Vehicle and method for determining the face shape of a mirror

Abstract

The application discloses a vehicle and a mirror surface type determination method, and belongs to the technical field of optics. The method comprises the following steps: acquiring the size of a virtual image and the resolution of the virtual image detected by an image detection device; determining the magnification required by a wavefront corrector based on the size of the virtual image and the resolution of the virtual image; and adjusting the surface type of a mirror of the wavefront corrector based on the magnification, so as to adjust the size and the resolution of the virtual image. The application adjusts the surface type of the mirror of the wavefront corrector, so that the magnification of the wavefront corrector can meet the actual required magnification of the wavefront corrector, the size of an image source projected by a projector onto a diffusion film through the wavefront corrector matches the size of an image source required by an optical imaging module, full-screen display is achieved, and the resolution of the projector is fully utilized.

Description

Technical Field

[0001] This application relates to the field of optical technology, and in particular to a method for determining the surface shape of a vehicle and a reflector. Background Technology

[0002] Currently, many vehicles are equipped with Head-Up Displays (HUDs). HUDs can project navigation information, vehicle speed, and other driving information onto the windshield, allowing drivers to understand important driving information without looking down, thereby reducing driving safety hazards and making the driving process safer.

[0003] In related technologies, HUDs mainly consist of an image generation module and an optical imaging module. The image generation module includes a projector, a planar mirror, and a diffusion film arranged sequentially along the optical path. The image generation module provides the image source, and the optical imaging module projects the image source provided by the image generation module onto the vehicle's windshield.

[0004] However, the size of the image source required by the optical imaging module is directly proportional to the image distance of the projector in the image generation module. When the size of the image source required by the optical imaging module is large, the image distance of the projector is also large, which leads to a larger size of the image generation module and consequently a larger overall size of the HUD. Furthermore, because the size of the image source projected onto the diffusion film by the projector does not match the size of the image source required by the optical imaging module, the projector's resolution cannot be fully utilized. Summary of the Invention

[0005] This application provides a method for determining the surface shape of a vehicle and a reflector, which can solve the problem in related technologies that HUDs are large in size and cannot fully utilize the resolution of projectors. The technical solution is as follows:

[0006] On one hand, a vehicle is provided, the vehicle having a head-up display (HUD), the HUD including an image generation module and an optical imaging module, the image generation module including a projector, a wavefront corrector and a diffusion film arranged sequentially along the optical path, the image distance of the projector being fixed;

[0007] The surface shape of the reflector of the wavefront corrector is adjusted based on the magnification required by the wavefront corrector. The magnification required by the wavefront corrector is determined based on the size and resolution of the virtual image. The virtual image is the image formed in front of the vehicle after the image source provided by the projector is projected onto the windshield of the vehicle.

[0008] On the other hand, a method for determining the surface shape of a reflector is provided, applied to a wavefront controller in a HUD testing system. The HUD testing system further includes a HUD and an image detection device. The HUD includes an image generation module and an optical imaging module. The image generation module includes a projector, a wavefront corrector, and a diffusion film arranged sequentially along the optical path. The image distance of the projector is fixed. The method includes:

[0009] The size and resolution of the virtual image detected by the image detection device are obtained. The virtual image is the image formed in front of the vehicle after the image source provided by the projector is projected onto the windshield of the vehicle.

[0010] Based on the size and resolution of the virtual image, the required magnification of the wavefront corrector is determined;

[0011] Based on the magnification, the surface shape of the reflector of the wavefront corrector is adjusted to adjust the size and resolution of the virtual image.

[0012] On the other hand, a surface shape determination device for a reflector is provided, the device comprising:

[0013] The acquisition module is used to acquire the size and resolution of the virtual image detected by the image detection device. The virtual image is the image formed in front of the vehicle after the image source provided by the projector is projected onto the windshield of the vehicle.

[0014] A determining module is used to determine the magnification required by the wavefront corrector based on the size and resolution of the virtual image.

[0015] An adjustment module is used to adjust the surface shape of the reflector of the wavefront corrector based on the magnification, so as to adjust the size and resolution of the virtual image.

[0016] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the steps of the above-described method for determining the surface shape of a reflector.

[0017] On the other hand, a computer program product containing instructions is provided, which, when executed on a computer, cause the computer to perform the steps of the above-described method for determining the surface shape of a reflector.

[0018] The technical solution provided in this application can bring at least the following beneficial effects:

[0019] Since the reflector in the image generation module of this application embodiment is a wavefront corrector, when the image distance of the projector is fixed, the magnification of the wavefront corrector can be adjusted by changing the surface shape of the reflector to meet the actual magnification required by the wavefront corrector. This allows the image source projected onto the diffusion film by the projector through the wavefront corrector to match the size of the image source required by the optical imaging module, achieving full-screen display and fully utilizing the projector's resolution. Thus, by determining the surface shape of the reflector in the wavefront corrector of the HUD, the final HUD installed in the vehicle can fully utilize the projector's resolution. Furthermore, the method provided in this application embodiment allows the image distance of the projector to be determined in advance, enabling earlier HUD design and further shortening the overall HUD design time. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of an image source size provided in an embodiment of this application;

[0022] Figure 2 This is a complete optical path diagram of a HUD testing system provided in an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of the structural distribution of an image generation module provided in an embodiment of this application;

[0024] Figure 4 This is a flowchart of a method for determining the surface shape of a reflector provided in an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of a face selection interface provided in an embodiment of this application;

[0026] Figure 6 This is a schematic diagram of a parameter setting interface provided in an embodiment of this application;

[0027] Figure 7 This is a schematic diagram of another image source ratio provided in an embodiment of this application;

[0028] Figure 8 This is a schematic diagram of the structure of a wavefront corrector provided in an embodiment of this application;

[0029] Figure 9This is a schematic diagram of a surface shape determination device for a reflector provided in an embodiment of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0031] Before providing a detailed explanation of the method for determining the surface shape of a reflector provided in the embodiments of this application, the application scenarios involved in the embodiments of this application will be introduced first.

[0032] Currently, HUDs mainly consist of an image generation module and an optical imaging module. The image generation module includes a projector, a plane mirror, and a diffusion film arranged sequentially along the optical path. The image generation module provides the image source, while the optical imaging module projects the image source provided by the image generation module onto the vehicle's windshield. However, the size of the image source required by the optical imaging module is directly proportional to the image distance of the projector in the image generation module. When the size of the image source required by the optical imaging module is large, the image distance of the projector is also large, resulting in a larger image generation module and consequently a larger overall HUD size. Furthermore, because the size of the image source projected onto the diffusion film by the projector does not match the size of the image source required by the optical imaging module, the projector's resolution cannot be fully utilized.

[0033] Therefore, in this embodiment, the image distance of the projector is fixed. In this case, the surface shape of the wavefront corrector's mirror can be determined using a HUD testing system so that the image source projected onto the diffusion film matches the size of the image source required by the optical imaging module, thereby fully utilizing the projector's resolution and avoiding issues. Figure 1 The image source size mismatch is shown. Furthermore, when the projector's image distance is small, the size of the image generation module can be reduced, thereby reducing the overall size of the HUD. Thus, by determining the surface shape of the wavefront corrector's mirror in the HUD through the HUD testing system, the final HUD installed in the vehicle can fully utilize the projector's resolution.

[0034] Please refer to Figure 2 , Figure 2 This is a complete optical path diagram of a HUD testing system provided in an embodiment of this application. The HUD testing system includes a HUD, an image detection device, and a wavefront controller. The HUD mainly includes an image generation module and an optical imaging module. The image generation module includes a projector, a wavefront corrector, and a diffusion film arranged sequentially along the optical path. The wavefront controller can communicate with both the image detection device and the wavefront corrector. This communication connection can be wired or wireless; this embodiment of the application does not limit this.

[0035] An image generation module provides an image source, and an optical imaging module projects the image source onto the vehicle's windshield to form a virtual image in front of the vehicle. An image detection device detects the size and resolution of the virtual image and sends this data to a wavefront controller. The wavefront controller acquires the size and resolution of the detected virtual image and determines the required magnification for the wavefront corrector based on these dimensions. Then, based on this magnification, it adjusts the surface shape of the wavefront corrector's mirror to adjust the size and resolution of the virtual image.

[0036] Optionally, the HUD testing system also includes a wavefront sensor, which is located in the same position as the image detection device. The wavefront controller and the wavefront sensor can communicate with each other. This communication connection can be wired or wireless, and this embodiment does not limit this.

[0037] The wavefront sensor detects wavefront distortion data and sends it to the wavefront controller. The image inspection device also detects distortion and offset data of the virtual image and sends this data to the wavefront controller. The wavefront controller acquires the wavefront distortion data detected by the wavefront sensor and the distortion and offset data of the virtual image detected by the image inspection device. Based on this distortion data, the wavefront controller determines the wavefront aberration and then adjusts the surface profile of the wavefront corrector's mirror based on the required magnification, the virtual image distortion and offset data, and the wavefront aberration.

[0038] Please refer to Figure 3 , Figure 3 This is a schematic diagram of one structural distribution of the image generation module, in which the projector is located to the left of the wavefront corrector and the diffusion membrane is located above the wavefront corrector. Of course, the projector and wavefront corrector in the image generation module can also be placed in other ways depending on the actual situation. Figure 3 The schematic diagram of the image generation module shown is only for better illustrating the structural distribution of the image generation module and does not constitute a limitation on the embodiments of this application.

[0039] The surface shape determination method for the reflector provided in this application is executed by a wavefront controller. This wavefront controller can be any electronic product capable of human-computer interaction with the user through one or more methods such as a keyboard, touchpad, touchscreen, remote control, voice interaction, or handwriting device.

[0040] It should be noted that the application scenarios and execution entities described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the emergence of new application scenarios and electronic devices, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0041] The method for determining the surface shape of the reflector provided in the embodiments of this application will be explained in detail below.

[0042] Figure 4 This is a flowchart illustrating a method for determining the surface shape of a reflector according to an embodiment of this application. The method is applied to a wavefront controller in a HUD testing system. The HUD testing system also includes a HUD and an image detection device. The HUD includes an image generation module and an optical imaging module. The image generation module includes a projector, a wavefront corrector, and a diffusion film arranged sequentially along the optical path. The image distance of the projector is fixed. It should be noted that the above description of the image generation module is merely an example. In practical applications, the image generation module may include more or fewer other components, or combine certain components, or use different component arrangements. This application does not limit this.

[0043] Please refer to Figure 4 The method includes the following steps.

[0044] Step 401: The wavefront controller acquires the size and resolution of the virtual image detected by the image detection device. The virtual image is the image formed in front of the vehicle after the image source provided by the projector is projected onto the windshield of the vehicle.

[0045] In some embodiments, the image inspection device can inspect a virtual image to obtain its size and resolution. In this way, the wavefront controller can acquire the size and resolution of the virtual image detected by the image inspection device.

[0046] The size of the virtual image includes its horizontal and vertical dimensions, and its resolution includes the number of pixels in the horizontal and vertical directions.

[0047] Step 402: The wavefront controller determines the required magnification of the wavefront corrector based on the size and resolution of the virtual image.

[0048] The wavefront controller determines the first magnification required by the wavefront corrector based on the size of the virtual image and the size of the target image, and determines the second magnification required by the wavefront corrector based on the resolution of the virtual image and the resolution of the target image, wherein the first magnification and the second magnification are the magnifications required by the wavefront corrector in the horizontal and vertical directions, respectively.

[0049] In some embodiments, the wavefront controller determines a first horizontal magnification and a first vertical magnification based on the size of the virtual image and the size of the target image, determines a second horizontal magnification and a second vertical magnification based on the resolution of the virtual image and the resolution of the target image, and determines a first magnification and a second magnification based on the first horizontal magnification, the first vertical magnification, the second horizontal magnification, and the second vertical magnification.

[0050] It should be noted that the target image size is preset and is related to the aspect ratio of the virtual image to be displayed by the HUD. This aspect ratio refers to the ratio between the horizontal and vertical dimensions of the virtual image to be displayed by the HUD. For example, if the aspect ratio of the virtual image to be displayed by the HUD is 3:1, the target image size can be 2102 mm × 698 mm. Therefore, the virtual image to be displayed by the HUD has a horizontal dimension of 2102 mm and a vertical dimension of 698 mm. Furthermore, it can be adjusted according to different needs in different situations. The target image resolution is preset and is related to the specifications of the projector's internal DMD (Digital Micromirror Device). It can also be adjusted according to different needs in different situations.

[0051] In some embodiments, the size of the virtual image includes a horizontal dimension and a vertical dimension, and the size of the target image includes a horizontal dimension and a vertical dimension. Thus, the horizontal dimension of the target image can be divided by the horizontal dimension of the virtual image to obtain a first horizontal magnification, and the vertical dimension of the target image can be divided by the vertical dimension of the virtual image to obtain a first vertical magnification.

[0052] To facilitate understanding, the process of determining the first horizontal magnification and the first vertical magnification is described below using an example. If the virtual image size is 1944 mm × 698 mm, that is, the virtual image's horizontal dimension is 1944 and its vertical dimension is 698, and the target image size is 2102 mm × 698 mm, that is, the target image's horizontal dimension is 2102 and its vertical dimension is 698, then in this case, the first horizontal magnification is 2102 ÷ 1944 ≈ 1.08, and the first vertical magnification is 698 ÷ 698 = 1.

[0053] Because the magnification of the optical imaging module is designed based on the size of the target image, the size of the virtual image matches the size of the image source required by the optical imaging module and the size of the image source projected onto the diffusion film by the projector. However, for any horizontal or vertical direction, if the size of the image source projected onto the diffusion film in that direction is larger than the size of the image source required by the optical imaging module, a portion of the image source projected onto the diffusion film in that direction cannot be projected onto the vehicle's windshield. Consequently, the virtual image, while matching the size of the target image in that direction, only represents a portion of the image source content. Conversely, if the size of the image source projected onto the diffusion film in that direction is smaller than the size of the image source required by the optical imaging module, the entire content of the image source projected onto the diffusion film can be projected onto the vehicle's windshield, but the final virtual image will be smaller than the target image in that direction.

[0054] In other words, for any dimension in either the horizontal or vertical direction, if the size of the virtual image in that direction matches the size of the target image in that direction, then the size of the image source projected onto the diffusion film by the projector in that direction is greater than or equal to the size of the image source required by the optical imaging module in that direction. That is, the size of the image source projected onto the diffusion film by the projector and the size of the image source required by the optical imaging module may or may not match. Therefore, the magnification determined solely based on the size of the virtual image and the size of the target image is inaccurate.

[0055] However, if the size of the image source projected onto the diffusion film in that direction is larger than the size of the image source required by the optical imaging module in that direction, a portion of the image projected onto the diffusion film will be cropped in that direction. This will result in the virtual image containing fewer pixels in that direction than the target image. Therefore, the magnification ratio can be determined by the resolution of the virtual image and the resolution of the target image, thereby improving the accuracy of the magnification ratio.

[0056] In some embodiments, the resolution of the virtual image includes the number of pixels contained in the horizontal direction and the number of pixels contained in the vertical direction, and the resolution of the target image includes the number of pixels contained in the horizontal direction and the number of pixels contained in the vertical direction. Thus, a second horizontal magnification can be obtained by dividing the number of pixels contained in the virtual image in the horizontal direction by the number of pixels contained in the target image in the horizontal direction, and a second vertical magnification can be obtained by dividing the number of pixels contained in the virtual image in the vertical direction by the number of pixels contained in the target image in the vertical direction.

[0057] Since the target image resolution is the maximum resolution that the virtual image can display, that is, the number of pixels contained in the virtual image in the horizontal and / or vertical directions is less than or equal to the number of pixels contained in the target image in the corresponding directions. If the number of pixels contained in the virtual image in the horizontal and / or vertical directions is less than the number of pixels contained in the target image in the corresponding directions, it means that the size of the image source projected onto the diffusion film in that direction is larger than the maximum size of the image source required by the optical imaging module in that direction, and the image source projected onto the diffusion film needs to be reduced in size. If the number of pixels contained in the virtual image in the horizontal and / or vertical directions is equal to the number of pixels contained in the target image in the corresponding direction, it means that the size of the image source projected onto the diffusion film in that direction is equal to the maximum size of the image source required by the optical imaging module in that direction. Therefore, it is not necessary to scale the image source projected onto the diffusion film. Thus, in this embodiment, the number of pixels contained in the virtual image in the horizontal direction can be divided by the number of pixels contained in the target image in the horizontal direction to obtain the second horizontal magnification, and the number of pixels contained in the virtual image in the vertical direction can be divided by the number of pixels contained in the target image in the vertical direction to obtain the second vertical magnification. That is, both the second horizontal magnification and the second vertical magnification are less than or equal to 1.

[0058] To facilitate understanding, the process of determining the second horizontal magnification and the second vertical magnification is described below with an example. If the resolution of the virtual image is 854 mm × 315 mm, meaning the virtual image contains 854 pixels horizontally and 315 pixels vertically, and the resolution of the target image is 854 mm × 480 mm, meaning the target image contains 854 pixels horizontally and 480 pixels vertically, then the second horizontal magnification is 854 ÷ 854 = 1, and the second vertical magnification is 315 ÷ 480 ≈ 0.656.

[0059] In some embodiments, if the first horizontal magnification is greater than 1, then the first horizontal magnification is used as the first magnification. If the first horizontal magnification is equal to 1, then the second horizontal magnification is used as the first magnification. If the first vertical magnification is greater than 1, then the first vertical magnification is used as the second magnification. If the first vertical magnification is equal to 1, then the second vertical magnification is used as the second magnification.

[0060] Since the target image size is the maximum size that the virtual image can achieve, the target image resolution is the maximum resolution that the virtual image can achieve, and the first horizontal magnification is obtained by dividing the target image size in the horizontal direction by the virtual image size in the horizontal direction, and the first vertical magnification is obtained by dividing the target image size in the vertical direction by the virtual image size in the vertical direction, the first horizontal magnification and the first vertical magnification must be greater than or equal to 1.

[0061] If the first horizontal magnification is greater than 1, it means that the size of the virtual image in the horizontal direction is smaller than the size of the target image in the horizontal direction. Therefore, the first horizontal magnification can be directly used as the first magnification.

[0062] If the first horizontal magnification is equal to 1, it means that the size of the virtual image in the horizontal direction is equal to the size of the target image in the horizontal direction. At this time, the size of the image source projected by the projector onto the diffusion film in the horizontal direction may match or may not match the size of the image source required by the optical imaging module in the horizontal direction. The magnification needs to be determined by the number of pixels contained in the virtual image in the horizontal direction and the number of pixels contained in the target image in the horizontal direction. Therefore, the second horizontal magnification can be used as the first magnification.

[0063] If the first vertical magnification is greater than 1, it means that the size of the virtual image in the vertical direction is smaller than the size of the target image in the horizontal direction. Therefore, the first vertical magnification can be directly used as the second magnification.

[0064] If the first vertical magnification is equal to 1, it means that the size of the virtual image in the vertical direction is equal to the size of the target image in the vertical direction. At this time, the size of the image source projected by the projector onto the diffusion film in the vertical direction may match or may not match the size of the image source required by the optical imaging module in the vertical direction. The magnification needs to be determined by the number of pixels contained in the virtual image in the vertical direction and the number of pixels contained in the target image in the vertical direction. Therefore, the second vertical magnification can be used as the second magnification.

[0065] For example, the first horizontal magnification is 1.08, the first vertical magnification is 1, the second horizontal magnification is 1, and the second vertical magnification is 0.656. Since the first horizontal magnification is greater than 1, it means the virtual image's horizontal dimension is smaller than the target image's horizontal dimension. Therefore, the first horizontal magnification can be directly used as the first magnification, i.e., 1.08 is used as the first magnification. Since the first vertical magnification is equal to 1, it means the virtual image's vertical dimension is equal to the target image's vertical dimension. In this case, the vertical dimension of the image source projected onto the diffusion film by the projector may or may not match the vertical dimension of the image source required by the optical imaging module. The magnification needs to be determined by the number of pixels in the virtual image and the target image in the vertical direction. Therefore, the second vertical magnification can be used as the second magnification, i.e., 0.656 is used as the second magnification.

[0066] Step 403: The wavefront controller adjusts the surface shape of the reflector of the wavefront corrector based on the magnification required by the wavefront corrector to adjust the size and resolution of the virtual image.

[0067] The equation of the target freeform surface is determined, and the coefficients of each polynomial in the target freeform surface equation are unknown. Based on the magnification required by the wavefront corrector, the coefficients of each polynomial in the target freeform surface equation are determined. Based on the target freeform surface equation with known polynomial coefficients, the surface shape of the reflector of the wavefront corrector is adjusted so that the reflector of the wavefront corrector is the freeform surface characterized by the target freeform surface equation with known polynomial coefficients.

[0068] In some embodiments, the wavefront controller can display a surface selection interface that includes multiple surface information pieces, which indicate the freeform surface equation satisfied by the freeform surface. In response to the selection operation of target surface information, a parameter setting interface is displayed, where the target surface information is one of the multiple surface information pieces included in the surface selection interface. The number of polynomial coefficients input in the parameter setting interface is obtained, and the target freeform surface equation is determined based on the freeform surface equation indicated by the target surface information and the number of polynomial coefficients input in the parameter setting interface.

[0069] Because the wavefront controller stores the correspondence between surface information and freeform surface equations, after displaying the surface selection interface, the user can select the target surface information from multiple surface information as the surface corresponding to the reflector of the wavefront corrector. At this time, the user will trigger the selection operation of the target surface information. The wavefront controller receives the user's selected target surface information and displays the parameter setting interface corresponding to the target surface. The user can set the number of polynomial coefficients in the parameter setting interface. Based on the target surface information, the wavefront controller determines the freeform surface equation corresponding to the target surface from the correspondence between surface information and freeform surface equations. Then, based on the number of polynomial coefficients and the freeform surface equation corresponding to the target surface information, the wavefront controller determines the target freeform surface equation according to the relevant algorithm.

[0070] In some embodiments, the wavefront controller stores the correspondence between the freeform surface equation and the polynomial coefficients in the freeform surface equation that affect the surface magnification. Therefore, after determining the target freeform surface equation, the wavefront controller can determine the corresponding polynomial coefficients from the correspondence between the freeform surface equation and the polynomial coefficients in the freeform surface equation that affect the surface magnification, and use the target polynomial coefficients in the target freeform surface equation as variables. Then, based on the magnification required by the wavefront corrector, the controller determines each polynomial coefficient in the target freeform equation according to the relevant algorithm, thereby obtaining the target freeform surface equation with known polynomial coefficients.

[0071] In other embodiments, the parameter setting interface is also used to set variables in the freeform surface equation. Users can set the target polynomial coefficients as variables in the target freeform surface equation through the parameter setting interface. Therefore, after inputting the number of polynomial coefficients in the parameter setting interface, users can also set the target polynomial coefficients in the target freeform surface equation. At this time, the wavefront controller, based on the target surface information, determines the freeform surface equation corresponding to the target surface shape from the correspondence between surface information and freeform surface equations. Then, based on the number of polynomial coefficients and the freeform surface equation corresponding to the target surface information, it determines the target freeform surface equation according to a relevant algorithm. Finally, based on the magnification required by the wavefront corrector and the target polynomial coefficients as variables in the target freeform surface equation, it determines each polynomial coefficient in the target freeform surface equation according to a relevant algorithm, thus obtaining the target freeform surface equation with known polynomial coefficients.

[0072] It should be noted that the parameter setting interface can set the number of polynomial coefficients in the freeform surface equation and the target polynomial coefficients used as variables in the target freeform surface equation. Of course, the parameter setting interface can also set other parameters of the freeform surface, but this application embodiment does not limit this.

[0073] The aforementioned surface type information is preset and can be set to extended polynomial, quadratic surface, extended aspheric surface, and odd-order aspheric surface. Furthermore, it can be adjusted according to different needs under different circumstances.

[0074] To facilitate understanding, the process of determining the reflector in a wavefront corrector is described below with an example. For example, please refer to... Figure 5 The wavefront controller can display, for example, Figure 5 The surface selection interface shown allows users to choose an extended polynomial from multiple surface options as the surface corresponding to the reflector of the wavefront corrector. At this point, the user triggers the selection operation of the extended polynomial. The wavefront controller receives this selection and displays the parameter setting interface corresponding to the extended polynomial. Since the third and fifth terms of the coefficients in the freeform surface equation indicated by this extended polynomial are related to the magnification of the freeform surface, the number of coefficients in this polynomial should be greater than or equal to 5. Please refer to [reference needed]. Figure 6 Users can, for example Figure 6 The parameter setting interface shown has the number of polynomial coefficients set to 44, and the freeform surface equation indicated by the extended polynomial is as follows (1).

[0075]

[0076] In the above formula (1), z is the elevation of the freeform surface along the z-axis, x is the elevation of the freeform surface along the x-axis, y is the elevation of the freeform surface along the y-axis, c is the surface curvature, r is the radial coordinate in lens units, k is the conic coefficient, N is the number of polynomial coefficients, and is an unknown quantity, A i Let be the coefficients of the i-th extended polynomial.

[0077] In this embodiment of the application, after determining the freeform surface equation indicated by the extended polynomial, c and k in formula (1) are set to 0. Therefore, the wavefront controller determines the target freeform surface equation as formula (2) according to the relevant algorithm based on the number of polynomial coefficients and the freeform surface equation indicated by the extended polynomial.

[0078]

[0079] In formula (2) above, z is the elevation of the freeform surface along the z-axis, x is the elevation of the freeform surface along the x-axis, y is the elevation of the freeform surface along the y-axis, and C1 to C 44 represents the coefficients of each polynomial in the equation of the freeform surface.

[0080] Because the wavefront controller stores polynomial coefficients that affect the surface magnification, it can determine the target polynomial coefficients C3 and C5 in the target freeform surface equation based on these stored coefficients. Using C3 and C5 as variables, and based on the required magnification of 1.08x in the horizontal direction and 0.656x in the vertical direction, along with the target polynomial coefficients in the target freeform surface equation, the controller determines the various polynomial coefficients in the target freeform surface equation according to a relevant algorithm. Specifically, C1, C2, C4, C6 to C5 are... 44 The coefficients are 0 for C3, -116.652 for C5, and -50.122 for C5. The free surface characterized by the target free surface equation with known polynomial coefficients is determined as the reflector of the wavefront corrector.

[0081] It should be noted that the examples of the surface selection interface and parameter setting interface described above are merely for better illustrating the process of determining the reflector of the wavefront corrector and constitute a limitation on the embodiments of this application.

[0082] The method provided in this application embodiment can be simulated using optical simulation software deployed on the wavefront controller. For example, this optical simulation software could be Zemax. In this case, the amplification effect of the aforementioned wavefront corrector can be simulated using the optical simulation software. For example, please refer to... Figure 7 Through simulation using optical simulation software, it can be seen that the image source projected by the projector onto the diffusion film through the wavefront corrector is completely overlapped with the image source required by the optical imaging module, achieving full-screen display.

[0083] In some embodiments, the wavefront corrector includes multiple actuators and a mirror. Applying different voltages to different actuators can cause the mirror to produce various complex deformations. Therefore, the wavefront controller can determine control commands based on the target freeform surface equation with known polynomial coefficients, according to a relevant algorithm, and then send the control commands to the wavefront corrector. This allows the wavefront corrector to control the positions of the multiple actuators based on the control commands, thereby adjusting the surface profile of the mirror so that the wavefront corrector's mirror is a freeform surface characterized by the target freeform surface equation with known polynomial coefficients.

[0084] As an example, please refer to Figure 8 , Figure 8 This is a schematic diagram of the wavefront corrector. Figure 8The mid-wavefront corrector includes a substrate, multiple actuators, and a reflector. The substrate is made of a high-rigidity material and its main function is to support the entire structure of the wavefront corrector and serve as a fixed base plate during operation. The actuators can be composed of stacks of piezoelectric or electrostrictive materials, and multiple actuators are fixed to the substrate in a certain spatial distribution, with the reflector connected to their tops. The actuators convert electrical energy into vertical displacement, thereby deforming the reflector. The reflector can be made of optical glass, silicon, metal, etc., and the embodiments in this application do not limit this.

[0085] Optionally, the wavefront corrector can be a piezoelectric material driven wavefront corrector, an electrostrictive material wavefront corrector, a magnetostrictive material wavefront corrector, an electrostatically driven wavefront corrector, a dual piezoelectric plate wavefront corrector, or a voice coil motor wavefront corrector. Of course, the wavefront corrector can also be other types, and this application example does not limit this.

[0086] Because the optical imaging module is an off-axis reflective optical system, this system may result in significant distortion of the virtual image projected onto the vehicle's windshield. Furthermore, positional deviations may occur during the assembly of various optical components, potentially causing the virtual image projected onto the windshield to shift. Additionally, due to lens design, manufacturing processes, and uneven air refractive index distribution, the beam may not focus or transform ideally, leading to a deviation between the actual and ideal wavefront of the virtual image—that is, wavefront distortion—which affects the imaging quality of the virtual image. Therefore, in some embodiments, the HUD testing system also includes a wavefront sensor. In this case, the wavefront controller can acquire distortion data and offset data of the virtual image detected by the image detection device, as well as wavefront distortion data detected by the wavefront sensor. This wavefront distortion data indicates the deviation between the actual and ideal wavefront of the virtual image. The wavefront controller can determine wavefront aberrations based on the wavefront distortion data and adjust the surface shape of the reflector of the wavefront corrector based on the required magnification of the wavefront corrector, the distortion data of the virtual image, the offset data of the virtual image, and the wavefront aberrations.

[0087] In this context, the wavefront refers to the surface formed by multiple equiphase points of light rays in a beam, which is perpendicular to the propagation direction of each ray. For example, if the emitted beam is ideally parallel, then the ideal wavefront of the beam is a plane. However, if due to lens design, manufacturing processes, or uneven distribution of the air refractive index, the beam cannot be focused or transformed in an ideal state, resulting in wavefront distortion, the wavefront that causes the distortion may be a curved surface.

[0088] The image inspection equipment inspects virtual images and obtains their distortion and offset data. Similarly, the wavefront sensor can also inspect virtual images, obtaining wavefront distortion data. Thus, the wavefront controller can acquire both the distortion and offset data detected by the image inspection equipment and the wavefront distortion data detected by the wavefront sensor.

[0089] Optionally, the wavefront sensor can be a Shack-Hartmann wavefront sensor, a curvature sensor, or a pyramid wavefront sensor. Of course, the wavefront sensor can also be other wavefront sensors, and this application embodiment does not limit this.

[0090] In some embodiments, the wavefront controller can determine wavefront aberrations based on wavefront distortion data and according to a relevant algorithm. Optionally, the wavefront controller can determine wavefront aberrations based on wavefront distortion data and according to a wavefront reconstruction algorithm. Of course, the wavefront controller can also determine wavefront aberrations according to other algorithms, and this application embodiment does not limit this.

[0091] It should be noted that the aforementioned wavefront aberrations may include parameters such as prism, defocus, astigmatism, cloverleaf aberration, coma, and spherical aberration, which are not limited in this application.

[0092] In some embodiments, the wavefront controller determines the target freeform surface equation, where the coefficients of each polynomial in the target freeform surface equation are unknown. Based on the magnification required by the wavefront corrector, the distortion data of the virtual image, the offset data of the virtual image, and the wavefront aberration, the coefficients of each polynomial in the target freeform surface equation are determined. Based on the target freeform surface equation with known polynomial coefficients, the surface shape of the reflector of the wavefront corrector is adjusted so that the reflector of the wavefront corrector is a freeform surface characterized by the target freeform surface equation with known polynomial coefficients.

[0093] For details on determining the equation of the target freeform surface, please refer to the corresponding content above; it will not be repeated here.

[0094] The process by which the wavefront controller determines the polynomial coefficients in the target freeform surface equation based on the magnification required by the wavefront corrector, the distortion data of the virtual image, the offset data of the virtual image, and the wavefront aberration includes: The wavefront controller determines the values ​​of the first polynomial coefficients based on the magnification required by the wavefront corrector and the target freeform surface equation with unknown polynomial coefficients; it then determines the values ​​of the second polynomial coefficients based on the values ​​of the first polynomial coefficients and the offset data of the virtual image; finally, it determines the values ​​of the third polynomial coefficients based on the values ​​of the first and second polynomial coefficients, the distortion data of the virtual image, and the wavefront aberration, thus obtaining the values ​​of each polynomial coefficient in the target freeform surface equation. Here, the first polynomial coefficients refer to the polynomial coefficients affecting the surface magnification, the second polynomial coefficients refer to the polynomial coefficients affecting the trapezoidal variation, and the third polynomial coefficients refer to the polynomial coefficients in the target freeform surface equation other than the first and second polynomial coefficients.

[0095] The specific process of determining the values ​​of the first polynomial coefficients based on the required magnification of the wavefront corrector is the same as the process described above of determining the polynomial coefficients affecting the magnification of the target freeform surface equation based on the required magnification of the wavefront corrector, and will not be repeated here.

[0096] In some embodiments, the wavefront controller stores the correspondence between the freeform surface equation and the polynomial coefficients in the freeform surface equation that affect the surface magnification. Therefore, after determining the target freeform surface equation, the wavefront controller can determine the corresponding polynomial coefficients from the correspondence between the freeform surface equation and the polynomial coefficients in the freeform surface equation that affect the surface magnification, and use the first polynomial coefficients in the target freeform surface equation as variables. Then, based on the magnification required by the wavefront corrector, the value of the first polynomial coefficients is determined according to the relevant algorithm.

[0097] Similarly, the parameter setting interface is also used to set variables in the freeform surface equation. Users can set the target polynomial coefficients, which are variables, in the target freeform surface equation through the parameter setting interface. Therefore, after entering the number of polynomial coefficients in the parameter setting interface, users can also set the first polynomial coefficient in the target freeform surface equation. At this time, the wavefront controller, based on the target surface information, determines the freeform surface equation corresponding to the target surface from the correspondence between surface information and freeform surface equations. Then, based on the number of polynomial coefficients and the freeform surface equation corresponding to the target surface information, it determines the target freeform surface equation according to a relevant algorithm. Finally, based on the magnification required by the wavefront corrector and the first polynomial coefficient, which is a variable in the target freeform surface equation, it determines the value of the first polynomial coefficient in the target freeform surface equation according to a relevant algorithm.

[0098] Similarly, the wavefront controller stores the correspondence between the freeform surface equation and the polynomial coefficients in the freeform surface equation that affect the trapezoidal variation. Therefore, after determining the value of the first polynomial coefficient, the wavefront controller can determine the corresponding polynomial coefficient from the correspondence between the freeform surface equation and the polynomial coefficients in the freeform surface equation that affect the trapezoidal variation, based on the target freeform surface equation, and use it as the second polynomial coefficient in the target freeform surface equation. The value of the first polynomial coefficient in the target freeform surface equation is fixed, and the second polynomial coefficient is used as a variable. Then, based on the offset data of the virtual image, the value of the second polynomial coefficient in the target freeform surface equation is determined according to the relevant algorithm.

[0099] In other embodiments, after determining the values ​​of the first polynomial coefficients, the second polynomial coefficients in the target freeform surface equation can be set in the parameter setting interface, as well as the first polynomial coefficients in the target freeform surface equation with fixed values. In this case, based on the offset data of the virtual image and the second polynomial coefficients as variables in the target freeform surface equation, the values ​​of the second polynomial coefficients in the target freeform surface equation are determined according to a relevant algorithm.

[0100] In some embodiments, after determining the values ​​of the first and second polynomial coefficients, the wavefront controller can, based on the target freeform surface equation, use the polynomial coefficients other than the first and second polynomial coefficients in the target freeform surface equation as the third polynomial coefficients in the target freeform surface equation, fix the values ​​of the first and second polynomial coefficients in the target freeform surface equation, use the third polynomial coefficients in the target freeform surface equation as variables, and then, based on the distortion data and wavefront aberration of the virtual image, determine the values ​​of the third polynomial coefficients in the target freeform equation according to a relevant algorithm.

[0101] In other embodiments, after determining the values ​​of the first and second polynomial coefficients, the third polynomial coefficients in the target freeform surface equation can be set in the parameter setting interface, along with the first and second polynomial coefficients, which have fixed values ​​in the target freeform surface equation. In this case, based on the offset data of the virtual image and the third polynomial coefficients as variables in the target freeform surface equation, the values ​​of the third polynomial coefficients in the target freeform surface equation are determined according to a relevant algorithm.

[0102] In some embodiments, after determining the values ​​of the first polynomial coefficients, the second polynomial coefficients, and the third polynomial coefficients, the values ​​of the first polynomial coefficients, the second polynomial coefficients, and the third polynomial coefficients are substituted into the target freeform surface equation to obtain the target freeform surface equation with known polynomial coefficients.

[0103] Based on the target freeform surface equation with known polynomial coefficients, the surface shape of the wavefront corrector's mirror is adjusted so that the wavefront corrector's mirror is the freeform surface characterized by the target freeform surface equation with known polynomial coefficients. For the specific process, please refer to the corresponding content above, which will not be repeated here.

[0104] It should be noted that the method provided in this application embodiment is implemented with the projector's image distance fixed. The projector's image distance is the minimum value within a target image distance range, which refers to an image distance range where no aberrations will occur. This target image distance range is preset and is related to the projector's internal optical structure parameters. As an example, the target image distance range can be set to 90 mm to 130 mm, in which case the projector's image distance is 90 mm.

[0105] In some embodiments, the light beam emitted from the optical axis of the projector is reflected by the wavefront corrector and then incident perpendicularly to the center of the diffuser. At this time, the image plane of the projector coincides with the diffuser. Therefore, the image distance of the projector refers to the sum of the distance traveled by the light beam emitted from the projector lens along the optical axis to the wavefront corrector and the distance traveled by the light beam from the wavefront corrector to the diffuser perpendicularly.

[0106] In other embodiments, considering the problem of sunlight backflow, the light beam emitted from the projector lens is reflected by the wavefront corrector and then incident on the diffuser at a certain angle, such as 8 to 20 degrees. In this case, because the light beam propagating along the optical axis from the projector is incident on the diffuser at a certain angle, the image plane of the projector does not coincide with the diffuser. Therefore, the image distance of the projector refers to the sum of the distance traveled by the light beam propagating along the optical axis from the projector lens to the wavefront corrector and the distance traveled by the light beam perpendicularly incident from the wavefront corrector to the image plane.

[0107] Since the reflector in the image generation module of this application embodiment is a wavefront corrector, when the image distance of the projector is fixed, the magnification of the wavefront corrector can be adjusted by changing the surface shape of the reflector to meet the actual magnification required by the wavefront corrector. This allows the image source projected onto the diffusion film by the projector through the wavefront corrector to match the size of the image source required by the optical imaging module, achieving full-screen display and fully utilizing the projector's resolution. Thus, by determining the surface shape of the reflector in the wavefront corrector of the HUD, the final HUD installed in the vehicle can fully utilize the projector's resolution. Furthermore, the method provided in this application embodiment allows the image distance of the projector to be determined in advance, enabling earlier HUD design and further shortening the overall HUD design time. Furthermore, the method in this application embodiment can also reduce the image distance of the projector, thereby reducing the distance the light travels, making the structure of the HUD's image generation module more compact, thereby reducing the volume of the image generation module, and thus achieving the goal of reducing the overall volume of the HUD. In addition, the method provided in this application embodiment can also correct the distortion of virtual images, the virtual image offset caused by the positional deviation of optical components during assembly, and correct wavefront distortion, thereby further improving the image quality of virtual images.

[0108] This application provides a vehicle equipped with a head-up display (HUD). The HUD includes an image generation module and an optical imaging module. The image generation module includes a projector, a wavefront corrector, and a diffusion film arranged sequentially along the optical path. The image distance of the projector is fixed.

[0109] The surface shape of the reflector of the wavefront corrector is adjusted based on the magnification required by the wavefront corrector. The magnification required by the wavefront corrector is determined based on the size and resolution of the virtual image, which is the image formed in front of the vehicle after the image source provided by the projector is projected onto the windshield of the vehicle.

[0110] It should be noted that the process of determining the surface shape of the reflector of the wavefront corrector in the vehicle provided in the above embodiment is based on the same concept as the above embodiment of the method for determining the surface shape of the reflector. For details of its implementation, please refer to the method embodiment, which will not be repeated here.

[0111] Figure 9 This is a schematic diagram of a reflector shape determination device provided in an embodiment of this application. This reflector shape determination device can be implemented as part or all of a wavefront controller by software, hardware, or a combination of both. Please refer to... Figure 9 The device includes: an acquisition module 901, a determination module 902, and an adjustment module 903.

[0112] The acquisition module 901 is used to acquire the size and resolution of the virtual image detected by the image detection device. This virtual image is the image formed in front of the vehicle after an image source provided by a projector is projected onto the windshield of the vehicle. Detailed implementation processes are described in the corresponding contents of the above embodiments and will not be repeated here.

[0113] The determination module 902 is used to determine the required magnification of the wavefront corrector based on the size and resolution of the virtual image. For detailed implementation details, please refer to the corresponding content in the above embodiments; they will not be repeated here.

[0114] The adjustment module 903 is used to adjust the surface shape of the reflector of the wavefront corrector based on the magnification, so as to adjust the size and resolution of the virtual image. For detailed implementation process, please refer to the corresponding content in the above embodiments, which will not be repeated here.

[0115] Optionally, the adjustment module 903 includes:

[0116] The acquisition unit is used to acquire the distortion data and offset data of the virtual image detected by the image detection device, as well as the wavefront distortion data detected by the wavefront sensor. The wavefront distortion data is the distortion data of the image source provided by the projector.

[0117] Determining unit, used to determine wavefront aberrations based on wavefront distortion data;

[0118] The adjustment unit is used to adjust the surface profile of the reflector of the wavefront corrector based on the magnification, the distortion data of the virtual image, the offset data of the virtual image, and the wavefront aberration.

[0119] Optionally, the adjustment unit includes:

[0120] The first defined sub-unit is used to determine the equation of the target free surface, in which the coefficients of each polynomial are unknown.

[0121] The second determining subunit is used to determine the coefficients of each polynomial in the target freeform surface equation based on the magnification, the distortion data of the virtual image, the offset data of the virtual image, and the wavefront aberration.

[0122] The adjustment sub-unit is used to adjust the surface shape of the reflector of the wavefront corrector based on the target freeform surface equation with known polynomial coefficients, so that the reflector of the wavefront corrector is a freeform surface characterized by the target freeform surface equation with known polynomial coefficients.

[0123] Optionally, the wavefront corrector includes multiple actuators and a reflector;

[0124] The device also includes:

[0125] The sending module is used to send control commands to the wavefront corrector based on the target freeform surface equation with known polynomial coefficients, so that the wavefront corrector controls the position of multiple actuators based on the control commands to adjust the surface shape of the reflector.

[0126] Optionally, module 902 is specifically used for:

[0127] Based on the size of the virtual image and the size of the target image, determine the first magnification required for the wavefront corrector;

[0128] Based on the resolution of the virtual image and the resolution of the target image, the second magnification required for the wavefront corrector is determined;

[0129] The first magnification and the second magnification are the magnifications required by the wavefront corrector in the horizontal and vertical directions, respectively.

[0130] Optionally, the image distance of the projector is the minimum value within the target image distance range, which refers to the image distance range in which no aberrations will occur.

[0131] Optionally, the image distance of the projector is 90 mm.

[0132] Since the reflector in the image generation module of this application embodiment is a wavefront corrector, when the image distance of the projector is fixed, the magnification of the wavefront corrector can be adjusted by changing the surface shape of the reflector to meet the actual magnification required by the wavefront corrector. This allows the image source projected onto the diffusion film by the projector through the wavefront corrector to match the size of the image source required by the optical imaging module, achieving full-screen display and fully utilizing the projector's resolution. Thus, by determining the surface shape of the reflector in the wavefront corrector of the HUD, the final HUD installed in the vehicle can fully utilize the projector's resolution. Furthermore, the method provided in this application embodiment allows the image distance of the projector to be determined in advance, enabling earlier HUD design and further shortening the overall HUD design time. Furthermore, the method in this application embodiment can also reduce the image distance of the projector, thereby reducing the distance the light travels, making the structure of the HUD's image generation module more compact, thereby reducing the volume of the image generation module, and thus achieving the goal of reducing the overall volume of the HUD. In addition, the method provided in this application embodiment can also correct the distortion of virtual images, the virtual image offset caused by the positional deviation of optical components during assembly, and correct wavefront distortion, thereby further improving the image quality of virtual images.

[0133] It should be noted that the surface shape determination device for the reflector provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the surface shape determination device for the reflector provided in the above embodiments and the surface shape determination method embodiments for the reflector belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0134] In some embodiments, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of the method for determining the surface shape of a reflector in the above embodiments. For example, the computer-readable storage medium may be a ROM, RAM, CD-ROM, magnetic tape, floppy disk, or optical data storage device, etc.

[0135] It is worth noting that the computer-readable storage medium mentioned in the embodiments of this application can be a non-volatile storage medium, in other words, it can be a non-transient storage medium.

[0136] It should be understood that all or part of the steps of the above embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented wholly or partially in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions can be stored in the above-described computer-readable storage medium.

[0137] That is, in some embodiments, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform the steps of the above-described method for determining the surface shape of a reflector.

[0138] It should be understood that "at least one" as mentioned herein refers to one or more, and "multiple" refers to two or more. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In addition, in order to clearly describe the technical solutions of the embodiments of this application, the terms "first," "second," etc., are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or execution order, and the terms "first," "second," etc., are not necessarily different.

[0139] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the size of the virtual image, the resolution of the virtual image, the distortion data of the virtual image, the offset data of the virtual image, and the wavefront distortion data involved in the embodiments of this application were all obtained with full authorization.

[0140] The above descriptions are embodiments provided in this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle, characterized in that, The vehicle is equipped with a head-up display (HUD), which includes an image generation module and an optical imaging module. The image generation module includes a projector, a wavefront corrector, and a diffusion film arranged sequentially along the optical path. The image distance of the projector is fixed. The surface shape of the reflector of the wavefront corrector is obtained by adjusting the wavefront controller based on the target freeform surface equation with known polynomial coefficients. The reflector of the wavefront corrector is a freeform surface characterized by the target freeform surface equation with known polynomial coefficients. The polynomial coefficients include a first polynomial coefficient, a second polynomial coefficient, and a third polynomial coefficient. The first polynomial coefficient refers to the polynomial coefficient that affects the magnification of the surface. The second polynomial coefficient refers to the polynomial coefficient that affects the trapezoidal variation. The value of the third polynomial coefficient refers to the polynomial coefficients in the target freeform surface equation other than the first and second polynomial coefficients. The value of the first polynomial coefficient is determined by adjusting the first and second magnifications and the freeform surface equation with unknown polynomial coefficients. The value of the second polynomial coefficient is determined by the value of the first polynomial coefficient and the offset data of the virtual image. The value of the third polynomial coefficient is determined by the value of the first polynomial coefficient, the value of the second polynomial coefficient, the distortion data of the virtual image, and the wavefront aberration. The distortion data and the offset data of the virtual image are detected by the image detection device. The wavefront aberration is determined by the wavefront distortion data detected by the wavefront sensor. The wavefront distortion data is the distortion data of the image source provided by the projector. If the first horizontal magnification is greater than 1, then the first magnification is the first horizontal magnification; if the first horizontal magnification is equal to 1, then the first magnification is the second horizontal magnification; if the first vertical magnification is greater than 1, then the second magnification is the first vertical magnification; if the first vertical magnification is equal to 1, then the second magnification is the second vertical magnification; the first horizontal magnification and the first vertical magnification are determined based on the size of the virtual image and the size of the target image detected by the image detection device; the second horizontal magnification and the second vertical magnification are determined based on the resolution of the virtual image and the resolution of the target image; the virtual image is the image formed in front of the vehicle after the image source provided by the projector is projected onto the windshield of the vehicle; the target image size is the maximum size that the virtual image can achieve; the target image resolution is the maximum resolution that the virtual image can achieve; the target image resolution is related to the specifications of the digital micromirror device included in the projector. The equation of the target freeform surface is as follows: in, Let be the sag of the freeform surface along the z-axis. Let x be the coordinates of the freeform surface along the x-axis. Let be the coordinates of the freeform surface along the y-axis. to Let be the coefficients of each polynomial in the equation of the target freeform surface. and The coefficients of the first polynomial are... , , , to This includes the coefficients of the second polynomial and the coefficients of the third polynomial.

2. The vehicle as described in claim 1, characterized in that, The image distance of the projector is the minimum value within the target image distance range, which refers to the image distance range in which no aberrations will occur.

3. The vehicle as described in claim 2, characterized in that, The image distance of the projector is 90 mm.

4. A method for determining the surface shape of a reflector, characterized in that, A wavefront controller is applied in a HUD testing system, the HUD testing system also including a HUD, an image detection device, and a wavefront sensor. The HUD includes an image generation module and an optical imaging module. The image generation module includes a projector, a wavefront corrector, and a diffusion film arranged sequentially along the optical path. The image distance of the projector is fixed. The method includes: The size and resolution of the virtual image detected by the image detection device are obtained. The virtual image is the image formed in front of the vehicle after the image source provided by the projector is projected onto the windshield of the vehicle. Based on the size of the virtual image and the size of the target image, a first horizontal magnification and a first vertical magnification are determined; based on the resolution of the virtual image and the resolution of the target image, a second horizontal magnification and a second vertical magnification are determined; if the first horizontal magnification is greater than 1, then the first horizontal magnification is used as the first magnification; if the first horizontal magnification is equal to 1, then the second horizontal magnification is used as the first magnification; if the first vertical magnification is greater than 1, then the first vertical magnification is used as the second magnification; if the first vertical magnification is equal to 1, then the second vertical magnification is used as the second magnification, the target image size is the maximum size that the virtual image can achieve, the target image resolution is the maximum resolution that the virtual image can achieve, and the target image resolution is related to the specifications of the digital micromirror device included in the projector; The system acquires distortion data and offset data of the virtual image detected by the image detection device, and acquires wavefront distortion data detected by the wavefront sensor, wherein the wavefront distortion data is distortion data of the image source provided by the projector; determines wavefront aberrations based on the wavefront distortion data; and determines the equation of the target freeform surface, wherein the coefficients of each polynomial in the target freeform surface equation are unknown. Based on the first magnification, the second magnification, and the freeform surface equation with unknown polynomial coefficients, the values ​​of the first polynomial coefficients are determined. Based on the values ​​of the first polynomial coefficients and the offset data of the virtual image, the values ​​of the second polynomial coefficients are determined. Based on the values ​​of the first polynomial coefficients, the second polynomial coefficients, the distortion data of the virtual image, and the wavefront aberration, the values ​​of the third polynomial coefficients are determined. The first polynomial coefficients refer to the polynomial coefficients that affect the magnification of the surface, the second polynomial coefficients refer to the polynomial coefficients that affect the trapezoidal variation, and the values ​​of the third polynomial coefficients refer to the polynomial coefficients in the target freeform surface equation other than the first and second polynomial coefficients. Based on the target freeform surface equation with known polynomial coefficients, the surface shape of the reflector of the wavefront corrector is adjusted so that the reflector of the wavefront corrector is the freeform surface characterized by the target freeform surface equation with known polynomial coefficients. The equation of the target freeform surface is as follows: in, Let be the sag of the freeform surface along the z-axis. Let x be the coordinates of the freeform surface along the x-axis. Let be the coordinates of the freeform surface along the y-axis. to Let be the coefficients of each polynomial in the equation of the target freeform surface. and The coefficients of the first polynomial are... , , , to This includes the coefficients of the second polynomial and the coefficients of the third polynomial.

5. The method as described in claim 4, characterized in that, The wavefront corrector includes multiple actuators and a reflector; the method further includes: Based on the target freeform surface equation with known polynomial coefficients, a control command is sent to the wavefront corrector so that the wavefront corrector controls the position of the plurality of actuators based on the control command to adjust the surface shape of the reflector.

6. The method as described in any one of claims 4 or 5, characterized in that, The image distance of the projector is the minimum value within the target image distance range, which refers to the image distance range in which no aberrations will occur.

7. The method as described in claim 6, characterized in that, The image distance of the projector is 90 mm.

Images