Head-up display device, imaging system, vehicle, control method and apparatus

Abstract

The application provides a head-up display device, an imaging system, a vehicle, a control method and device, a processing unit is used for controlling a curved mirror moving mechanism to move a curved mirror, and a flat mirror moving mechanism is used for moving a flat mirror, the incident position and / or incident angle of light emitted by the HUD when the light is incident on the windshield of the vehicle is changed, so as to adjust the imaging position of the HUD in the vertical direction, the situation that the observer has a position deviation in the vertical direction when watching the image presented by the HUD is eliminated, the observation of the image by the observer in the vertical direction is avoided, and the use experience of the HUD is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to a head-up display device, an imaging system, a vehicle, a control method and device. BACKGROUND

[0002] The head-up display (HUD) technology can avoid the distraction caused by the driver looking down at the instrument panel during driving, improve the driving safety factor, and bring a better driving experience. The augmented reality head-up display (AR-HUD) is a research hotspot of the current HUD, and the image projected by the AR-HUD can be fused with the real environment, such as the accurate fusion of the direction indication arrow and the road, so that a good visual effect can be achieved.

[0003] However, when the HUD is used, the observer's eye position is different due to the difference in the observer's height and the sitting habit, which causes the vertical line of sight to change, and the image position observed by the observer deviates, which seriously reduces the use experience of the HUD. The above-mentioned situation is more obvious on the AR-HUD. SUMMARY

[0004] To solve the above-mentioned problems, the purpose of the embodiments of the present application is to provide a head-up display device, an imaging system, a vehicle, a control method and device.

[0005] In a first aspect, the embodiments of the present application provide a head-up display device (HUD), comprising: an image source, a curved mirror, a flat mirror, a processing unit, a curved mirror moving mechanism and a flat mirror moving mechanism.

[0006] The curved mirror moving mechanism is connected with the curved mirror, and the flat mirror moving mechanism is connected with the flat mirror. The processing unit is installed inside the HUD and is connected with the curved mirror moving mechanism and the flat mirror moving mechanism respectively.

[0007] The processing unit is configured to control the curved mirror moving mechanism to move the curved mirror, and control the flat mirror moving mechanism to move the flat mirror.

[0008] The curved mirror moving mechanism is configured to move the curved mirror under the control of the processing unit, and the flat mirror moving mechanism is configured to move the flat mirror under the control of the processing unit.

[0009] The curved mirror and the flat mirror after moving can change the incident position and / or incident angle of the light emitted by the HUD when the light is incident to the windshield of the vehicle, so as to adjust the imaging position of the HUD in the vertical direction, wherein the vertical direction refers to a direction perpendicular to a plane on which a road surface on which the vehicle travels is located.

[0010] In a second aspect, the embodiments of the present application further provide a head-up display imaging system for a vehicle, comprising: an image acquisition device, an electronic control unit (ECU), and the HUD of the first aspect.

[0011] The processing unit in the image acquisition device and the HUD is connected with the ECU.

[0012] The image acquisition device is configured to acquire an image of an observer in the vehicle and send the acquired image to the ECU.

[0013] The ECU is configured to determine the eye position of the observer based on the image acquired by the image acquisition device, and when the height difference between the eye position of the observer and the center position of the eye box is greater than a distance threshold, send a control instruction to the processing unit in the HUD, so that the processing unit controls the curved mirror and the flat mirror in the HUD to move and adjust the imaging position of the HUD in the vertical direction; the vertical direction refers to a direction perpendicular to a plane on which a road surface on which the vehicle travels is located.

[0014] In a third aspect, the embodiments of the present application further provide a vehicle comprising the head-up display imaging system of the second aspect.

[0015] In a fourth aspect, the embodiments of the present application further provide a control method for the head-up display imaging system of the second aspect, comprising:

[0016] The ECU acquires an image of an observer in the vehicle.

[0017] The eye position of the observer is determined based on the image.

[0018] When the height difference between the eye position of the observer and the center position of the eye box is greater than a distance threshold, a control instruction is sent to the processing unit in the HUD, so that the processing unit controls the curved mirror and the flat mirror in the HUD to move and adjust the imaging position of the HUD in the vertical direction; the vertical direction refers to a direction perpendicular to a plane on which a road surface on which the vehicle travels is located.

[0019] In a fifth aspect, the embodiments of the present application further provide a control device, comprising:

[0020] An acquisition module is configured to acquire an image of an observer inside a vehicle;

[0021] A determination module is configured to determine an eye position of the observer based on the image;

[0022] A movement module is configured to send a control instruction to a processing unit in the HUD when a height difference between the eye position of the observer and a center position of the eyebox is greater than a distance threshold, so that the processing unit controls a curved mirror and a flat mirror in the HUD to move and adjust an imaging position of the HUD in a vertical direction; the vertical direction refers to a direction perpendicular to a plane on which a vehicle travels.

[0023] In a sixth aspect, an embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is run by a processor to execute steps of the method in the fourth aspect.

[0024] In a seventh aspect, an embodiment of the present application further provides a control device, and the control device includes a memory, a processor and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor to execute steps of the method in the fourth aspect.

[0025] In the schemes provided by the first aspect to the seventh aspect of the embodiment of the present application, the curved mirror moving mechanism is moved by the processing unit to control the curved mirror, and the flat mirror moving mechanism is moved by the processing unit to control the flat mirror, the incident position and / or the incident angle of the light emitted by the HUD when the light is incident on the windshield of the vehicle is changed, and the imaging position of the HUD in the vertical direction is adjusted, compared with the case that there is a vertical parallax when the observer watches the image presented by the HUD in the related art, the imaging position of the HUD in the vertical direction is adjusted, so that the case that there is an image position deviation in the vertical direction when the observer watches the image presented by the HUD is eliminated, the line of sight angle of the observer in the vertical direction and the observation of the image are avoided from being affected, and the use experience of the HUD is improved.

[0026] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0028] Figure 1 A schematic diagram of an imaging system showing a HUD composition is shown;

[0029] Figure 2 A structural schematic diagram of a HUD is shown;

[0030] Figure 3a A principle diagram of a HUD forming vertical parallax is shown;

[0031] Figure 3b A principle diagram of an Augmented Reality Head Up Display (AR-HUD) forming vertical parallax when presenting images and real scenes in real environment are shown;

[0032] Figure 4a A schematic diagram of the internal structure of a HUD provided by the embodiment 1 of the present application is shown, in which the curved mirror moving mechanism and the plane mirror moving mechanism both adopt rotating devices;

[0033] Figure 4b A schematic diagram of the internal structure of a HUD provided by the embodiment 1 of the present application is shown, in which the curved mirror moving mechanism and the plane mirror moving mechanism both adopt translating devices;

[0034] Figure 4c A schematic diagram of the internal structure of a HUD provided by the embodiment 1 of the present application is shown, in which the curved mirror moving mechanism adopts rotating devices and the plane mirror moving mechanism adopts translating devices;

[0035] Figure 4d A schematic diagram of the internal structure of a HUD provided by the embodiment 1 of the present application is shown, in which the curved mirror moving mechanism adopts translating devices and the plane mirror moving mechanism adopts rotating devices;

[0036] Figure 5a A schematic diagram of the internal structure of a HUD provided by the embodiment 1 of the present application is shown, in which only the curved mirror moving mechanism adopting rotating devices is provided;

[0037] Figure 5b A schematic diagram of the internal structure of a HUD provided by the embodiment 1 of the present application is shown, in which only the curved mirror moving mechanism adopting translating devices is provided;

[0038] Figure 5c A schematic diagram of the internal structure of a HUD provided by the embodiment 1 of the present application is shown, in which only the plane mirror moving mechanism adopting rotating devices is provided;

[0039] Figure 5dFig. 1 shows a schematic diagram of an internal structure of a HUD provided by the embodiment 1 of the present application, in which only a plane mirror moving mechanism using a translation device is provided;

[0040] Figure 6 Fig. 2 shows a schematic diagram of a structure of a head-up display imaging system provided by the embodiment 2 of the present application;

[0041] Figure 7 Fig. 3 shows a flow chart of a control method provided by the embodiment 3 of the present application;

[0042] Figure 8 Fig. 4 shows a schematic diagram of a structure of a control device provided by the embodiment 4 of the present application;

[0043] Figure 9 Fig. 5 shows a schematic diagram of another control device provided by the embodiment 5 of the present application. DETAILED DESCRIPTION

[0044] Referring to Figure 1 Fig. 1 shows a schematic diagram of an imaging system composed of a HUD, which includes a HUD 100 and a windshield 102 of a vehicle. Light emitted by the HUD 100 is incident to the windshield 102 and is reflected on the windshield 102, and the reflected light converges to an observation area of an observer, so that the observer can observe a virtual image in the observation area which is located outside the windshield.

[0045] Referring to Figure 2 Fig. 2 shows a schematic diagram of a structure of the HUD 100, which includes an image source 200, a plane mirror 202 and a curved mirror 204. The image source 200, the plane mirror 202 and the curved mirror 204 are respectively fixed in the HUD by fixing frames. Light emitted by the image source 200 is incident to the curved mirror 204 after being reflected by the plane mirror 202, and is emitted from a light outlet of the HUD after being reflected on the curved mirror 204, and the emitted light is incident to the windshield of the vehicle.

[0046] The image source 200 can be an active light emitting image source or a passive light emitting image source.

[0047] In an embodiment, the active light emitting image source includes, but is not limited to, a Light Emitting Diode (LED) display and an Organic Light-Emitting Diode (OLED) display.

[0048] The passive light emitting image source includes, but is not limited to, a Liquid Crystal Display (LCD), a Digital Light Processin (DLP) and a projector.

[0049] The plane mirror 202 can make the light incident into the curved mirror after one reflection in the HUD, increase the optical path of the light in the HUD, and reduce the volume of the HUD.

[0050] The curved mirror 204 can cooperate with the shape of the windshield to eliminate the distortion of the light presenting the image, and play a role in magnifying the image to increase the size of the light presenting the image.

[0051] At present, the HUD technology can avoid the distraction caused by the driver looking down at the instrument panel during driving, improve the driving safety factor, and also bring better driving experience. Therefore, the large-screen full-size HUD using the automobile windshield for imaging is attracting more and more attention.

[0052] The AR-HUD displays some driving information in the driver's line of sight area through a specially designed optical system inside, so as to enhance the driver's perception of the actual driving environment. For example, when the driver drives the vehicle to deviate from the established lane, the AR-HUD can mark a red line at the edge of the lane line of the normal driving lane of the vehicle to remind the driver that the vehicle has deviated from the lane; and when driving, a marked bright band can be seen at the rear of the preceding vehicle. Therefore, the rise of AR-HUD puts forward higher technical requirements for the HUD industry.

[0053] Based on the principle of AR-HUD, the image projected by the AR-HUD needs to be perfectly fused with the objects in the real environment, such as the direction indicating arrow needs to be accurately fused with the road, so as to give the observer a good visual experience.

[0054] During the observation of the image presented by the AR-HUD, the observer may see that the image presented by the AR-HUD and the real environment have vertical parallax, which will cause the image seen by the observer and the real environment to not be completely fused together in the vertical direction, reducing the observer's experience of using the AR-HUD.

[0055] The vertical direction refers to the direction perpendicular to the plane on which the vehicle travels.

[0056] The vertical parallax refers to the situation that the image presented by the HUD seen by the observer deviates in the vertical direction.

[0057] Further, when the image is an image presented by the AR-HUD, the vertical parallax refers to the situation that the image and the real environment cannot be completely fused together in the vertical direction.

[0058] Reference Figure 3aThe HUD shown forms a vertical parallax diagram. The light emitted by the HUD 100 passes through the light emitting position A, is reflected on the windshield 102, and the reverse extension line of the reflected light passes through the virtual image position A' of the light emitting position A relative to the windshield.

[0059] In general, the observation area 1 is set as the default observation area of the HUD. However, due to the difference in height of different observers, even if they sit at the same position, the sitting posture is different. Therefore, in the vertical direction, two different observation areas, observation area 2 and observation area 3, are formed for different observers.

[0060] When the eyes of the observer are vertically high, that is, in the observation area 2 in the figure, according to the above description, it can be seen that the reverse extension line of the reflected light must pass through A', and it can be seen that the image at the virtual image position 2 5 observed by the observer is lower than the image at the virtual image position 1 4. Similarly, when the eyes of the observer are vertically low, that is, in the observation area 3 in FIG. 3, the image at the virtual image position 3 6 observed by the observer in the observation area 3 is higher than the image at the virtual image position 1 1.

[0061] That is, when the eyes of the observer are in the observation area 2, the downward angle is larger than when the eyes of the observer are in the observation area 1, so that the observer observes the image at the virtual image position 2 5, and the vertical parallax of the image position downward occurs. When the eyes of the observer are in the observation area 3, the downward angle is smaller than when the eyes of the observer are in the observation area 1, so that the observer observes the image at the virtual image position 3 6, and the vertical parallax of the image position upward occurs.

[0062] Further, referring to Figure 3b The AR-HUD shown presents a diagram of the image and the real scene in the real environment that cannot be fused when the image and the real scene are fused. The observation area 1 is set as the default observation area of the AR-HUD. Therefore, the observer in the observation area 1 observes the image at the virtual image position 1 4, which can be perfectly fused with the real scene B in the real environment. Therefore, when the eyes of the observer are in the observation area 1 of the AR-HUD, the observer can observe the image at the virtual image position 1 4, which is perfectly fused with the real scene B in the real environment.

[0063] However, when the observer's eyes are located in the second observation area 2, the lower viewing angle is larger than when the observer's eyes are located in the first observation area 1, so that the observer observes the image at the second virtual image position 5, and the vertical parallax caused by the image appearing to be below the real scene B in the real environment occurs. When the observer's eyes are located in the third observation area 3, the lower viewing angle is smaller than when the observer's eyes are located in the first observation area 1, so that the observer observes the image at the third virtual image position 6, and the vertical parallax caused by the image appearing to be above the real scene B in the real environment occurs.

[0064] The lower viewing angle is the included angle between the line connecting the observer's eyes and the center of the image presented by the HUD and the plane in which the vehicle travels.

[0065] Based on this, the embodiment of the present application provides a head-up display device, an imaging system, a vehicle, a control method and device, the moving mechanism of the curved mirror is controlled by the processing unit to move the curved mirror, and the moving mechanism of the flat mirror is controlled to move the flat mirror, the incident position and / or incident angle of the light emitted by the HUD when the light is incident on the windshield of the vehicle is changed, so as to adjust the imaging position of the HUD in the vertical direction. Compared with the case that the observer has vertical parallax when watching the image presented by the HUD in the related art, the imaging position of the HUD in the vertical direction is adjusted, so that the vertical parallax of the observer when watching the image presented by the HUD is eliminated, the line of sight angle of the observer in the vertical direction is avoided, and the use experience of the HUD is improved.

[0066] In order to make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0067] In the following embodiments, the term "HUD" can refer to a head-up display device that emits an image with augmented reality effect, or can refer to a general HUD.

[0068] The term "visually integrated with the real environment" means that the image presented by the HUD is completely integrated with the real environment as seen by the observer's eyes.

[0069] The eyebox refers to the area in which the observer can see the complete image of the HUD. For an AR-HUD, an image that is well integrated with the real environment can be observed in the eyebox.

[0070] The eyebox center position refers to the position of the geometric center of the eyebox.

[0071] The eye ellipse is a statistical representation method for describing the relative positions of the eyes of drivers with different body sizes to the reference points inside the vehicle in space, and is divided into 90th percentile, 95th percentile and 99th percentile eye ellipses according to the distribution of eye points.

[0072] Generally, the eyebox is coincident or partially overlaps with the eyebox, and when the observer's eyes are within the eyebox, the observer can observe the image of the HUD; when the observer's eyes are within the eyebox, the observer can observe the complete image of the HUD; for the AR-HUD, the observer can observe the image with good fusion effect with the real scene; when the observer's eyes are in the center of the eyebox, the observer can observe the image with perfect fusion effect with the real scene.

[0073] Embodiment 1

[0074] The embodiment provides a HUD, comprising: an image source, a curved mirror, a flat mirror, a processing unit, a curved mirror moving mechanism and a flat mirror moving mechanism.

[0075] The curved mirror moving mechanism is connected with the curved mirror; the flat mirror moving mechanism is connected with the flat mirror; and the processing unit is installed in the HUD and connected with the curved mirror moving mechanism and the flat mirror moving mechanism respectively.

[0076] The movement includes, but is not limited to, rotation and translation.

[0077] The processing unit is configured to control the curved mirror moving mechanism to move the curved mirror and control the flat mirror moving mechanism to move the flat mirror.

[0078] The curved mirror moving mechanism is configured to move the curved mirror under the control of the processing unit; and the flat mirror moving mechanism is configured to move the flat mirror under the control of the processing unit.

[0079] That is, the curved mirror moving mechanism can rotate or translate the curved mirror under the control of the processing unit; and the flat mirror moving mechanism can rotate or translate the image source under the control of the processing unit.

[0080] The moved curved mirror and the moved flat mirror can change the incident position and / or the incident angle of the light emitted by the HUD when the light is incident on the windshield of the vehicle, so as to adjust the imaging position of the HUD in the vertical direction.

[0081] In order to rotate the curved mirror and the image source, referring to Figure 4a The internal structure of the HUD is shown in FIG. 4, wherein the curved mirror moving mechanism and the flat mirror moving mechanism are both rotary devices, and the curved mirror moving mechanism and the flat mirror moving mechanism comprise rotary devices.

[0082] The rotary device comprises a driving device 402, a first engaging member 400 and a second engaging member 404.

[0083] The driving device 402 is connected to the processing unit, the first engaging member 400 is arranged on the driving device 402, the second engaging member 404 is in driving connection with the first engaging member 400 and is connected to the curved mirror 204 or the flat mirror 202.

[0084] In an embodiment, the second engaging member 404 can be connected to the fixed frame of the curved mirror or the image source, and the connection mode can be, but is not limited to, riveting, bonding or fixed connection; so as to be connected to the curved mirror 204 or the image source 200.

[0085] The driving device 402 drives the first engaging member 400 to rotate under the control of the processing unit; when the first engaging member 400 rotates, the second engaging member 404 is driven to rotate; the curved mirror 204 or the flat mirror 202 rotates under the driving of the second rotating member 404, so as to change the incident angle and / or incident position of the light emitted by the HUD when the light is incident to the windshield of the vehicle.

[0086] In an embodiment, the driving device 402 can use: motor drive, such as motor device and motor device; or internal combustion engine driving device, or hydraulic driving device, or pneumatic driving device, or mechanical driving device.

[0087] The first engaging member 400 and the second engaging member 404 can use a rotating transmission mechanism, including gear pair transmission, synchronous belt transmission, harmonic gear transmission, screw transmission, cam transmission, double crank transmission.

[0088] The first engaging member 400 can use, but is not limited to, gears, harmonic gears, screws and cams.

[0089] The second engaging member 404 can use, but is not limited to, sector gears, nuts and driven members.

[0090] In addition to using the above rotating device, in order to translate the curved mirror and the image source, referring to Figure 4b The internal structure of the HUD is shown when the curved mirror moving mechanism and the flat mirror moving mechanism both use the translation device, the curved mirror moving mechanism and the flat mirror moving mechanism include: a translation device.

[0091] The translation device includes: a driving unit 502, a first transmission member 500 and a second transmission member 504.

[0092] The driving unit 502 is connected to the processing unit, the first transmission member 500 is arranged on the driving unit 502 and is in meshing tooth transmission connection with the second transmission member 504, and the second transmission member 504 is connected to the curved mirror or the flat mirror.

[0093] The driving unit 502 can be, but is not limited to, a motor and an electric machine.

[0094] The first transmission member 500 and the second transmission member 504 can use a linear transmission mechanism, including sliding guide transmission, hydraulic dynamic pressure sliding guide transmission, hydrostatic pressure sliding guide transmission, air floating guide transmission, rolling guide transmission, gear and rack transmission, belt transmission, hinge transmission, crank and translation transmission.

[0095] The first transmission member 500 can be, but is not limited to, a gear, a guide rail, a flywheel, and an eccentric wheel.

[0096] The second transmission member 504 can be, but is not limited to, a rack plate, a hinge, and a sliding rail.

[0097] In an embodiment, the second transmission member 504 can be connected with the fixed frame of the curved mirror or the image source, and the connection mode can be, but is not limited to, riveting, bonding, or fixed connection; so as to be connected with the curved mirror 204 or the image source 200.

[0098] The driving unit drives the first transmission member to rotate under the control of the processing unit; when the first transmission member rotates, the second transmission member is driven to translate; the curved mirror or the plane mirror is translated along the extension direction of the meshing teeth of the second transmission member under the driving of the second transmission member, so that the curved mirror or the image source in the HUD approaches or moves away from the windshield, thereby changing the incident angle and / or incident position of the light emitted by the HUD when the light is incident on the windshield of the vehicle.

[0099] The extension direction of the meshing teeth of the second transmission member can include, but is not limited to, a horizontal direction, a vertical direction, and an inclined direction. Therefore, the curved mirror or the plane mirror can approach or move away from the windshield along the horizontal direction, the vertical direction, or the inclined direction under the driving of the second transmission member, so as to change the incident angle of the light emitted by the HUD when the light is incident on the windshield of the vehicle.

[0100] Wherein, the curved mirror or the image source approaching the windshield means shortening the vertical distance from any point on the curved mirror or any point on the image source to the plane where the windshield is located. The curved mirror or the image source moving away from the windshield means increasing the vertical distance from any point on the curved mirror or any point on the image source to the plane where the windshield is located.

[0101] The vertical distance is specifically the vertical distance from the arbitrary point to the plane of the windshield. The internal structure of the HUD can be as shown in Figure 4c Fig. 2, which shows the internal structure of the HUD when the curved mirror moving mechanism adopts a rotating device and the plane mirror moving mechanism adopts a translating device, and as shown in Figure 4d Fig. 3, which shows the internal structure of the HUD when the curved mirror moving mechanism adopts a translating device and the plane mirror moving mechanism adopts a rotating device.

[0102] The internal structure of the HUD can be as shown in Figure 4c Fig. 2, which shows the internal structure of the HUD when the curved mirror moving mechanism adopts a rotating device and the plane mirror moving mechanism adopts a translating device, and as shown in Figure 4d Fig. 3, which shows the internal structure of the HUD when the curved mirror moving mechanism adopts a translating device and the plane mirror moving mechanism adopts a rotating device.

[0103] Alternatively, in another embodiment, referring to Figure 5a Fig. 4, which shows the internal structure of the HUD when only the curved mirror moving mechanism that adopts a rotating device is provided, Figure 5b Fig. 5, which shows the internal structure of the HUD when only the curved mirror moving mechanism that adopts a translating device is provided, Figure 5c Fig. 6, which shows the internal structure of the HUD when only the plane mirror moving mechanism that adopts a rotating device is provided, and Figure 5d Fig. 7, which shows the internal structure of the HUD when only the plane mirror moving mechanism that adopts a translating device is provided; only the curved mirror moving mechanism or the plane mirror moving mechanism can be provided in the HUD, the curved mirror is rotated or translated by the provided curved mirror moving mechanism, or the plane mirror is rotated or translated by the provided plane mirror moving mechanism, so as to achieve the purpose of approaching or moving away the curved mirror or the image source in the HUD from the windshield, thereby changing the incident position and / or incident angle of the light emitted by the HUD when the light is incident on the windshield of the vehicle.

[0104] In order to control the rotating of the rotating device and the translating of the translating device, the processing unit can use any method in the prior art that can control the rotating and translating of the mechanical structure, and here will not be repeated.

[0105] In addition to using the rotating device and the translating device described above, the width of the light outlet of the HUD in the cross section along the driving direction of the vehicle (i.e., the length of the side in the horizontal cross section) in the driving direction of the vehicle can be increased, see Figure 4a The internal structure diagram of the HUD with the curved mirror moving mechanism and the plane mirror moving mechanism shown in the figure both use rotating mechanisms. The range of the length L of the HUD in the driving direction of the vehicle is expanded to 180-260 mm, or smaller or larger according to the actual vehicle situation, so as to increase the coverage of the eyebox in the vertical direction and reduce the probability of occurrence of vertical parallax.

[0106] The eyebox refers to the area in which the observer can observe the complete image of the HUD. For AR-HUD, the image in the eyebox can be well integrated with the real environment.

[0107] When the HUD is an AR-HUD, in addition to the problem of vertical parallax in the vertical direction, there is also the problem of horizontal parallax between the observed image and the real environment caused by the horizontal offset of the left and right eyes of the observer in the horizontal direction during the process of the observer watching the AR-HUD display image in the vehicle.

[0108] To solve the above problems, the image source 200 in the HUD can be arranged near the focal plane of the curved mirror 204 or at the position of the focal plane of the curved mirror 204, so that the reflected light of the HUD can form a far distance virtual image.

[0109] The far distance virtual image is used to eliminate the horizontal parallax when the observer watches the image.

[0110] The imaging position of the far distance virtual image can be a position several tens of meters or infinite distance away from the observer.

[0111] The imaging position of the far distance virtual image should be related to the real environment, so that the far distance virtual image should be as visually integrated with the real environment as possible, so as to avoid the horizontal parallax when the driver observes the AR-HUD image as much as possible.

[0112] In summary, the head-up display device provided in the embodiment changes the incident position and / or incident angle of the light emitted by the HUD when the light is incident on the windshield of the vehicle by controlling the curved mirror moving mechanism to move the curved mirror and controlling the flat mirror moving mechanism to move the flat mirror, so as to adjust the imaging position of the HUD in the vertical direction. Compared with the case that the observer has vertical parallax when viewing the image presented by the HUD in the related art, the imaging position of the HUD is adjusted in the vertical direction, so that the case that the image position deviates in the vertical direction when the observer views the image presented by the HUD is eliminated, the line-of-sight angle of the observer in the vertical direction and the observation of the image are avoided from being affected, and the use experience of the HUD is improved. Especially when applied to the AR-HUD, the observer can see that the image presented by the HUD is visually fused with the real environment when observing the image presented by the HUD at the adjusted imaging position, which brings excellent visual experience.

[0113] Embodiment 2

[0114] Referring to Figure 6 The head-up display imaging system shown in the structural schematic view, the embodiment provides a head-up display imaging system for a vehicle, which comprises an image acquisition device 600, an ECU, and the HUD 100 described in the above embodiment 1.

[0115] The processing units in the image acquisition device 600 and the HUD 100 are respectively connected with the ECU.

[0116] The image acquisition device 600 is installed on the windshield of the vehicle, and is used to acquire the image of the observer in the vehicle and send the acquired image to the ECU.

[0117] The ECU is used to determine the eye position of the observer based on the image acquired by the image acquisition device, and when the height difference between the eye position of the observer and the center position of the eye box is greater than a distance threshold, the ECU sends a control instruction to the processing unit in the HUD, so that the processing unit controls the curved mirror and the flat mirror in the HUD to move and adjusts the imaging position of the HUD in the vertical direction.

[0118] When the HUD is an AR-HUD, the image presented by the HUD at the adjusted imaging position is visually fused with the real environment, and the vertical parallax when the observer views the image is eliminated.

[0119] The ECU can use any existing image processing algorithm to process the image acquired by the image acquisition device and determine the eye position of the observer from the image, which will not be described here.

[0120] The observer's eye position can be represented by three-dimensional coordinates.

[0121] The center position of the eye box can be represented by three-dimensional coordinates, determined by the elliptical position of the observer's eye, and cached in the ECU. At the center position of the eye box, the image presented by the HUD seen by the observer visually blends with the real environment, without the defects of vertical parallax.

[0122] The eye ellipse position refers to the statistical distribution of the observer's eyes when observers of different heights view the images presented by the HUD.

[0123] The distance threshold, cached in the ECU, can be set to any distance length between 0 cm and 30 cm.

[0124] like Figure 6 The head-up display imaging system shown is only illustrative of the HUD that uses a curved mirror moving mechanism and a plane mirror moving mechanism with a rotating device. The head-up display imaging system can also adopt any HUD structure given in Embodiment 1, which will not be described in detail in this embodiment.

[0125] When the curved mirror moving mechanism and the plane mirror moving mechanism use a rotating device and the observer's eye position is determined to be higher than the center position of the eye box, in order for the observer to see the image presented by the HUD, the ECU is used to send a control command to the processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, including the following steps (1) to (3):

[0126] (1) When it is determined that the observer's eye position is higher than the center position of the eye box, the rotation angle of the curved mirror in the clockwise direction and the rotation angle of the plane mirror in the clockwise direction corresponding to the height difference between the observer's eye position and the center position of the eye box are determined.

[0127] (2) Based on the determined clockwise rotation angle of the curved mirror and the clockwise rotation angle of the plane mirror, generate control commands to rotate the curved mirror and the plane mirror.

[0128] (3) Send a control command to the processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to rotate clockwise, thereby reducing the incident angle and / or incident position when the light emitted by the HUD is incident on the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

[0129] In step (1) above, the height difference between the observer's eye position and the center position of the eye box can be calculated based on the observer's eye position and the center position of the eye box.

[0130] The process of calculating the height difference between the observer's eye position and the center of the eye box involves calculating the vertical distance from the eye position to the plane containing the center of the eye box, based on the three-dimensional coordinates of the observer's eye position and the three-dimensional coordinates of the center of the eye box. This can be achieved using any existing technique capable of calculating the vertical distance from a point in space to a plane, and will not be elaborated upon here.

[0131] The plane at the center of the eye box is a plane that passes through the center of the eye box and is parallel to the road surface on which the vehicle is traveling.

[0132] After calculating the height difference between the observer's eye position and the center position of the eye box, the ECU can determine the clockwise rotation angle of the curved mirror and the clockwise rotation angle of the plane mirror corresponding to the calculated height difference from the correspondence table of height difference, clockwise rotation angle of the curved mirror and clockwise rotation angle of the plane mirror cached by the ECU itself.

[0133] When the curved mirror moving mechanism and the plane mirror moving mechanism use a rotating device and the observer's eye position is determined to be lower than the center position of the eye box, in order for the observer to see the image presented by the HUD, the ECU is used to send a control command to the processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, and further includes the following steps (1) to (3):

[0134] (1) When it is determined that the observer's eye position is lower than the center position of the eye box, the rotation angle of the curved mirror in the counterclockwise direction and the rotation angle of the plane mirror in the counterclockwise direction corresponding to the height difference between the observer's eye position and the center position of the eye box are determined.

[0135] (2) Based on the determined rotation angle of the curved mirror in the counterclockwise direction and the rotation angle of the plane mirror in the counterclockwise direction, generate control commands to rotate the curved mirror and the plane mirror.

[0136] (3) Send a control command to the processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to rotate counterclockwise, thereby increasing the incident angle and / or incident position when the light emitted by the HUD is incident on the windshield of the vehicle, thereby reducing the imaging position of the HUD in the vertical direction.

[0137] In step (1) above, the ECU caches a table showing the correspondence between the height difference, the rotation angle of the curved mirror in the counterclockwise direction, and the rotation angle of the plane mirror in the counterclockwise direction.

[0138] The specific implementation process of steps (1) to (3) above is similar to the process in which the ECU determines that when the position of the observer's eye is higher than the center position of the eye box, it reduces the incident angle of the light emitted by the HUD when it is incident on the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction when the curved mirror moving mechanism and the plane mirror moving mechanism in the HUD adopt a rotating device. It will not be described again here.

[0139] When the curved mirror moving mechanism and the plane mirror moving mechanism employ translation devices and the observer's eye position is determined to be higher than the center position of the eye box, in order for the observer to see the image presented by the HUD, the ECU sends control commands to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, including the following steps (1) to (3):

[0140] (1) When it is determined that the observer's eye position is higher than the center position of the eye box, the translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box.

[0141] (2) Based on the determined translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield, generate control commands to translate the curved mirror and the plane mirror;

[0142] (3) Send a control command to the processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to translate in a direction away from the windshield, thereby raising the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby raising the imaging position of the HUD in the vertical direction.

[0143] In step (1) above, the height difference between the observer's eye position and the center position of the eye box can be calculated based on the observer's eye position and the center position of the eye box.

[0144] After calculating the height difference between the observer's eye position and the center position of the eye box, the ECU can determine the translation distances of the curved mirror and the plane mirror in the direction away from the windshield, corresponding to the calculated height difference, from a table showing the correspondence between the height difference cached by the ECU itself, the translation distance of the curved mirror in the direction away from the windshield, and the translation distance of the plane mirror in the direction away from the windshield.

[0145] When the curved mirror moving mechanism and the plane mirror moving mechanism employ translation devices and the observer's eye position is determined to be lower than the center position of the eye box, in order for the observer to see the image presented by the HUD, the ECU sends a control command to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, and further includes the following steps (1) to (3):

[0146] (1) When it is determined that the observer's eye position is lower than the center position of the eye box, the translation distance of the curved mirror in the direction close to the windshield and the translation distance of the plane mirror in the direction close to the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box.

[0147] (2) Based on the determined translation distance of the curved mirror in the direction approaching the windshield and the translation distance of the plane mirror in the direction approaching the windshield, generate control commands to translate the curved mirror and the plane mirror;

[0148] (3) Send a control command to the processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to translate in the direction close to the windshield, thereby reducing the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby reducing the imaging position of the HUD in the vertical direction.

[0149] In step (1) above, the ECU caches a table showing the correspondence between the height difference, the translation distance of the curved mirror in the direction close to the windshield, and the translation distance of the plane mirror in the direction close to the windshield.

[0150] The specific implementation process of steps (1) to (3) above is similar to the process in which the ECU determines the incident position and / or incident angle of the light emitted by the HUD when it is incident on the windshield of the vehicle when the curved mirror moving mechanism of the HUD adopts a rotating device and the plane mirror moving mechanism adopts a translation device, thereby raising the imaging position of the HUD in the vertical direction. It will not be described in detail here.

[0151] When the curved mirror moving mechanism uses a rotating device and the plane mirror moving mechanism uses a translating device, and the observer's eye position is determined to be higher than the center position of the eye box, in order for the observer to see the image presented by the HUD, the ECU is used to send control commands to the processing unit in the HUD, so that the processing unit controls the curved mirror and plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, including the following specific steps (1) to (3):

[0152] (1) When it is determined that the observer's eye position is higher than the center position of the eye box, the rotation angle of the curved mirror in the clockwise direction and the translation distance of the plane mirror in the direction away from the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box.

[0153] (2) Based on the clockwise rotation angle of the curved mirror and the translation distance of the plane mirror in the direction away from the windshield, generate control commands to rotate the curved mirror and translate the plane mirror.

[0154] (3) Send a control command to the processing unit in the HUD, so that the processing unit controls the curved mirror in the HUD to rotate clockwise and controls the plane mirror to translate in a direction away from the windshield, thereby raising the incident position and / or incident angle of the light emitted by the HUD when it is incident on the windshield of the vehicle, thereby raising the imaging position of the HUD in the vertical direction.

[0155] In step (1) above, the height difference between the observer's eye position and the center position of the eye box can be calculated based on the observer's eye position and the center position of the eye box.

[0156] After calculating the height difference between the observer's eye position and the center position of the eye box, the ECU can determine the corresponding clockwise rotation angle of the curved mirror and the translation distance of the plane mirror away from the windshield from the correspondence table of height difference cached by the ECU itself, the clockwise rotation angle of the curved mirror and the translation distance of the plane mirror away from the windshield.

[0157] When the curved mirror moving mechanism uses a rotating device and the plane mirror moving mechanism uses a translating device, and the observer's eye position is determined to be lower than the center position of the eye box, in order for the observer to see the image presented by the HUD, the ECU is used to send control commands to the processing unit in the HUD, so that the processing unit controls the curved mirror and plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, and further includes the following steps (1) to (3):

[0158] (1) When it is determined that the observer's eye position is lower than the center position of the eye box, the rotation angle of the curved mirror in the counterclockwise direction and the translation distance of the plane mirror in the direction close to the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box.

[0159] (2) Based on the rotation angle of the curved mirror in the counterclockwise direction and the translation distance of the plane mirror in the direction close to the windshield, generate control commands to rotate the curved mirror and translate the plane mirror.

[0160] (3) Send a control command to the processing unit in the HUD, so that the processing unit controls the curved mirror in the HUD to rotate counterclockwise and controls the plane mirror to translate in the direction close to the windshield, thereby reducing the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby reducing the imaging position of the HUD in the vertical direction.

[0161] In step (1) above, the ECU caches a table showing the correspondence between the height difference, the rotation angle of the curved mirror in the counterclockwise direction, and the translation distance of the plane mirror in the direction close to the windshield.

[0162] The specific implementation process of steps (1) to (3) above is similar to the process in which the ECU determines the incident position and / or incident angle of the light emitted by the HUD when it is incident on the windshield of the vehicle when the curved mirror moving mechanism of the HUD adopts a rotating device and the plane mirror moving mechanism adopts a translation device, thereby raising the imaging position of the HUD in the vertical direction. It will not be described in detail here.

[0163] When the curved mirror moving mechanism uses a translation device and the plane mirror moving mechanism uses a rotation device, and the observer's eye position is determined to be higher than the center position of the eye box, in order for the observer to see the image presented by the HUD, the ECU is used to send control commands to the processing unit in the HUD, so that the processing unit controls the curved mirror and plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, including the following steps (1) to (3):

[0164] (1) When it is determined that the observer's eye position is higher than the center position of the eye box, the translation distance of the curved mirror in the direction away from the windshield and the rotation angle of the plane mirror in the clockwise direction are determined according to the height difference between the observer's eye position and the center position of the eye box.

[0165] (2) Based on the translation distance of the curved mirror in the direction away from the windshield and the rotation angle of the plane mirror in the clockwise direction, generate control commands to make the curved mirror translate and the plane mirror rotate.

[0166] (3) Send a control command to the processing unit in the HUD, so that the processing unit controls the curved mirror in the HUD to translate in a direction away from the windshield and controls the plane mirror to rotate in a clockwise direction, thereby raising the incident position and / or incident angle of the light emitted by the HUD when it is incident on the windshield of the vehicle, thereby raising the imaging position of the HUD in the vertical direction.

[0167] In step (1) above, the height difference between the observer's eye position and the center position of the eye box can be calculated based on the observer's eye position and the center position of the eye box.

[0168] After calculating the height difference between the observer's eye position and the center position of the eye box, the ECU can determine the translation distance of the curved mirror away from the windshield and the rotation angle of the plane mirror in the clockwise direction corresponding to the calculated height difference from the correspondence table of height difference cached by the ECU itself, translation distance of the curved mirror away from the windshield in the direction away from the windshield and rotation angle of the plane mirror in the clockwise direction.

[0169] When the curved mirror moving mechanism uses a translation device and the plane mirror moving mechanism uses a rotation device, and the observer's eye position is determined to be lower than the center position of the eye box, in order for the observer to see the image presented by the HUD, the ECU is used to send control commands to the processing unit in the HUD, so that the processing unit controls the curved mirror and plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, and further includes the following steps (1) to (3):

[0170] (1) When it is determined that the observer's eye position is lower than the center position of the eye box, the translation distance of the curved mirror in the direction close to the windshield and the rotation angle of the plane mirror in the counterclockwise direction are determined according to the height difference between the observer's eye position and the center position of the eye box.

[0171] (2) Based on the translation distance of the curved mirror in the direction close to the windshield and the rotation angle of the plane mirror in the counterclockwise direction, generate control commands to make the curved mirror translate and the plane mirror rotate.

[0172] (3) Send a control command to the processing unit in the HUD, so that the processing unit controls the curved mirror in the HUD to translate in the direction close to the windshield and controls the plane mirror to rotate in the counterclockwise direction, thereby reducing the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby reducing the imaging position of the HUD in the vertical direction.

[0173] In step (1) above, the ECU caches a table showing the correspondence between the height difference, the translation distance of the curved mirror in the direction close to the windshield, and the rotation angle of the plane mirror in the counterclockwise direction.

[0174] The specific implementation process of steps (1) to (3) above is similar to the process in which the ECU determines the incident position and / or incident angle of the light emitted by the HUD when it is incident on the windshield of the vehicle when the curved mirror moving mechanism of the HUD adopts a translation device and the plane mirror moving mechanism adopts a rotation device, thereby raising the imaging position of the HUD in the vertical direction. It will not be described in detail here.

[0175] It should be noted here that the following tables provide the correspondence between the height difference of the ECU cache, the clockwise rotation angle of the curved mirror, and the clockwise rotation angle of the plane mirror; the correspondence between the height difference, the counterclockwise rotation angle of the curved mirror, and the counterclockwise rotation angle of the plane mirror; the correspondence between the height difference, the translation distance of the curved mirror away from the windshield, and the translation distance of the plane mirror away from the windshield; the correspondence between the height difference, the translation distance of the curved mirror approaching the windshield, and the translation distance of the plane mirror approaching the windshield; and the correspondence between the height difference, the clockwise rotation angle of the curved mirror, and the translation distance of the plane mirror away from the windshield. The tables showing the correspondence between the translation distance in the direction of the windshield; the correspondence between the height difference, the rotation angle of the curved mirror in the counterclockwise direction, and the translation distance of the plane mirror in the direction close to the windshield; the correspondence between the height difference, the translation distance of the curved mirror in the direction away from the windshield, and the rotation angle of the plane mirror in the clockwise direction; and the rotation angle and / or translation distance of the curved mirror and the image source corresponding to the height difference recorded in the tables showing the correspondence between the height difference, the translation distance of the curved mirror in the direction close to the windshield, and the rotation angle of the plane mirror in the counterclockwise direction, are obtained by those skilled in the art through experiments, and the specific experimental process is not within the scope of discussion in this application.

[0176] This embodiment also proposes a vehicle that includes the head-up display imaging system described above.

[0177] In summary, the head-up display imaging system and vehicle proposed in this embodiment, when the height difference between the observer's eye position and the center position of the eye box is greater than a distance threshold, send a control command to the processing unit in the HUD. The processing unit controls the curved mirror moving mechanism in the HUD to move the curved mirror, and controls the plane mirror moving mechanism to move the plane mirror, changing the incident position and / or incident angle of the light emitted by the HUD when it hits the vehicle's windshield. This adjusts the imaging position of the HUD in the vertical direction. Compared with related technologies where the observer experiences vertical parallax when viewing the image presented by the HUD, adjusting the imaging position of the HUD in the vertical direction eliminates the vertical image position deviation when the observer views the image presented by the HUD, avoiding affecting the observer's vertical viewing angle and image observation, and improving the user experience of the HUD. Especially when applied to AR-HUD, it allows the observer to see the image presented by the HUD in the adjusted imaging position as visually integrated with the real environment, bringing an excellent visual experience.

[0178] Example 3

[0179] See Figure 7The flowchart shown illustrates a control method. This embodiment proposes a control method for the head-up display imaging system described in Embodiment 2 above, comprising the following steps:

[0180] Step 700: The Electronic Control Unit (ECU) acquires an image of an observer inside the vehicle.

[0181] Step 702: Determine the position of the observer's eyes based on the image.

[0182] Step 704: When the height difference between the observer's eye position and the center position of the eye box is greater than the distance threshold, a control command is sent to the processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move and adjust the imaging position of the HUD in the vertical direction.

[0183] When the curved mirror moving mechanism and the plane mirror moving mechanism employ a rotating device, step 704 includes:

[0184] When it is determined that the observer's eye position is higher than the center position of the eye box, the rotation angle of the curved mirror in the clockwise direction and the rotation angle of the plane mirror in the clockwise direction corresponding to the height difference between the observer's eye position and the center position of the eye box are determined.

[0185] Based on the determined clockwise rotation angle of the curved mirror and the clockwise rotation angle of the plane mirror, control commands are generated to rotate the curved mirror and the plane mirror.

[0186] A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and the plane mirror in the HUD to rotate clockwise, thereby reducing the incident angle and / or incident position of the light emitted by the HUD when it hits the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

[0187] Step 704 further includes:

[0188] When it is determined that the observer's eye position is lower than the center position of the eye box, the rotation angle of the curved mirror and the rotation angle of the plane mirror in the counterclockwise direction corresponding to the height difference between the observer's eye position and the center position of the eye box are determined.

[0189] Based on the determined counterclockwise rotation angle of the curved mirror and the counterclockwise rotation angle of the plane mirror, control commands are generated to rotate the curved mirror and the plane mirror.

[0190] A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and the plane mirror in the HUD to rotate counterclockwise, thereby increasing the incident angle and / or incident position of the light emitted by the HUD when it hits the windshield of the vehicle, and thus lowering the imaging position in the vertical direction.

[0191] When the curved mirror moving mechanism and the plane mirror moving mechanism employ translation devices, step 704 includes:

[0192] When it is determined that the observer's eye position is higher than the center position of the eye box, the translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box.

[0193] Based on the determined translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield, control commands are generated to translate the curved mirror and the plane mirror.

[0194] A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and the plane mirror in the HUD to translate in a direction away from the windshield, thereby raising the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

[0195] Step 704 further includes:

[0196] When it is determined that the observer's eye position is lower than the center position of the eye box, the translation distance of the curved mirror in the direction close to the windshield and the translation distance of the plane mirror in the direction close to the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box.

[0197] Based on the determined translation distance of the curved mirror in the direction approaching the windshield and the translation distance of the plane mirror in the direction approaching the windshield, control commands are generated to translate the curved mirror and the plane mirror.

[0198] A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and the plane mirror in the HUD to translate in the direction close to the windshield, thereby reducing the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, and thus reducing the imaging position of the HUD in the vertical direction.

[0199] When the curved mirror moving mechanism uses a rotating device and the plane mirror moving mechanism uses a translational device, step 704 includes:

[0200] When it is determined that the observer's eye position is higher than the center position of the eye box, the rotation angle of the curved mirror in the clockwise direction and the translation distance of the plane mirror in the direction away from the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box.

[0201] Based on the clockwise rotation angle of the curved mirror and the translation distance of the plane mirror in the direction away from the windshield, control commands are generated to rotate the curved mirror and translate the plane mirror.

[0202] A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror in the HUD to rotate clockwise and control the plane mirror to translate in a direction away from the windshield, thereby raising the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

[0203] Step 704 further includes:

[0204] When it is determined that the observer's eye position is lower than the center position of the eye box, the rotation angle of the curved mirror in the counterclockwise direction and the translation distance of the plane mirror in the direction close to the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box.

[0205] Based on the counterclockwise rotation angle of the curved mirror and the translation distance of the plane mirror in the direction close to the windshield, control commands are generated to rotate the curved mirror and translate the plane mirror.

[0206] A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror in the HUD to rotate counterclockwise and control the plane mirror to translate in the direction close to the windshield, thereby reducing the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby reducing the imaging position of the HUD in the vertical direction.

[0207] When the curved mirror moving mechanism uses a translation device and the plane mirror moving mechanism uses a rotation device, step 704 includes:

[0208] When it is determined that the observer's eye position is higher than the center position of the eye box, the translation distance of the curved mirror in the direction away from the windshield and the rotation angle of the plane mirror in the clockwise direction are determined according to the height difference between the observer's eye position and the center position of the eye box.

[0209] Based on the translation distance of the curved mirror in the direction away from the windshield and the rotation angle of the plane mirror in the clockwise direction, control commands are generated to translate the curved mirror and rotate the plane mirror.

[0210] A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror in the HUD to translate in a direction away from the windshield and control the plane mirror to rotate clockwise, thereby raising the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

[0211] Step 704 further includes:

[0212] When it is determined that the observer's eye position is lower than the center position of the eye box, the translation distance of the curved mirror in the direction close to the windshield and the rotation angle of the plane mirror in the counterclockwise direction are determined according to the height difference between the observer's eye position and the center position of the eye box.

[0213] Based on the translation distance of the curved mirror in the direction close to the windshield and the rotation angle of the plane mirror in the counterclockwise direction, control commands are generated to translate the curved mirror and rotate the plane mirror.

[0214] A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror in the HUD to translate in the direction close to the windshield and control the plane mirror to rotate counterclockwise, thereby reducing the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby reducing the imaging position of the HUD in the vertical direction.

[0215] In summary, the control method proposed in this embodiment sends a control command to the processing unit in the HUD when the height difference between the observer's eye position and the center position of the eye box is greater than a distance threshold. The processing unit controls the curved mirror moving mechanism in the HUD to move the curved mirror, and controls the plane mirror moving mechanism to move the plane mirror. This changes the incident position and / or incident angle of the light emitted by the HUD when it hits the windshield of the vehicle, thereby adjusting the imaging position of the HUD in the vertical direction. Compared with the situation in related technologies where the observer has vertical parallax when viewing the image presented by the HUD, adjusting the imaging position of the HUD in the vertical direction eliminates the situation where the image position deviates in the vertical direction when the observer views the image presented by the HUD, avoids affecting the observer's viewing angle and image observation in the vertical direction, and improves the user experience of the HUD.

[0216] Based on the same inventive concept, this application also provides a control device corresponding to the above control method. Since the principle of the device in this application is similar to the control method described in embodiment 3 of this application, the implementation of the device can refer to the implementation of the aforementioned control method, and the repeated parts will not be described again.

[0217] Example 4

[0218] See Figure 8 The schematic diagram of the control device shown illustrates a control device proposed in this embodiment, comprising:

[0219] Acquisition module 800 is used to acquire images of an observer inside the vehicle;

[0220] Determining module 802 is used to determine the position of the observer's eyes based on the image;

[0221] The adjustment module 804 is used to send a control command to the processing unit in the HUD when the height difference between the observer's eye position and the center position of the eye box is greater than a distance threshold, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move and adjust the imaging position of the HUD in the vertical direction; the vertical direction refers to the direction perpendicular to the plane of the road surface on which the vehicle is traveling.

[0222] In summary, the control device proposed in this embodiment sends a control command to the processing unit in the HUD when the height difference between the observer's eye position and the center position of the eye box is greater than a distance threshold. The processing unit then controls the curved mirror moving mechanism in the HUD to move the curved mirror, and the plane mirror moving mechanism to move the plane mirror. This changes the incident position and / or incident angle of the light emitted by the HUD when it strikes the vehicle's windshield, thereby adjusting the HUD's imaging position in the vertical direction. Compared to related technologies where the observer experiences vertical parallax when viewing the image presented by the HUD, adjusting the HUD's imaging position in the vertical direction eliminates the vertical image position deviation when the observer views the image presented by the HUD, avoiding affecting the observer's vertical viewing angle and image observation, and improving the HUD's user experience. Especially when applied to AR-HUDs, this allows the observer to see the image presented by the HUD at the adjusted imaging position, visually blending it with the real environment, resulting in an excellent visual experience.

[0223] Based on the same inventive concept, this application also provides a computer storage medium and a control device corresponding to the above control method. Since the principle of solving the problem by the computer storage medium and device in this application is similar to the control method described in embodiment 3 of this application, the implementation of the device can refer to the implementation of the aforementioned control method, and the repeated parts will not be described again.

[0224] Example 5

[0225] This embodiment proposes a computer-readable storage medium storing a computer program. When the computer program is run by a processor, it executes the steps of the data processing method described in Embodiment 1 above. For a detailed implementation, please refer to Method Embodiment 1, which will not be repeated here.

[0226] In addition, see Figure 9 The schematic diagram of another control device shown in this embodiment also proposes a control device, which includes a bus 51, a processor 52, a transceiver 53, a bus interface 54, a memory 55, and a user interface 56. The control device includes a memory 55.

[0227] In this embodiment, the control device further includes: one or more programs stored in the memory 55 and executable on the processor 52, configured to be executed by the processor to perform the one or more programs for the following steps (1) to (3):

[0228] (1) The electronic control unit (ECU) acquires images of an observer inside the vehicle.

[0229] (2) Determine the position of the observer's eyes based on the image.

[0230] (3) When the height difference between the observer's eye position and the center position of the eye box is greater than the distance threshold, a control command is sent to the processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move and adjust the imaging position of the HUD in the vertical direction.

[0231] Transceiver 53 is used to receive and send data under the control of processor 52.

[0232] exist Figure 9 In this embodiment, a bus architecture (represented by bus 51) is used. Bus 51 can include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by general-purpose processor 52 and memory represented by memory 55. Bus 51 can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be further described in this embodiment. Bus interface 54 provides an interface between bus 51 and transceiver 53. Transceiver 53 can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. For example, transceiver 53 receives external data from other devices. Transceiver 53 is used to send data processed by processor 52 to other devices. Depending on the nature of the computing system, a user interface 56 may also be provided, such as a keypad, display, speaker, microphone, or joystick.

[0233] Processor 52 is responsible for managing bus 51 and general processing, such as running a general-purpose operating system as described above. Memory 55 can be used to store data used by processor 52 during operation.

[0234] Optionally, the processor 52 may be, but is not limited to, a central processing unit, a microcontroller, a microprocessor, or a programmable logic device.

[0235] It is understood that the memory 55 in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 55 of the systems and methods described in this embodiment is intended to include, but is not limited to, these and any other suitable types of memory.

[0236] In some implementations, memory 55 stores elements such as executable modules or data structures, or subsets thereof, or extended sets thereof: operating system 551 and application programs 552.

[0237] The operating system 551 includes various system programs, such as the framework layer, core library layer, and driver layer, used to implement various basic business functions and handle hardware-based tasks. The application program 552 includes various applications, such as a media player and a browser, used to implement various application functions. The program implementing the method of this embodiment can be included in the application program 552.

[0238] In summary, the computer storage medium and control device proposed in this embodiment send a control command to the processing unit in the HUD when the height difference between the observer's eye position and the center position of the eye box is greater than a distance threshold. The processing unit controls the curved mirror moving mechanism in the HUD to move the curved mirror and the plane mirror moving mechanism to move the plane mirror, thereby changing the incident position and / or incident angle of the light emitted by the HUD when it hits the windshield of the vehicle. This adjusts the imaging position of the HUD in the vertical direction. Compared with the vertical parallax in related technologies where the observer has to view the image presented by the HUD, adjusting the imaging position of the HUD in the vertical direction eliminates the vertical image position deviation when the observer views the image presented by the HUD, avoids affecting the observer's viewing angle and image observation in the vertical direction, and improves the user experience of the HUD.

[0239] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A head-up display (HUD), characterized in that, include: Image source, curved mirror, plane mirror, processing unit, curved mirror moving mechanism and plane mirror moving mechanism; The curved mirror moving mechanism is connected to the curved mirror; the plane mirror moving mechanism is connected to the plane mirror; the processing unit is installed inside the HUD and is connected to the curved mirror moving mechanism, the plane mirror moving mechanism, and the electronic control unit (ECU) respectively. The processing unit is used to control the curved mirror moving mechanism to move the curved mirror, and to control the plane mirror moving mechanism to move the plane mirror; The curved mirror moving mechanism is used to move the curved mirror under the control of the processing unit; the plane mirror moving mechanism is used to move the plane mirror under the control of the processing unit. The moved curved mirror and the plane mirror can change the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, so as to adjust the imaging position of the HUD in the vertical direction, wherein the vertical direction refers to the direction perpendicular to the plane of the road surface on which the vehicle is traveling. The length of the light outlet of the HUD along the driving direction in the cross section is adjusted based on the actual situation of the vehicle in order to increase the coverage of the eye box in the vertical direction. The movement includes translation; When the curved mirror moving mechanism and the plane mirror moving mechanism employ translation devices, the ECU sends control commands to the processing unit in the HUD in the following manner, causing the processing unit to control the curved mirror and plane mirror in the HUD to translate, thereby adjusting the imaging position of the HUD in the vertical direction: when it is determined that the observer's eye position is higher than the center position of the eye box, based on the height difference between the observer's eye position and the center position of the eye box, the translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield corresponding to the height difference are determined; based on the determined translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield, control commands are generated to translate the curved mirror and plane mirror; the control commands are sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to translate in the direction away from the windshield, raising the incident position and / or incident angle when the light emitted by the HUD is incident on the windshield of the vehicle, thereby raising the imaging position of the HUD in the vertical direction.

2. The HUD according to claim 1, characterized in that, The curved mirror moving mechanism and the plane mirror moving mechanism include: a rotating device; The rotating device includes: a driving device, a first engaging member, and a second engaging member; The driving device is connected to the processing unit. The first meshing member is disposed on the driving device. The second meshing member is connected to the first meshing member in a transmission manner and is connected to the curved mirror or the plane mirror. The driving device drives the first engaging member to rotate under the control of the processing unit; when the first engaging member rotates, it drives the second engaging member to rotate; the curved mirror or the plane mirror rotates under the drive of the second engaging member, thereby changing the incident angle and / or incident position of the light emitted by the HUD when it enters the windshield of the vehicle.

3. The HUD according to claim 1, characterized in that, The curved mirror moving mechanism and the plane mirror moving mechanism include: a translation device; The translation device includes: a drive unit, a first transmission component, and a second transmission component; The driving unit is connected to the processing unit, the first transmission component is disposed on the driving unit and is connected to the meshing gear of the second transmission component, and the second transmission component is connected to the curved mirror or the plane mirror. The driving unit drives the first transmission component to rotate under the control of the processing unit; when the first transmission component rotates, it drives the second transmission component to translate; the curved mirror or the plane mirror translates along the extension direction of the meshing teeth of the second transmission component under the drive of the second transmission component, so that the curved mirror or the image source in the HUD approaches or moves away from the windshield, thereby changing the incident angle and / or incident position when the light emitted by the HUD is incident on the windshield of the vehicle.

4. A head-up display imaging system for a vehicle, characterized in that, include: Image acquisition device, electronic control unit (ECU), and head-up display (HUD) as described in any one of claims 1-3; The image acquisition device and the processing unit in the HUD are respectively connected to the ECU; The image acquisition device is used to acquire images of an observer inside the vehicle and send the acquired images to the ECU; The ECU is used to determine the observer's eye position based on the image acquired by the image acquisition device, and when the height difference between the observer's eye position and the center position of the eye box is greater than a distance threshold, it sends a control command to the processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move and adjust the imaging position of the HUD in the vertical direction; the vertical direction refers to the direction perpendicular to the plane of the road surface on which the vehicle is traveling. The movement includes translation; When the curved mirror moving mechanism and the plane mirror moving mechanism employ translation devices, the ECU sends control commands to the processing unit in the HUD in the following manner, causing the processing unit to control the curved mirror and plane mirror in the HUD to translate, adjusting the imaging position of the HUD in the vertical direction: when it is determined that the observer's eye position is higher than the center position of the eye box, based on the height difference between the observer's eye position and the center position of the eye box, the translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box. The translation distance in the direction away from the windshield; based on the determined translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield, a control command is generated to translate the curved mirror and the plane mirror; the control command is sent to the processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to translate in the direction away from the windshield, thereby raising the incident position and / or incident angle of the light emitted by the HUD when it is incident on the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

5. The head-up display imaging system according to claim 4, characterized in that, When the curved mirror moving mechanism and the plane mirror moving mechanism employ a rotating device, the ECU is used to send control commands to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, including: When it is determined that the observer's eye position is higher than the center position of the eye box, the rotation angle of the curved mirror in the clockwise direction and the rotation angle of the plane mirror in the clockwise direction corresponding to the height difference between the observer's eye position and the center position of the eye box are determined. Based on the determined clockwise rotation angle of the curved mirror and the clockwise rotation angle of the plane mirror, control commands are generated to rotate the curved mirror and the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and the plane mirror in the HUD to rotate clockwise, thereby reducing the incident angle and / or incident position of the light emitted by the HUD when it hits the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

6. The head-up display imaging system according to claim 4, characterized in that, When the curved mirror moving mechanism and the plane mirror moving mechanism employ a rotating device, the ECU is used to send control commands to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, and further includes: When it is determined that the observer's eye position is lower than the center position of the eye box, the rotation angle of the curved mirror and the rotation angle of the plane mirror in the counterclockwise direction corresponding to the height difference between the observer's eye position and the center position of the eye box are determined. Based on the determined counterclockwise rotation angle of the curved mirror and the counterclockwise rotation angle of the plane mirror, control commands are generated to rotate the curved mirror and the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and the plane mirror in the HUD to rotate counterclockwise, thereby increasing the incident angle and / or incident position of the light emitted by the HUD when it hits the windshield of the vehicle, and thus lowering the imaging position of the HUD in the vertical direction.

7. The head-up display imaging system according to claim 4, characterized in that, When the curved mirror moving mechanism and the plane mirror moving mechanism employ translation devices, the ECU is used to send control commands to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, and further includes: When it is determined that the observer's eye position is lower than the center position of the eye box, the translation distance of the curved mirror in the direction close to the windshield and the translation distance of the plane mirror in the direction close to the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box. Based on the determined translation distance of the curved mirror in the direction approaching the windshield and the translation distance of the plane mirror in the direction approaching the windshield, control commands are generated to translate the curved mirror and the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and the face mirror in the HUD to translate in the direction close to the windshield, thereby reducing the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, and thus reducing the imaging position of the HUD in the vertical direction.

8. The head-up display imaging system according to claim 4, characterized in that, When the curved mirror moving mechanism uses a rotating device and the plane mirror moving mechanism uses a translational device, the ECU is used to send control commands to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, including: When it is determined that the observer's eye position is higher than the center position of the eye box, the rotation angle of the curved mirror in the clockwise direction and the translation distance of the plane mirror in the direction away from the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box. Based on the clockwise rotation angle of the curved mirror and the translation distance of the plane mirror in the direction away from the windshield, control commands are generated to rotate the curved mirror and translate the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror in the HUD to rotate clockwise and control the plane mirror to translate in a direction away from the windshield, thereby raising the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

9. The head-up display imaging system according to claim 4, characterized in that, When the curved mirror moving mechanism uses a rotating device and the plane mirror moving mechanism uses a translational device, the ECU is used to send control commands to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, and adjust the imaging position of the HUD in the vertical direction, and further includes: When it is determined that the observer's eye position is lower than the center position of the eye box, the rotation angle of the curved mirror in the counterclockwise direction and the translation distance of the plane mirror in the direction close to the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box. Based on the counterclockwise rotation angle of the curved mirror and the translation distance of the plane mirror in the direction close to the windshield, control commands are generated to rotate the curved mirror and translate the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror in the HUD to rotate counterclockwise and control the plane mirror to translate in the direction close to the windshield, thereby reducing the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby reducing the imaging position of the HUD in the vertical direction.

10. The head-up display imaging system according to claim 4, characterized in that, When the curved mirror moving mechanism uses a translation device and the plane mirror moving mechanism uses a rotation device, the ECU is used to send control commands to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, including: When it is determined that the observer's eye position is higher than the center position of the eye box, the translation distance of the curved mirror in the direction away from the windshield and the rotation angle of the plane mirror in the clockwise direction are determined according to the height difference between the observer's eye position and the center position of the eye box. Based on the translation distance of the curved mirror in the direction away from the windshield and the rotation angle of the plane mirror in the clockwise direction, control commands are generated to translate the curved mirror and rotate the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror in the HUD to translate in a direction away from the windshield and control the plane mirror to rotate clockwise, thereby raising the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

11. The head-up display imaging system according to claim 4, characterized in that, When the curved mirror moving mechanism uses a translation device and the plane mirror moving mechanism uses a rotation device, the ECU is used to send control commands to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, and adjust the imaging position of the HUD in the vertical direction, and further includes: When it is determined that the observer's eye position is lower than the center position of the eye box, the translation distance of the curved mirror in the direction close to the windshield and the rotation angle of the plane mirror in the counterclockwise direction are determined according to the height difference between the observer's eye position and the center position of the eye box. Based on the translation distance of the curved mirror in the direction close to the windshield and the rotation angle of the plane mirror in the counterclockwise direction, control commands are generated to translate the curved mirror and rotate the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror in the HUD to translate in the direction close to the windshield and control the plane mirror to rotate counterclockwise, thereby reducing the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby reducing the imaging position of the HUD in the vertical direction.

12. A vehicle, characterized in that, The head-up display imaging system includes any one of claims 4-11 above.

13. A control method for the head-up display imaging system according to any one of claims 4 to 11, characterized in that, include: The electronic control unit (ECU) acquires images of an observer inside the vehicle. Determine the observer's eye position based on the image; When the height difference between the observer's eye position and the center position of the eye box is greater than a distance threshold, a control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move and adjust the imaging position of the HUD in the vertical direction; the vertical direction refers to the direction perpendicular to the plane of the road surface on which the vehicle is traveling. The movement includes translation; When the curved mirror moving mechanism and the plane mirror moving mechanism employ translation devices, a control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to translate, thereby adjusting the imaging position of the HUD in the vertical direction. When it is determined that the observer's eye position is higher than the center position of the eye box, the translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box. Based on the determined translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield, control commands are generated to translate the curved mirror and the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and the plane mirror in the HUD to translate in a direction away from the windshield, thereby raising the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

14. The method according to claim 13, characterized in that, When the curved mirror moving mechanism and the plane mirror moving mechanism employ a rotating device, a control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, including: When it is determined that the observer's eye position is higher than the center position of the eye box, the rotation angle of the curved mirror in the clockwise direction and the rotation angle of the plane mirror in the clockwise direction corresponding to the height difference between the observer's eye position and the center position of the eye box are determined. Based on the determined clockwise rotation angle of the curved mirror and the clockwise rotation angle of the plane mirror, control commands are generated to rotate the curved mirror and the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and the plane mirror in the HUD to rotate clockwise, thereby reducing the incident angle and / or incident position of the light emitted by the HUD when it hits the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

15. The method according to claim 13, characterized in that, When the curved mirror moving mechanism and the plane mirror moving mechanism employ a rotating device, a control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, and further comprising: When it is determined that the observer's eye position is lower than the center position of the eye box, the rotation angle of the curved mirror and the rotation angle of the plane mirror in the counterclockwise direction corresponding to the height difference between the observer's eye position and the center position of the eye box are determined. Based on the determined counterclockwise rotation angle of the curved mirror and the counterclockwise rotation angle of the plane mirror, control commands are generated to rotate the curved mirror and the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and the plane mirror in the HUD to rotate counterclockwise, thereby increasing the incident angle and / or incident position of the light emitted by the HUD when it hits the windshield of the vehicle, and thus reducing the imaging position of the HUD in the vertical direction.

16. The method according to claim 13, characterized in that, When the curved mirror moving mechanism and the plane mirror moving mechanism employ translation devices, a control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, further comprising: When it is determined that the observer's eye position is lower than the center position of the eye box, the translation distance of the curved mirror in the direction close to the windshield and the translation distance of the plane mirror in the direction close to the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box. Based on the determined translation distance of the curved mirror in the direction approaching the windshield and the translation distance of the plane mirror in the direction approaching the windshield, control commands are generated to translate the curved mirror and the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and the plane mirror in the HUD to translate in the direction close to the windshield, thereby reducing the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, and thus reducing the imaging position of the HUD in the vertical direction.

17. The method according to claim 13, characterized in that, When the curved mirror moving mechanism uses a rotating device and the plane mirror moving mechanism uses a translational device, a control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, including: When it is determined that the observer's eye position is higher than the center position of the eye box, the rotation angle of the curved mirror in the clockwise direction and the translation distance of the plane mirror in the direction away from the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box. Based on the clockwise rotation angle of the curved mirror and the translation distance of the plane mirror in the direction away from the windshield, control commands are generated to rotate the curved mirror and translate the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror in the HUD to rotate clockwise and control the plane mirror to translate in a direction away from the windshield, thereby raising the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

18. The method according to claim 13, characterized in that, When the curved mirror moving mechanism uses a rotating device and the plane mirror moving mechanism uses a translating device, a control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, and further including: When it is determined that the observer's eye position is lower than the center position of the eye box, the rotation angle of the curved mirror in the counterclockwise direction and the translation distance of the plane mirror in the direction close to the windshield are determined according to the height difference between the observer's eye position and the center position of the eye box. Based on the counterclockwise rotation angle of the curved mirror and the translation distance of the plane mirror in the direction close to the windshield, control commands are generated to rotate the curved mirror and translate the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror in the HUD to rotate counterclockwise and control the plane mirror to translate in the direction close to the windshield, thereby reducing the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby reducing the imaging position of the HUD in the vertical direction.

19. The method according to claim 13, characterized in that, When the curved mirror moving mechanism uses a translation device and the plane mirror moving mechanism uses a rotation device, a control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, including: When it is determined that the observer's eye position is higher than the center position of the eye box, the translation distance of the curved mirror in the direction away from the windshield and the rotation angle of the plane mirror in the clockwise direction are determined according to the height difference between the observer's eye position and the center position of the eye box. Based on the translation distance of the curved mirror in the direction away from the windshield and the rotation angle of the plane mirror in the clockwise direction, control commands are generated to translate the curved mirror and rotate the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror in the HUD to translate in a direction away from the windshield and control the plane mirror to rotate clockwise, thereby raising the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

20. The method according to claim 13, characterized in that, When the curved mirror moving mechanism uses a translation device and the plane mirror moving mechanism uses a rotation device, a control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to move, adjusting the imaging position of the HUD in the vertical direction, and further including: When it is determined that the observer's eye position is lower than the center position of the eye box, the translation distance of the curved mirror in the direction close to the windshield and the rotation angle of the plane mirror in the counterclockwise direction are determined according to the height difference between the observer's eye position and the center position of the eye box. Based on the translation distance of the curved mirror in the direction close to the windshield and the rotation angle of the plane mirror in the counterclockwise direction, control commands are generated to translate the curved mirror and rotate the plane mirror. A control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror in the HUD to translate in the direction close to the windshield and control the plane mirror to rotate counterclockwise, thereby reducing the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby reducing the imaging position of the HUD in the vertical direction.

21. A control device, characterized in that, include: The acquisition module is used to acquire images of the observer inside the vehicle; The determination module is used to determine the position of the observer's eyes based on the image; The movement module is used to send a control command to the processing unit in the HUD when the height difference between the observer's eye position and the center position of the eye box is greater than a distance threshold. This causes the processing unit to control the curved mirror and the plane mirror in the HUD to move and adjust the imaging position of the HUD in the vertical direction. The vertical direction refers to the direction perpendicular to the plane of the road surface on which the vehicle is traveling. The length of the light outlet of the HUD along the driving direction in the cross section is adjusted based on the actual situation of the vehicle in order to increase the coverage of the eye box in the vertical direction. The movement includes translation; When the curved mirror moving mechanism and the plane mirror moving mechanism employ translation devices, a control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to translate, thereby adjusting the imaging position of the HUD in the vertical direction. When it is determined that the observer's eye position is higher than the center position of the eye box, the translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield are determined based on the height difference between the observer's eye position and the center position of the eye box. Based on the determined translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield, a control command is generated to translate the curved mirror and plane mirror. The control command is sent to the processing unit in the HUD, causing the processing unit to control the curved mirror and plane mirror in the HUD to translate in the direction away from the windshield, raising the incident position and / or incident angle of the light emitted by the HUD when it enters the windshield of the vehicle, thereby improving the imaging position of the HUD in the vertical direction.

22. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is run by the processor, it performs the steps of the method described in any one of claims 13-20.

23. A control device, characterized in that, The control device includes a memory, a processor, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor of the steps of the method according to any one of claims 13-20.

Images