纵坐标，得到每两个相交重叠区域的中点坐标，并根据中点坐标对每一两个相交重叠区域进行均分切割。In steps S53 and S54, the midpoint coordinates of every two intersecting overlapping areas are obtained according to the horizontal coordinates and the vertical coordinates of the intersecting overlapping areas, and every two intersecting overlapping areas are evenly divided and cut according to the midpoint coordinates.

示例性地，针对两个相交重叠区域A₁，相交的交点横坐标分别是X₂、X₃，计算得到X₂、X₃的中点坐标X_m1，再根据中点坐标X_m1对两个相交重叠区域A₁进行均分切割，切割线如区域A₁中的虚线所示。其他两个相交重叠区域的均分切割方法与区域A₁相同，在此不再赘述。For example, for two intersecting overlapping areas A₁ , the horizontal coordinates of the intersection points are X₂ and X₃ , respectively, and the midpoint coordinates X_m1 of X₂ and X₃ are calculated, and then the two intersecting overlapping areas A₁ are evenly divided and cut according to the midpoint coordinates X_m1 , and the cutting line is shown as the dotted line in area A_1. The evenly divided and cut method of the other two intersecting overlapping areas is the same as that of area A₁ , and will not be repeated here.

在步骤S55中，以顺时针的顺序，依次进行多个相交区域判断，当判定多个相交重叠区域包含于一个车辆投影区域内时，将多个相交重叠区域划分给对应车辆的投影区域。In step S55, multiple intersection regions are judged in turn in a clockwise order. When it is determined that multiple intersection overlapping regions are included in one vehicle projection region, the multiple intersection overlapping regions are divided into the projection region of the corresponding vehicle.

示例性地，针对多个相交重叠区域B和C，区域B由第1台车辆、第3台车辆和第4台车辆的投影区域重叠，区域C由第1台车辆、第4台车辆和第2台车辆的投影区域重叠。以顺时针的顺序，依次对第1台车辆投影区域、第3台车辆投影区域、第4台车辆投影区域和第2台车辆投影区域进行判断，可知，区域B和C均包含于第1台车辆投影区域内，将区域B和C划分给第1台车辆投影区域。在其他实施例中，若区域B不在第1台车辆投影区域内，则按照顺时针顺序对第3台车辆投影区域进行判断。当然，在其他实施例中，也可以以逆时针的顺序，依次对多个相交重叠区域进行判断，本发明对此不做限定。Exemplarily, for multiple intersecting and overlapping areas B and C, area B is overlapped by the projection areas of the first vehicle, the third vehicle, and the fourth vehicle, and area C is overlapped by the projection areas of the first vehicle, the fourth vehicle, and the second vehicle. In clockwise order, the projection area of the first vehicle, the projection area of the third vehicle, the projection area of the fourth vehicle, and the projection area of the second vehicle are judged in turn. It can be seen that areas B and C are both included in the projection area of the first vehicle, and areas B and C are divided into the projection area of the first vehicle. In other embodiments, if area B is not in the projection area of the first vehicle, the projection area of the third vehicle is judged in clockwise order. Of course, in other embodiments, multiple intersecting and overlapping areas can also be judged in counterclockwise order, and the present invention is not limited to this.

需要说明的是，每一多个相交重叠区域只分给一台车辆的投影区域，例如，当区域B划分给第1台车辆投影区域后，不再对区域B进行划分操作，避免多个车辆的投影区域有重合的部分，从而保证投影的效果。It should be noted that each of the multiple intersecting and overlapping areas is only allocated to the projection area of one vehicle. For example, after area B is allocated to the projection area of the first vehicle, area B will no longer be divided to avoid overlapping of the projection areas of multiple vehicles, thereby ensuring the projection effect.

在步骤S56和S57中，根据所述均分切割和所述多个相交区域判断，得到每一车辆的最终投影区域，再根据每一车辆的最终投影区域等比例的切割所述投影素材，得到N个投影素材碎片。In steps S56 and S57, the final projection area of each vehicle is obtained according to the equal cutting and the judgment of the multiple intersection areas, and then the projection material is cut in proportion according to the final projection area of each vehicle to obtain N projection material fragments.

在具体实施当中，在进行多维度联合投影时，车队最大投影区域如图3中纵坐标区域为0至Y₁，横坐标区域为0至X₄的阴影区域所示，可以将投影素材的中心点与车队最大投影区域的中心点相对应，然后按照每一车辆的最终投影区域等比例的分割投影素材。In a specific implementation, when performing multi-dimensional joint projection, the maximum projection area of the fleet is shown as the shaded area with the ordinate area ranging from 0 to_Y1 and the abscissa area ranging from 0 to_X4 in FIG3 . The center point of the projection material can be made corresponding to the center point of the maximum projection area of the fleet, and then the projection material can be divided in equal proportion according to the final projection area of each vehicle.

进一步地，数据处理终端根据位置信息，将投影素材碎片发送至车辆。例如，将横坐标区域为X_fX_m1的投影素材碎片发送至第1台车辆。Furthermore, the data processing terminal sends the projection material fragments to the vehicle according to the position information. For example, the projection material fragments with the horizontal coordinate area of X_f X_m1 are sent to the first vehicle.

在本实施例中，所述车辆联合投影方法还包括以下步骤S61至S63：In this embodiment, the vehicle joint projection method further includes the following steps S61 to S63:

S61，当接收到提示信息时，根据所述提示信息进行车辆位置调整；其中，所述提示信息由所述数据处理终端在判定联合投影不可行时，生成并发送至所述车队中的每一车辆；S61, when prompt information is received, adjusting the vehicle position according to the prompt information; wherein the prompt information is generated by the data processing terminal and sent to each vehicle in the fleet when it is determined that joint projection is not feasible;

S62，在车辆位置调整完成后，获取调整后的位置信息和区域数据；S62, after the vehicle position adjustment is completed, obtaining the adjusted position information and area data;

S63，将调整后的位置信息和区域数据发送至所述数据处理终端，以使所述数据处理终端根据所述投影素材、所述车队中每一车辆发送的调整后的位置信息和区域数据再次进行联合投影可行性判断，直至判定联合投影可行为止。S63, sending the adjusted position information and area data to the data processing terminal, so that the data processing terminal again determines the feasibility of joint projection according to the projection material and the adjusted position information and area data sent by each vehicle in the fleet, until it is determined that the joint projection is feasible.

在步骤S61中，若N小于预设数量或N为奇数，当水平位置投影不可行或垂直位置投影不可行时，判定联合投影不可行；若N大于等于所述预设数量且N为偶数，当判定任意4个相邻投影区域不满足相邻相交或者不满足至少一个投影区域与其他三个投影区域均相交，并且水平位置投影不可行或垂直位置投影不可行时，判定联合投影不可行。具体的判断方法在步骤S21至S24、步骤S41至S43中已做说明，在此不再赘述。In step S61, if N is less than the preset number or N is an odd number, when the horizontal position projection is not feasible or the vertical position projection is not feasible, the joint projection is determined to be not feasible; if N is greater than or equal to the preset number and N is an even number, when it is determined that any 4 adjacent projection areas do not meet the adjacent intersection or at least one projection area does not meet the intersection with the other three projection areas, and the horizontal position projection is not feasible or the vertical position projection is not feasible, the joint projection is determined to be not feasible. The specific judgment method has been described in steps S21 to S24 and steps S41 to S43, and will not be repeated here.

在判定联合投影不可行时，数据处理终端生成提示信息并发送至车队中的每一车辆。示例性地，提示信息可以为“联合投影不可行，请进行位置调整”。当车辆接收到包含“联合投影不可行”的提示信息后，进行车辆位置调整。需要说明的是，车辆投影区域是可视的，用户可以根据投影素材的尺寸和车辆投影区域进行车辆位置调整。When it is determined that joint projection is not feasible, the data processing terminal generates a prompt message and sends it to each vehicle in the fleet. For example, the prompt message may be "Joint projection is not feasible, please adjust the position". When the vehicle receives the prompt message containing "Joint projection is not feasible", the vehicle position is adjusted. It should be noted that the vehicle projection area is visible, and the user can adjust the vehicle position according to the size of the projection material and the vehicle projection area.

在步骤S62中，在车辆位置调整完成后，获取调整后的位置信息和区域数据，这里相当于再次执行步骤S12。In step S62, after the vehicle position adjustment is completed, the adjusted position information and area data are obtained, which is equivalent to executing step S12 again.

在步骤S63中，本车辆将调整后的位置信息和区域数据发送至数据处理终端。数据处理终端根据投影素材、车队中每一车辆发送的调整后的位置信息和区域数据再次进行联合投影可行性判断，直至判定联合投影可行为止。In step S63, the vehicle sends the adjusted position information and area data to the data processing terminal. The data processing terminal re-judges the feasibility of joint projection based on the projection material and the adjusted position information and area data sent by each vehicle in the fleet until the joint projection is determined to be feasible.

本发明实施例提供的车辆联合投影方法，通过多个车辆组成车队，并根据车辆的位置信息和车灯可投影的区域数据进行联合投影，实现了多个车辆配合投影的效果，能大大满足用户多样化的需求；同时，由数据处理终端根据接收到的投影素材、车队中每一车辆发送的位置信息和区域数据进行联合投影可行性判断，当判定联合投影可行时，对投影素材进行分割处理，得到多个投影素材碎片，从而实现投影素材的分割，有利于车辆进行联合投影。The vehicle joint projection method provided by the embodiment of the present invention forms a fleet of multiple vehicles and performs joint projection based on the vehicle position information and the area data where the headlights can be projected, thereby achieving the effect of coordinated projection of multiple vehicles and greatly meeting the diverse needs of users; at the same time, the data processing terminal performs a feasibility judgment on the joint projection based on the received projection material, the position information and the area data sent by each vehicle in the fleet. When it is determined that the joint projection is feasible, the projection material is segmented to obtain a plurality of projection material fragments, thereby achieving the segmentation of the projection material, which is beneficial to the joint projection of the vehicles.

参照图4，本发明第二实施例提供了一种车辆联合投影装置，所述装置设置于车辆中，包括：4 , a second embodiment of the present invention provides a vehicle joint projection device, which is arranged in a vehicle and includes:

组队模块，用于发送或接收组队请求信息，根据所述组队请求信息与其他车辆组成车队；其中，所述车队包括N台车辆，N为大于1的正整数；A teaming module, used to send or receive teaming request information, and form a team with other vehicles according to the teaming request information; wherein the team includes N vehicles, N is a positive integer greater than 1;

第一发送模块，用于将预先配置的投影素材发送至数据处理终端，以使所述数据处理终端对所述投影素材进行分割处理，得到N个投影素材碎片，并将N个所述投影素材碎片分别发送至N台所述车辆；A first sending module is used to send the pre-configured projection material to the data processing terminal, so that the data processing terminal divides the projection material to obtain N projection material fragments, and sends the N projection material fragments to the N vehicles respectively;

投影模块，用于接收所述投影素材碎片，并根据接收到的所述投影素材碎片进行投影。The projection module is used to receive the projection material fragments and perform projection according to the received projection material fragments.

进一步地，所述装置还包括：Furthermore, the device also includes:

信息获取模块，用于获取本车辆的位置信息和车灯可投影的区域数据；An information acquisition module is used to obtain the location information of the vehicle and the area data where the headlights can be projected;

数据发送模块，用于将所述位置信息和所述区域数据发送至数据处理终端，以使所述数据处理终端根据接收到的投影素材、所述车队中每一车辆发送的位置信息和区域数据进行联合投影可行性判断，当判定联合投影可行时，对所述投影素材进行分割处理。The data sending module is used to send the position information and the area data to the data processing terminal, so that the data processing terminal can judge the feasibility of joint projection based on the received projection material, the position information and the area data sent by each vehicle in the fleet, and when it is judged that the joint projection is feasible, the projection material is segmented.

进一步地，所述装置还包括：Furthermore, the device also includes:

位置调整模块，用于当接收到提示信息时，根据所述提示信息进行车辆位置调整；其中，所述提示信息由所述数据处理终端在判定联合投影不可行时，生成并发送至所述车队中的每一车辆；A position adjustment module, configured to adjust the vehicle position according to the prompt information when receiving the prompt information; wherein the prompt information is generated by the data processing terminal and sent to each vehicle in the fleet when it is determined that the joint projection is not feasible;

位置获取模块，用于在车辆位置调整完成后，获取调整后的位置信息和区域数据；A position acquisition module is used to obtain the adjusted position information and area data after the vehicle position adjustment is completed;

位置发送模块，将调整后的位置信息和区域数据发送至所述数据处理终端，以使所述数据处理终端根据所述投影素材、所述车队中每一车辆发送的调整后的位置信息和区域数据再次进行联合投影可行性判断，直至判定联合投影可行为止。The position sending module sends the adjusted position information and area data to the data processing terminal, so that the data processing terminal again determines the feasibility of joint projection based on the projection material and the adjusted position information and area data sent by each vehicle in the fleet until it is determined that the joint projection is feasible.

本发明实施例提供的车辆联合投影装置，通过多个车辆组成车队，并根据车辆的位置信息和车灯可投影的区域数据进行联合投影，实现了多个车辆配合投影的效果，能大大满足用户多样化的需求；同时，由数据处理终端根据接收到的投影素材、所述车队中每一车辆发送的位置信息和区域数据进行联合投影可行性判断，当判定联合投影可行时，对所述投影素材进行分割处理，得到多个投影素材碎片，从而实现投影素材的分割，有利于车辆进行联合投影。The vehicle joint projection device provided in the embodiment of the present invention forms a fleet of multiple vehicles and performs joint projection based on the vehicle position information and the area data where the headlights can be projected, thereby achieving the effect of coordinated projection of multiple vehicles and greatly meeting the diverse needs of users; at the same time, the data processing terminal performs a feasibility judgment on the joint projection based on the received projection material, the position information and the area data sent by each vehicle in the fleet. When it is determined that the joint projection is feasible, the projection material is segmented to obtain a plurality of projection material fragments, thereby achieving the segmentation of the projection material, which is beneficial to the joint projection of the vehicles.

本发明第三实施例提供了一种车辆，包括车辆本体、处理器、存储器以及存储在所述存储器中且被配置为由所述处理器执行的计算机程序，例如车辆联合投影程序。所述处理器执行所述计算机程序时实现上述各个车辆联合投影方法实施例中的步骤，例如图1所示的步骤S11。或者，所述处理器执行所述计算机程序时实现上述各装置实施例中各模块/单元的功能，例如投影模块。示例性的，所述计算机程序可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器中，并由所述处理器执行，以完成本发明。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序在所述处理器中的执行过程。The third embodiment of the present invention provides a vehicle, including a vehicle body, a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, such as a vehicle joint projection program. When the processor executes the computer program, the steps in the above-mentioned various vehicle joint projection method embodiments are implemented, such as step S11 shown in Figure 1. Alternatively, when the processor executes the computer program, the functions of each module/unit in the above-mentioned device embodiments are implemented, such as a projection module. Exemplarily, the computer program can be divided into one or more modules/units, and the one or more modules/units are stored in the memory and executed by the processor to complete the present invention. The one or more modules/units can be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program in the processor.

所述存储器可用于存储所述计算机程序和/或模块，所述处理器通过运行或执行存储在所述存储器内的计算机程序和/或模块，以及调用存储在存储器内的数据，实现所述车辆本体的各种功能。所述存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据手机的使用所创建的数据(比如音频数据、电话本等)等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如硬盘、内存、插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。The memory can be used to store the computer program and/or module, and the processor realizes various functions of the vehicle body by running or executing the computer program and/or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

其中，集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。Wherein, if the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

需说明的是，以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。另外，本发明提供的装置实施例附图中，模块之间的连接关系表示它们之间具有通信连接，具体可以实现为一条或多条通信总线或信号线。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without creative work.

参照图5，本发明第四实施例提供了一种车辆联合投影方法，由数据处理终端执行，包括以下步骤S71至S73：5 , a fourth embodiment of the present invention provides a vehicle joint projection method, which is executed by a data processing terminal and includes the following steps S71 to S73:

S71，接收车队中车辆发送的投影素材；其中，所述车队包括N台车辆，N为大于1的正整数；S71, receiving projection materials sent by vehicles in a motorcade; wherein the motorcade includes N vehicles, and N is a positive integer greater than 1;

S72，对所述投影素材进行分割处理，得到N个投影素材碎片；S72, segmenting the projection material to obtain N projection material fragments;

S73，将N个所述投影素材碎片分别发送至N台所述车辆，以使所述车辆根据接收到的所述投影素材碎片进行投影。S73: Send the N projection material fragments to the N vehicles respectively, so that the vehicles perform projection according to the received projection material fragments.

在本实施例中，数据处理终端执行数据处理功能，可以是云端，也可以是装载于车辆上的数据处理设备，本发明对此不做限定。In this embodiment, the data processing terminal performs the data processing function, and may be a data processing device in the cloud or mounted on a vehicle, and the present invention does not limit this.

在步骤S71中，投影素材由车队中任意一台车辆发送至数据处理终端。在具体实施当中，投影素材可以由车队中的队长车辆发送至数据处理终端。需要说明的是，发送组队请求信息的车辆一般为队长车辆，组成车队的N台车辆中的任意一台车辆都可以设为队长车辆，队长车辆可以根据实际需求进行设置，并且在组成车队后，队长车辆也可以将队长身份转让给车队中其他任意一台车辆，本发明实施例对此不做限定。此外，车队中每一车辆均可上传原始投影素材至队长车辆，由队长车辆从所有原始投影素材中选取投影素材，并将投影素材发送至数据处理终端。In step S71, the projection material is sent to the data processing terminal by any vehicle in the fleet. In a specific implementation, the projection material can be sent to the data processing terminal by the captain vehicle in the fleet. It should be noted that the vehicle that sends the team formation request information is generally the captain vehicle, and any of the N vehicles that make up the fleet can be set as the captain vehicle. The captain vehicle can be set according to actual needs, and after the fleet is formed, the captain vehicle can also transfer the captain identity to any other vehicle in the fleet. The embodiment of the present invention does not limit this. In addition, each vehicle in the fleet can upload the original projection material to the captain vehicle, and the captain vehicle selects the projection material from all the original projection materials and sends the projection material to the data processing terminal.

在本实施例中，车队中每一车辆都需要发送车辆位置信息和车灯可投影的区域数据至数据处理终端。例如，车辆上配置有支持RTK的高精定位模块，高精定位模块可以获取本车辆的位置信息。车辆上配置有DLP大灯，DLP大灯可以进行投影。同时，车辆上还配置有摄像头，摄像头根据运动成像技术采集车灯可投影的区域数据。In this embodiment, each vehicle in the fleet needs to send the vehicle location information and the area data where the headlights can be projected to the data processing terminal. For example, the vehicle is equipped with a high-precision positioning module that supports RTK, which can obtain the location information of the vehicle. The vehicle is equipped with DLP headlights, which can project. At the same time, the vehicle is also equipped with a camera, which collects the area data where the headlights can be projected based on motion imaging technology.

进一步地，，数据处理终端根据接收到的所述投影素材、所述位置信息和所述区域数据，进行联合投影可行性判断。数据处理终端能够根据车灯可投影的区域数据等比例模拟出车队中车辆的投影区域以及各个车辆的投影区域的相交状态，从而进行联合投影可行性判断，具体的判断方法在步骤S21至S24、步骤S41至S43中已做说明，在此不再赘述。Furthermore, the data processing terminal performs a joint projection feasibility judgment based on the received projection material, the location information and the area data. The data processing terminal can simulate the projection areas of the vehicles in the fleet and the intersection state of the projection areas of each vehicle in proportion according to the area data where the headlights can be projected, so as to perform a joint projection feasibility judgment. The specific judgment method has been described in steps S21 to S24 and steps S41 to S43, and will not be repeated here.

在步骤S72中，数据处理终端对投影素材进行分割处理，得到N个投影素材碎片。具体地，在所述当判定水平位置投影可行且判定垂直位置投影可行时，判定联合投影可行之后，对投影素材进行水平分割处理，具体过程参照步骤S31至S33；在判定任意4个相邻投影区域满足相邻相交且至少一个投影区域与其他三个投影区域均相交，判定联合投影可行之后，对投影素材进行多维度分割处理，具体过程参照步骤S51至S57，在此不再赘述。In step S72, the data processing terminal performs segmentation processing on the projection material to obtain N projection material fragments. Specifically, when it is determined that the horizontal position projection is feasible and the vertical position projection is feasible, after it is determined that the joint projection is feasible, the projection material is horizontally segmented, and the specific process refers to steps S31 to S33; after it is determined that any 4 adjacent projection areas meet the adjacent intersection and at least one projection area intersects with the other three projection areas, and after it is determined that the joint projection is feasible, the projection material is multi-dimensionally segmented, and the specific process refers to steps S51 to S57, which will not be repeated here.

在步骤S73中，数据处理终端将N个投影素材碎片分别发送至N台车辆。需要说明的是，投影素材碎片与车辆一一对应，数据处理终端需要根据位置信息发送投影素材碎片。数据处理终端首先根据位置信息对车队中的车辆进行编号，将车辆编号为第1台车辆、第2台车辆、第N台车辆等。然后，数据处理终端根据车辆的编号以及车辆投影区域数据，进行投影素材碎片的发送。例如，在进行多维度联合投影时，如图3所示，将横坐标区域为X_fX_m1的投影素材碎片发送至第1台车辆，将横坐标区域为X_m1X_e的投影素材碎片发送至第1台车辆；在进行水平联合投影时，如图2所示，将横坐标区域为X_fX_m1的投影素材碎片发送至第1台车辆，将横坐标区域为X_m1X_m2的投影素材碎片发送至第2台车辆，将横坐标区域为X_m2X_e的投影素材碎片发送至第3台车辆。In step S73, the data processing terminal sends the N projection material fragments to the N vehicles respectively. It should be noted that the projection material fragments correspond to the vehicles one by one, and the data processing terminal needs to send the projection material fragments according to the location information. The data processing terminal first numbers the vehicles in the fleet according to the location information, and numbers the vehicles as the first vehicle, the second vehicle, the Nth vehicle, etc. Then, the data processing terminal sends the projection material fragments according to the vehicle number and the vehicle projection area data. For example, when performing multi-dimensional joint projection, as shown in FIG3, the projection material fragments with a horizontal coordinate area of X_f X_m1 are sent to the first vehicle, and the projection material fragments with a horizontal coordinate area of X_m1 X_e are sent to the first vehicle; when performing horizontal joint projection, as shown in FIG2, the projection material fragments with a horizontal coordinate area of X_f X_m1 are sent to the first vehicle, the projection material fragments with a horizontal coordinate area of X_m1 X_m2 are sent to the second vehicle, and the projection material fragments with a horizontal coordinate area of X_m2 X_e are sent to the third vehicle.

进一步地，车队中的每一车辆根据接收到的投影素材碎片进行投影，N台车辆的投影联合后形成投影素材的完整投影或者其他联合投影效果。Furthermore, each vehicle in the fleet performs projection according to the received projection material fragments, and the projections of N vehicles are combined to form a complete projection of the projection material or other combined projection effects.

在本实施例中，所述车辆联合投影方法还包括：In this embodiment, the vehicle joint projection method further includes:

当判定联合投影不可行时，生成提示信息并发送至所述车队中的每一车辆，以使所述车队中的每一车辆根据所述提示信息进行车辆位置调整，并在车辆位置调整完成后，获取调整后的位置信息和区域数据，将调整后的位置信息和区域数据发送至所述数据处理终端；When it is determined that the joint projection is not feasible, a prompt message is generated and sent to each vehicle in the fleet, so that each vehicle in the fleet adjusts the vehicle position according to the prompt message, and after the vehicle position adjustment is completed, the adjusted position information and area data are obtained, and the adjusted position information and area data are sent to the data processing terminal;

接收所述车队中的每一车辆发送的调整后的位置信息和区域数据；receiving adjusted position information and area data sent by each vehicle in the fleet;

根据所述投影素材、所述车队中每一车辆发送的调整后的位置信息和区域数据再次进行联合投影可行性判断，直至判定联合投影可行为止。The feasibility of the joint projection is judged again according to the projection material, the adjusted position information and the area data sent by each vehicle in the fleet, until it is judged that the joint projection is feasible.

在本实施例中，若N小于4或N为奇数，当水平位置投影不可行或垂直位置投影不可行时，判定联合投影不可行；若N大于等于4且N为偶数，当判定任意4个相邻投影区域不满足相邻相交或者不满足至少一个投影区域与其他三个投影区域均相交，并且水平位置投影不可行或垂直位置投影不可行时，判定联合投影不可行。具体的判断方法在步骤S21至S24、步骤S41至S43中已做说明，在此不再赘述。In this embodiment, if N is less than 4 or N is an odd number, when the horizontal position projection is not feasible or the vertical position projection is not feasible, the joint projection is determined to be not feasible; if N is greater than or equal to 4 and N is an even number, when it is determined that any 4 adjacent projection areas do not meet the adjacent intersection or at least one projection area does not meet the intersection with the other three projection areas, and the horizontal position projection is not feasible or the vertical position projection is not feasible, the joint projection is determined to be not feasible. The specific judgment method has been described in steps S21 to S24 and steps S41 to S43, and will not be repeated here.

在判定联合投影不可行时，数据处理终端生成提示信息并发送至车队中的每一车辆。示例性地，提示信息可以为“联合投影不可行，请进行位置调整”。当车辆接收到包含“联合投影不可行”的提示信息后，进行车辆位置调整。需要说明的是，车辆投影区域是可视的，用户可以根据投影素材的尺寸和车辆投影区域进行车辆位置调整。车辆位置调整完成后，车队中的每一车辆发送的调整后的位置信息和区域数据至数据处理终端。When it is determined that joint projection is not feasible, the data processing terminal generates a prompt message and sends it to each vehicle in the fleet. Exemplarily, the prompt message may be "Joint projection is not feasible, please adjust the position". When the vehicle receives the prompt message containing "Joint projection is not feasible", the vehicle position is adjusted. It should be noted that the vehicle projection area is visible, and the user can adjust the vehicle position according to the size of the projection material and the vehicle projection area. After the vehicle position adjustment is completed, each vehicle in the fleet sends the adjusted position information and area data to the data processing terminal.

数据处理终端接收车队中的每一车辆发送的调整后的位置信息和区域数据。需要说明的是，数据处理终端可以采用替换式接收方式，调整后的位置信息和区域数据将覆盖初始的位置信息和区域数据。The data processing terminal receives the adjusted position information and area data sent by each vehicle in the fleet. It should be noted that the data processing terminal can adopt a replacement receiving mode, and the adjusted position information and area data will overwrite the initial position information and area data.

数据处理终端根据投影素材、车队中每一车辆发送的调整后的位置信息和区域数据再次进行联合投影可行性判断，直至判定联合投影可行为止。The data processing terminal re-judges the feasibility of the joint projection based on the projection material, the adjusted position information and the area data sent by each vehicle in the fleet, until it is determined that the joint projection is feasible.

本发明提供的车辆联合投影方法，通过多个车辆组成车队，并根据车辆的位置信息和车灯可投影的区域数据进行联合投影，实现了多个车辆配合投影的效果，能大大满足用户多样化的需求；同时，由数据处理终端根据接收到的投影素材、车队中每一车辆发送的位置信息和区域数据进行联合投影可行性判断，当判定联合投影可行时，对投影素材进行分割处理，得到多个投影素材碎片，从而实现投影素材的分割，有利于车辆进行联合投影。The vehicle joint projection method provided by the present invention forms a fleet of multiple vehicles and performs joint projection based on the vehicle position information and the area data where the headlights can be projected, thereby achieving the effect of multiple vehicles cooperating in projection and greatly meeting the diverse needs of users; at the same time, the data processing terminal performs a feasibility judgment on the joint projection based on the received projection material, the position information and the area data sent by each vehicle in the fleet. When it is determined that the joint projection is feasible, the projection material is segmented to obtain a plurality of projection material fragments, thereby achieving the segmentation of the projection material, which is beneficial to the joint projection of the vehicles.

参照图6，本发明第五实施例提供了一种车辆联合投影装置，所述装置设置于数据处理终端中，包括：6 , a fifth embodiment of the present invention provides a vehicle joint projection device, which is arranged in a data processing terminal and includes:

第一接收模块，用于接收车队中车辆发送的投影素材；其中，所述车队包括N台车辆，N为大于1的正整数；A first receiving module is used to receive projection materials sent by vehicles in a fleet; wherein the fleet includes N vehicles, and N is a positive integer greater than 1;

素材分割模块，用于对所述投影素材进行分割处理，得到N个投影素材碎片；A material segmentation module, used to segment the projection material to obtain N projection material fragments;

第二发送模块，用于将N个所述投影素材碎片分别发送至N台所述车辆，以使所述车辆根据接收到的所述投影素材碎片进行投影。The second sending module is used to send the N projection material fragments to the N vehicles respectively, so that the vehicles perform projection according to the received projection material fragments.

进一步地，所述装置还包括：Furthermore, the device also includes:

第二接收模块，用于接收所述车队中每一车辆发送的车辆位置信息和车灯可投影的区域数据；A second receiving module is used to receive vehicle position information and light projection area data sent by each vehicle in the fleet;

判断模块，用于根据接收到的所述投影素材、所述位置信息和所述区域数据，进行联合投影可行性判断，当判定联合投影可行时，对所述投影素材进行分割处理。The judgment module is used to judge the feasibility of joint projection according to the received projection material, the position information and the area data, and when it is judged that the joint projection is feasible, the projection material is segmented.

进一步地，所述装置还包括：Furthermore, the device also includes:

提示信息生成模块，用于当判定联合投影不可行时，生成提示信息并发送至所述车队中的每一车辆，以使所述车队中的每一车辆根据所述提示信息进行车辆位置调整，并在车辆位置调整完成后，获取调整后的位置信息和区域数据，将调整后的位置信息和区域数据发送至所述数据处理终端；a prompt information generating module, configured to generate prompt information and send it to each vehicle in the fleet when it is determined that the joint projection is not feasible, so that each vehicle in the fleet adjusts the vehicle position according to the prompt information, and after the vehicle position adjustment is completed, obtain the adjusted position information and area data, and send the adjusted position information and area data to the data processing terminal;

位置接收模块，用于接收所述车队中的每一车辆发送的调整后的位置信息和区域数据，并根据所述投影素材、所述车队中每一车辆发送的调整后的位置信息和区域数据再次进行联合投影可行性判断，直至判定联合投影可行为止。The position receiving module is used to receive the adjusted position information and area data sent by each vehicle in the fleet, and to make a feasibility judgment of the joint projection again according to the projection material and the adjusted position information and area data sent by each vehicle in the fleet until the joint projection is judged to be feasible.

优选地，所述判断模块包括水平联合投影判断模块和多维度联合投影判断模块。其中，水平联合投影判断模块包括：Preferably, the judgment module includes a horizontal joint projection judgment module and a multi-dimensional joint projection judgment module. The horizontal joint projection judgment module includes:

数据计算单元，用于当N小于预设数量或N为奇数时，根据所述位置信息和所述区域数据，计算首端车辆投影区域与尾端车辆投影区域在水平方向上的最小间距、联合投影区域在竖直方向上的最大高度；A data calculation unit, configured to calculate, when N is less than a preset number or N is an odd number, a minimum horizontal distance between a projection area of a leading vehicle and a projection area of a trailing vehicle and a maximum vertical height of a joint projection area according to the position information and the area data;

水平位置判断单元，用于当满足

时，判定水平位置投影可行；The horizontal position judgment unit is used to

When , it is determined that the horizontal position projection is feasible;

垂直位置判断单元，用于当满足

且H_max＞0时，判定垂直位置投影可行；其中，H_max为联合投影区域在竖直方向上的最大高度，d为首端车辆投影区域与尾端车辆投影区域在水平方向上的最小间距，W_S为所述投影素材的宽度，H_S为所述投影素材的高度；The vertical position judgment unit is used to

When H_max > 0, the vertical position projection is determined to be feasible; wherein H_max is the maximum height of the joint projection area in the vertical direction, d is the minimum distance between the projection area of the leading vehicle and the projection area of the trailing vehicle in the horizontal direction,_WS is the width of the projection material, and_HS is the height of the projection material;

水平联合投影判断单元，用于当判定水平位置投影可行且判定垂直位置投影可行时，判定联合投影可行。The horizontal joint projection judgment unit is used to judge that the joint projection is feasible when the horizontal position projection is judged to be feasible and the vertical position projection is judged to be feasible.

其中，多维度联合投影判断模块包括：Among them, the multi-dimensional joint projection judgment module includes:

多维度联合投影判断单元，用于当N大于等于所述预设数量且为偶数时，判断任意4个相邻投影区域是否满足相邻相交且至少一个投影区域与其他三个投影区域均相交；若是，则判定联合投影可行；若否，则执行所述水平联合投影判断模块。The multi-dimensional joint projection judgment unit is used to judge whether any four adjacent projection areas meet adjacent intersection and at least one projection area intersects with the other three projection areas when N is greater than or equal to the preset number and is an even number; if so, it is determined that the joint projection is feasible; if not, the horizontal joint projection judgment module is executed.

优选地，所述素材分割模块包括水平分割模块和多维度分割模块，水平分割模块用于在所述当判定水平位置投影可行且判定垂直位置投影可行时，判定联合投影可行之后，对所述投影素材进行水平分割处理，多维度分割模块用于在判定任意4个相邻投影区域满足相邻相交且至少一个投影区域与其他三个投影区域均相交，判定联合投影可行之后，对所述投影素材进行多维度分割处理。Preferably, the material segmentation module includes a horizontal segmentation module and a multi-dimensional segmentation module. The horizontal segmentation module is used to perform horizontal segmentation processing on the projection material after it is determined that the joint projection is feasible when the horizontal position projection is determined to be feasible and the vertical position projection is determined to be feasible. The multi-dimensional segmentation module is used to perform multi-dimensional segmentation processing on the projection material after it is determined that any 4 adjacent projection areas meet adjacent intersection and at least one projection area intersects with the other three projection areas and the joint projection is feasible.

其中，所述水平分割模块包括：Wherein, the horizontal segmentation module includes:

第一坐标系建立单元，用于以首端车辆投影区域的第一个顶点为原点建立二维坐标系，得到所述投影素材在所述二维坐标系中对应的最小横坐标和最大横坐标；A first coordinate system establishing unit, used to establish a two-dimensional coordinate system with the first vertex of the projection area of the head-end vehicle as the origin, and obtain the minimum horizontal coordinate and the maximum horizontal coordinate corresponding to the projection material in the two-dimensional coordinate system;

第一中点计算单元，用于根据所述位置信息和所述区域数据，计算每两个相邻的车辆投影区域的交点横坐标的中点，得到N-1个中点横坐标；A first midpoint calculation unit, used to calculate the midpoint of the horizontal coordinates of the intersection points of every two adjacent vehicle projection areas according to the position information and the area data, to obtain N-1 midpoint horizontal coordinates;

水平分割单元，用于根据N-1个所述中点横坐标、所述投影素材的最小横坐标和所述投影素材的最大横坐标，对所述投影素材进行分割处理，得到N个投影素材碎片。The horizontal segmentation unit is used to segment the projection material according to the N-1 midpoint horizontal coordinates, the minimum horizontal coordinate of the projection material and the maximum horizontal coordinate of the projection material to obtain N projection material fragments.

其中，所述多维度分割模块包括：Wherein, the multi-dimensional segmentation module includes:

第二坐标系建立单元，用于以首端车辆投影区域的第一个顶点为原点建立二维坐标系，根据所述位置信息和所述区域数据，得到任意4个相邻投影区域中相交重叠区域的横坐标和纵坐标；A second coordinate system establishing unit is used to establish a two-dimensional coordinate system with the first vertex of the projection area of the head vehicle as the origin, and obtain the horizontal coordinate and the vertical coordinate of the intersecting and overlapping area in any four adjacent projection areas according to the position information and the area data;

重叠区域划分单元，用于根据重叠个数将所述相交重叠区域划分为两个相交重叠区域和多个相交重叠区域；其中，所述重叠个数为所述相交重叠区域有投影车辆的个数；An overlapping area division unit, used for dividing the intersecting overlapping area into two intersecting overlapping areas and a plurality of intersecting overlapping areas according to the number of overlaps; wherein the number of overlaps is the number of vehicles projected in the intersecting overlapping area;

第二中点计算单元，用于根据所述相交重叠区域的横坐标和纵坐标，得到每一所述两个相交重叠区域的中点坐标；A second midpoint calculation unit, used for obtaining the midpoint coordinates of each of the two intersecting overlapping areas according to the horizontal coordinates and the vertical coordinates of the intersecting overlapping areas;

均分切割单元，用于根据每一所述两个相交重叠区域的中点坐标，对每一所述两个相交重叠区域进行均分切割；An equal division and cutting unit, used for equally dividing and cutting each of the two intersecting and overlapping areas according to the midpoint coordinates of each of the two intersecting and overlapping areas;

多个相交区域判断单元，用于以顺时针的顺序，依次进行多个相交区域判断，当判定所述多个相交重叠区域包含于所述车辆投影区域内时，将所述多个相交重叠区域划分给对应车辆的投影区域；其中，每一所述多个相交重叠区域只分给一台车辆的投影区域；A plurality of intersection area judgment units are used to perform a plurality of intersection area judgments in a clockwise order, and when it is determined that the plurality of intersection overlapping areas are included in the vehicle projection area, the plurality of intersection overlapping areas are divided into projection areas of corresponding vehicles; wherein each of the plurality of intersection overlapping areas is only divided into the projection area of one vehicle;

最终投影区域生成单元，用于根据所述均分切割和所述多个相交区域判断，得到每一车辆的最终投影区域；A final projection area generating unit, used for obtaining a final projection area of each vehicle according to the equal division and the determination of the plurality of intersection areas;

多维度分割单元，用于根据每一车辆的最终投影区域等比例的切割所述投影素材，得到N个投影素材碎片。The multi-dimensional segmentation unit is used to cut the projection material in equal proportion according to the final projection area of each vehicle to obtain N projection material fragments.

本发明实施例提供的车辆联合投影装置，通过多个车辆组成车队，并根据车辆的位置信息和车灯可投影的区域数据进行联合投影，实现了多个车辆配合投影的效果，能大大满足用户多样化的需求；同时，由数据处理终端根据接收到的投影素材、所述车队中每一车辆发送的位置信息和区域数据进行联合投影可行性判断，当判定联合投影可行时，对所述投影素材进行分割处理，得到多个投影素材碎片，从而实现投影素材的分割，有利于车辆进行联合投影。The vehicle joint projection device provided in the embodiment of the present invention forms a fleet of multiple vehicles and performs joint projection based on the vehicle position information and the area data where the headlights can be projected, thereby achieving the effect of coordinated projection of multiple vehicles and greatly meeting the diverse needs of users; at the same time, the data processing terminal performs a feasibility judgment on the joint projection based on the received projection material, the position information and the area data sent by each vehicle in the fleet. When it is determined that the joint projection is feasible, the projection material is segmented to obtain a plurality of projection material fragments, thereby achieving the segmentation of the projection material, which is beneficial to the joint projection of the vehicles.

本发明第六实施例提供一种数据处理终端，包括处理器、存储器以及存储在所述存储器中且被配置为由所述处理器执行的计算机程序，例如车辆联合投影程序。所述处理器执行所述计算机程序时实现上述各个车辆联合投影方法实施例中的步骤，例如图5所示的步骤S71。或者，所述处理器执行所述计算机程序时实现上述各装置实施例中各模块/单元的功能，例如判断模块。The sixth embodiment of the present invention provides a data processing terminal, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, such as a vehicle joint projection program. When the processor executes the computer program, the steps in the above-mentioned vehicle joint projection method embodiments are implemented, such as step S71 shown in Figure 5. Alternatively, when the processor executes the computer program, the functions of each module/unit in the above-mentioned device embodiments are implemented, such as a judgment module.

示例性的，所述计算机程序可以被分割成一个或多个模块/单元，所述一个或者多个模块/单元被存储在所述存储器中，并由所述处理器执行，以完成本发明。所述一个或多个模块/单元可以是能够完成特定功能的一系列计算机程序指令段，该指令段用于描述所述计算机程序在所述处理器中的执行过程。Exemplarily, the computer program may be divided into one or more modules/units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the processor.

所述存储器可用于存储所述计算机程序和/或模块，所述处理器通过运行或执行存储在所述存储器内的计算机程序和/或模块，以及调用存储在存储器内的数据，实现所述数据处理终端的各种功能。所述存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序(比如声音播放功能、图像播放功能等)等；存储数据区可存储根据手机的使用所创建的数据(比如音频数据、电话本等)等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如硬盘、内存、插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。The memory can be used to store the computer program and/or module, and the processor realizes various functions of the data processing terminal by running or executing the computer program and/or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

其中，集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。Wherein, if the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

需说明的是，以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。另外，本发明提供的装置实施例附图中，模块之间的连接关系表示它们之间具有通信连接，具体可以实现为一条或多条通信总线或信号线。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without creative work.

本发明第七实施例提供了一种计算机可读存储介质，所述计算机可读存储介质包括存储的计算机程序，其中，在所述计算机程序运行时控制所述计算机可读存储介质所在设备执行如第一实施例或第四实施例任意一项所述的车辆联合投影方法。The seventh embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the vehicle joint projection method as described in any one of the first embodiment or the fourth embodiment.

本发明第八实施例提供了一种车辆联合投影系统，包括数据处理终端和N台车辆，N为大于1的正整数，所述车辆与所述数据处理终端通信连接，所述车辆用于执行如第一实施例所述的车辆联合投影方法，所述数据处理终端用于执行如第四实施例所述的车辆联合投影方法。An eighth embodiment of the present invention provides a vehicle joint projection system, including a data processing terminal and N vehicles, N being a positive integer greater than 1, the vehicles being communicatively connected to the data processing terminal, the vehicles being used to execute the vehicle joint projection method as described in the first embodiment, and the data processing terminal being used to execute the vehicle joint projection method as described in the fourth embodiment.

参照图7，车队中不同车辆之间以及任一车辆与数据处理终端之间通过MQTT(Message Queuing Telemetry Transport，消息队列遥测传输协议)进行数据的传输，MQTT是基于发布、订阅式的消息协议，可依靠EMQ(Erlang/Enterprise/Elastic MQTT Broker)服务器实现通信。车辆上配置有支持RTK的高精定位模块，可达到厘米级别的误差，高精定位模块可以获取本车辆的位置信息。车辆上还配置有DLP大灯，DLP大灯可以进行投影。车队中每一车辆均可上传原始投影素材至队长车辆，由队长车辆从所有原始投影素材中选取投影素材，并将投影素材发送至数据处理终端。Referring to Figure 7, data is transmitted between different vehicles in the fleet and between any vehicle and the data processing terminal through MQTT (Message Queuing Telemetry Transport). MQTT is a message protocol based on publishing and subscription, and can rely on the EMQ (Erlang/Enterprise/Elastic MQTT Broker) server to achieve communication. The vehicle is equipped with a high-precision positioning module that supports RTK, which can achieve centimeter-level errors. The high-precision positioning module can obtain the location information of the vehicle. The vehicle is also equipped with DLP headlights, which can be used for projection. Each vehicle in the fleet can upload the original projection material to the captain's vehicle, and the captain's vehicle selects the projection material from all the original projection materials and sends the projection material to the data processing terminal.

数据处理终端执行数据处理功能，可以是云端，也可以是装载于车辆上的数据处理设备，本发明对此不做限定。数据处理终端判定联合投影可行时，将投影素材进行分割处理并发送至每一车辆，车辆根据接收到的投影素材碎片进行投影，最终形成车队的联合投影。The data processing terminal performs data processing functions, and may be a cloud-based data processing device or a data processing device mounted on a vehicle, which is not limited in the present invention. When the data processing terminal determines that joint projection is feasible, the projection material is segmented and sent to each vehicle, and the vehicle projects according to the received projection material fragments, and finally forms a joint projection of the fleet.

综上，本发明实施例提供的车辆联合投影方法、装置、车辆、数据处理终端、计算机可读存储介质及系统，通过多个车辆组成车队，并根据车辆的位置信息和车灯可投影的区域数据进行联合投影，实现了多个车辆配合投影的效果，能大大满足用户多样化的需求；同时，由数据处理终端根据接收到的投影素材、车队中每一车辆发送的位置信息和区域数据进行联合投影可行性判断，当判定联合投影可行时，对投影素材进行分割处理，得到多个投影素材碎片，从而实现投影素材的分割，有利于车辆进行联合投影。In summary, the vehicle joint projection method, device, vehicle, data processing terminal, computer-readable storage medium and system provided in the embodiments of the present invention form a fleet by forming a plurality of vehicles and perform joint projection according to the vehicle position information and the area data where the headlights can be projected, thereby achieving the effect of coordinated projection of multiple vehicles and greatly meeting the diverse needs of users; at the same time, the data processing terminal judges the feasibility of joint projection according to the received projection material, the position information and area data sent by each vehicle in the fleet, and when it is determined that the joint projection is feasible, the projection material is segmented to obtain a plurality of projection material fragments, thereby achieving the segmentation of the projection material, which is beneficial to the joint projection of the vehicles.

以上所述的具体实施例，对本发明的目的、技术方案和有益效果进行了进一步的详细说明，应当理解，以上所述仅为本发明的具体实施例而已，并不用于限定本发明的保护范围。特别指出，对于本领域技术人员来说，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims (17)

1. A vehicle joint projection method, performed by a host vehicle, comprising:

transmitting or receiving team request information, and forming a vehicle team with other vehicles according to the team request information; the motorcade comprises N vehicles, wherein N is a positive integer greater than 1;

transmitting a pre-configured projection material to a data processing terminal so that the data processing terminal performs segmentation processing on the projection material to obtain N projection material fragments, and respectively transmitting the N projection material fragments to N vehicles;

and receiving the projection material fragments, and projecting according to the received projection material fragments.

2. The vehicle joint projection method of claim 1, further comprising:

Acquiring position information of a vehicle and region data which can be projected by a vehicle lamp;

and sending the position information and the area data to a data processing terminal so that the data processing terminal can judge the feasibility of joint projection according to the received projection materials, the position information and the area data sent by each vehicle in the motorcade, and when judging that joint projection is feasible, carrying out segmentation processing on the projection materials.

3. The vehicle joint projection method of claim 2, wherein the method further comprises:

when the prompt information is received, adjusting the position of the vehicle according to the prompt information; the prompt information is generated and sent to each vehicle in the vehicle team by the data processing terminal when the data processing terminal judges that joint projection is not feasible;

after the position adjustment of the vehicle is completed, acquiring adjusted position information and area data;

and sending the adjusted position information and the area data to the data processing terminal so that the data processing terminal can carry out joint projection feasibility judgment again according to the projection materials and the adjusted position information and the area data sent by each vehicle in the motorcade until the joint projection is judged to be feasible.

4. The vehicle joint projection method according to claim 1, wherein the transmitting or receiving the group request information, forming a vehicle group with other vehicles according to the group request information, includes:

transmitting team request information to other vehicles, and forming a vehicle team with the other vehicles according to the team request information; or receiving the team request information sent by the team leader vehicle, and forming a vehicle team with the team leader vehicle according to the team request information; wherein, a captain vehicle is arranged in the N vehicles.

5. A vehicle joint projection device, the device being disposed in a vehicle and comprising:

the team forming module is used for sending or receiving team forming request information and forming a vehicle team with other vehicles according to the team forming request information; the motorcade comprises N vehicles, wherein N is a positive integer greater than 1;

the first sending module is used for sending the pre-configured projection materials to the data processing terminal so that the data processing terminal can divide the projection materials to obtain N projection material fragments, and the N projection material fragments are respectively sent to N vehicles;

and the projection module is used for receiving the projection material fragments and projecting according to the received projection material fragments.

6. A vehicle comprising a vehicle body, a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the vehicle joint projection method according to any one of claims 1 to 4 when the computer program is executed.

7. A vehicle joint projection method, characterized by being executed by a data processing terminal, comprising:

receiving projection materials sent by vehicles in a motorcade; the motorcade comprises N vehicles, wherein N is a positive integer greater than 1;

dividing the projection material to obtain N projection material fragments;

and respectively transmitting the N projection material fragments to N vehicles so that the vehicles can project according to the received projection material fragments.

8. The vehicle joint projection method of claim 7, further comprising:

receiving vehicle position information and area data which can be projected by a vehicle lamp and are sent by each vehicle in the motorcade;

and carrying out joint projection feasibility judgment according to the received projection materials, the position information and the area data, and carrying out segmentation processing on the projection materials when the joint projection is judged to be feasible.

9. The vehicle joint projection method of claim 8, further comprising:

when the joint projection is judged to be not feasible, generating prompt information and sending the prompt information to each vehicle in the vehicle team, so that each vehicle in the vehicle team can adjust the vehicle position according to the prompt information, acquiring adjusted position information and area data after the vehicle position adjustment is completed, and sending the adjusted position information and area data to the data processing terminal;

and receiving the adjusted position information and the area data sent by each vehicle in the motorcade, and carrying out joint projection feasibility judgment again according to the projection materials and the adjusted position information and the area data sent by each vehicle in the motorcade until the joint projection feasibility is judged.

10. The vehicle joint projection method according to claim 8, wherein the performing joint projection feasibility determination according to the received projection material, the location information, and the area data includes:

when N is smaller than the preset number or N is an odd number, calculating the minimum distance between the head-end vehicle projection area and the tail-end vehicle projection area in the horizontal direction and the maximum height of the combined projection area in the vertical direction according to the position information and the area data;

When meeting the requirements

When the horizontal position projection is judged to be feasible;

when meeting the requirements

And H is_max >When 0, judging that the vertical position projection is feasible;

wherein H is_max For the maximum height of the joint projection area in the vertical direction, d is the minimum distance between the head-end vehicle projection area and the tail-end vehicle projection area in the horizontal direction, W_S For the width of the projection material, H_S The height of the projection material is the height of the projection material;

when it is determined that the horizontal position projection is possible and it is determined that the vertical position projection is possible, it is determined that the joint projection is possible.

11. The vehicle joint projection method of claim 10, further comprising:

when N is greater than or equal to the preset number and is an even number, judging whether any 4 adjacent projection areas meet adjacent intersection or not and at least one projection area is intersected with other three projection areas;

if yes, judging that the joint projection is feasible;

if not, calculating the minimum distance between the head-end vehicle projection area and the tail-end vehicle projection area in the horizontal direction and the maximum height of the combined projection area in the vertical direction according to the position information and the area data;

when meeting the requirements

When the horizontal position projection is judged to be feasible;

when meeting the requirements

And H is_max >When 0, judging that the vertical position projection is feasible;

wherein H is_max For the maximum height of the joint projection area in the vertical direction, d is the minimum distance between the head-end vehicle projection area and the tail-end vehicle projection area in the horizontal direction, W_S For the width of the projection material, H_S The height of the projection material is the height of the projection material;

when it is determined that the horizontal position projection is possible and it is determined that the vertical position projection is possible, it is determined that the joint projection is possible.

12. The vehicle joint projection method according to claim 10, wherein after the joint projection is determined to be possible when the horizontal position projection is determined to be possible and the vertical position projection is determined to be possible, the dividing the projection material to obtain N projection material fragments includes:

establishing a two-dimensional coordinate system by taking a first vertex of a head-end vehicle projection area as an origin, and obtaining a minimum abscissa and a maximum abscissa corresponding to the projection material in the two-dimensional coordinate system;

calculating midpoints of intersection abscissas of every two adjacent vehicle projection areas according to the position information and the area data to obtain N-1 midpoint abscissas;

and according to N-1 midpoint abscissas, the minimum abscissas of the projection materials and the maximum abscissas of the projection materials, carrying out segmentation processing on the projection materials to obtain N projection material fragments.

13. The method of joint projection of vehicles according to claim 11, wherein after determining that joint projection is possible if yes, the dividing the projection material to obtain N projection material fragments includes:

establishing a two-dimensional coordinate system by taking a first vertex of a projection area of the head-end vehicle as an origin, and obtaining an abscissa and an ordinate of an intersection overlapping area in any 4 adjacent projection areas according to the position information and the area data;

dividing the intersection overlapping area into two intersection overlapping areas and a plurality of intersection overlapping areas according to the overlapping number; the overlapping number is the number of projection vehicles in the intersecting overlapping area;

obtaining the midpoint coordinates of each two intersection overlapping areas according to the abscissa and the ordinate of the intersection overlapping areas;

dividing and cutting each of the two intersection overlapping areas equally according to the midpoint coordinates of each of the two intersection overlapping areas;

sequentially judging a plurality of intersection areas in a clockwise order, and dividing the plurality of intersection overlapping areas into projection areas of corresponding vehicles when judging that the plurality of intersection overlapping areas are contained in the vehicle projection areas; wherein each of the plurality of intersecting overlapping regions is assigned to only a projection region of one vehicle;

Judging according to the equipartition cutting and the plurality of intersecting areas to obtain a final projection area of each vehicle;

and cutting the projection materials in equal proportion according to the final projection area of each vehicle to obtain N projection material fragments.

14. A vehicle joint projection device, characterized in that the device is provided in a data processing terminal, comprising:

the first receiving module is used for receiving projection materials sent by vehicles in a motorcade; the motorcade comprises N vehicles, wherein N is a positive integer greater than 1;

the material segmentation module is used for carrying out segmentation processing on the projection materials to obtain N projection material fragments;

and the second sending module is used for respectively sending the N projection material fragments to N vehicles so that the vehicles can project according to the received projection material fragments.

15. A data processing terminal comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the vehicle joint projection method according to any one of claims 7 to 13 when the computer program is executed.

16. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform the vehicle joint projection method according to any one of claims 1 to 4 or to perform the vehicle joint projection method according to any one of claims 7 to 13.

17. A vehicle joint projection system, comprising a data processing terminal and N vehicles, N being a positive integer greater than 1, the vehicles being communicatively connected to the data processing terminal, the vehicles being configured to perform the vehicle joint projection method according to any one of claims 1 to 4, the data processing terminal being configured to perform the vehicle joint projection method according to any one of claims 7 to 13.

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