A head-up display system, a control method thereof, a vehicle, and a storage medium

Abstract

The application relates to the technical field of display, and discloses a head-up display system, which is characterized by comprising a display device, a mobile device, an eye movement detection module and a master control module, the display device is connected with the mobile device, and the display device is used for following the movement of the mobile device; the eye movement detection module is arranged opposite to a driver seat of a vehicle, the eye movement detection module is used for detecting the line-of-sight direction information of a driver, generating detection data and sending the detection data to the master control module; the master control module is in communication connection with the eye movement detection module, the master control module is used for generating coordinate information according to the received detection data, and the master control module is used for controlling the mobile device to move according to the coordinate information. The method can realize mobile screen projection following the line of sight of the driver.

Description

Technical Field

[0001] This invention relates to the field of display technology, and more particularly to a head-up display system and its control method, vehicle, and storage medium. Background Technology

[0002] Currently, vehicle W-HUD (Windshield Head-up Display) technology typically projects the image onto a fixed location directly in front of the driver. However, during driving, due to varying road conditions and driving environments, drivers cannot maintain a fixed gaze; their eyes may shift. Existing W-HUD devices cannot follow the driver's line of sight to move the projection across the windshield, impacting the user's driving experience. Summary of the Invention

[0003] This invention provides a head-up display system and its control method, vehicle, and storage medium to enable mobile screen projection that follows the driver's line of sight.

[0004] In a first aspect, in order to solve the above-mentioned technical problems, the present invention provides a head-up display system, including a display device, a moving device, an eye-tracking detection module and a main control module, wherein the display device is connected to the moving device and the display device is used to follow the movement of the moving device;

[0005] The eye-tracking detection module is positioned opposite the driver's seat in the vehicle. The eye-tracking detection module is used to detect the driver's gaze direction information, generate detection data, and send it to the main control module. The main control module is communicatively connected to the eye-tracking detection module. The main control module is used to generate coordinate information based on the received detection data and control the movement of the mobile device based on the coordinate information.

[0006] Preferably, the system further includes a rotating device disposed between the display device and the moving device; the main control module is used to generate a rotation angle based on the received detection data, and control the rotating device to rotate according to the rotation angle, and the display device is used to follow the movement of the rotating device.

[0007] Preferably, the moving device includes a left-right moving mechanism, a front-back moving mechanism, and a up-down moving mechanism. One end of the display device is connected to one end of the up-down moving mechanism, the other end of the up-down moving mechanism is connected to one end of the left-right moving mechanism, and the other end of the left-right moving mechanism is connected to the front-back moving mechanism.

[0008] Preferably, the up-and-down moving mechanism includes a slider, a first slide groove, a first support rod, a second support rod, a fourth gear, and a first motor. The slider is connected to the display device and is disposed in the first slide groove. One end of the first support rod is connected to the slider, and the other end of the first support rod is rotatably connected to one end of the second support rod. The other end of the second support rod is connected to the fourth gear, and the fourth gear is connected to the output shaft of the first motor.

[0009] The left and right moving mechanism includes a first gear, a second gear, a first rack, a second rack, and a second motor. The first rack and the second rack are arranged opposite to each other. The first gear meshes with the first rack, and the second gear meshes with the second rack. The output shaft of the second motor is connected to the first gear and the second gear.

[0010] The forward and backward moving mechanism includes a third gear, a third rack, a third motor, and a second slide groove. The third gear meshes with the third rack, which is located at both ends of the first rack and the second rack. The second slide groove is positioned opposite to the third rack, and the output shaft of the third motor is connected to the third gear.

[0011] Preferably, the main control module is used for:

[0012] A spatial coordinate system is constructed based on the projection area, and the reference coordinates of the preset initial projection position in the spatial coordinate system and the first coordinates of the display device in the spatial coordinate system are obtained.

[0013] Based on the detection data, the coordinates of the gaze position and the gaze offset angle of the human eye are calculated; wherein, the gaze offset angle is the offset angle between the human eye's gaze position and the preset reference gaze position.

[0014] The second coordinates of the display device are calculated based on the reference coordinates, the gaze position coordinates, the line of sight offset angle, and the preset virtual image distance.

[0015] The movement distance and direction of the display device are obtained based on the second coordinate and the first coordinate.

[0016] Preferably, the main control module is further configured to:

[0017] When vertical movement of the gaze is detected, the formula for calculating the second coordinate is:

[0018] β = 60° + α;

[0019] DH = Zb / tanβ;

[0020] GH=2.2cosβ-(Zb-Za)cosβ / sinα-Zb / tanβ;

[0021] X2 = Xa;

[0022] Y2 = Yb - DH - GH;

[0023] Z2=2.2sinβ-(Zb-Za)sinβ / sinα-Zb;

[0024] Wherein, the reference coordinates are A(Xa,Ya,Za), the first coordinates are W1(Xa,Y1,0), the gaze position coordinates are B(Xa,Yb,Zb), the second coordinates are W2(X2,Y2,Z2), α is the gaze offset angle, and β represents the intermediate angle variable.

[0025] Preferably, the main control module is further configured to:

[0026] When left or right eye movement is detected, the formula for calculating the second coordinate is:

[0027] MN=sinω*cos60°*(2.2-(Xc-Xa) / sinω);

[0028] NK=cosω*cos60°*(2.2-(Xc-Xa) / sinω);

[0029] CW3 = 2.2 - (Xc - Xa) / sinω;

[0030] X3 = Xc + MN;

[0031] Y3 = (Ya – NK);

[0032] Z3 = Za - sin 60° * CW3;

[0033] Wherein, the reference coordinates are A(Xa, Ya, Za), the first coordinates are W1(Xa, Y1, 0), the gaze position coordinates are C(Xc, Ya, Za), the second coordinates are W3(X3, Y3, Z3), and ω is the line of sight offset angle.

[0034] In a second aspect, the present invention provides a head-up display system control method for a head-up display system as described in any one of the first aspects, comprising:

[0035] Obtain the detection data sent by the eye-tracking detection module and generate coordinate information;

[0036] The mobile device is controlled to move based on the coordinate information.

[0037] Thirdly, the present invention provides a vehicle including a head-up display system as described in any of the first aspects.

[0038] Fourthly, the present invention also provides a computer-readable storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the head-up display system control method described in any one of the above-described methods.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The head-up display system provided by the present invention includes a display device, a moving device, an eye-tracking detection module, and a main control module. The display device is connected to the moving device and is used to follow the movement of the moving device.

[0041] The eye-tracking detection module is positioned opposite the driver's seat in the vehicle. The eye-tracking detection module is used to detect the driver's gaze direction information, generate detection data, and send it to the main control module. The main control module is communicatively connected to the eye-tracking detection module. The main control module is used to generate coordinate information based on the received detection data and control the movement of the mobile device based on the coordinate information.

[0042] The head-up display system provided by this invention, when used in conjunction with an eye tracker, allows the information projected onto the windshield by the W-HUD device to move in accordance with the driver's line of sight, thereby enhancing the user's driving experience. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the head-up display system structure provided in an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the left-right moving mechanism and the front-back moving mechanism provided in the embodiments of the present invention;

[0045] Figure 3 a is a schematic diagram of the vertical moving mechanism provided in an embodiment of the present invention;

[0046] Figure 3 b is a schematic diagram of another vertical moving mechanism provided in an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the rotating device structure provided in an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the spatial coordinate system position provided in an embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram of the virtual image distance provided in an embodiment of the present invention;

[0050] Figure 7 This is a schematic diagram of another spatial coordinate system provided in an embodiment of the present invention;

[0051] Figure 8 This is a schematic diagram of the line of sight moving up and down according to an embodiment of the present invention;

[0052] Figure 9 This is a schematic diagram of the left and right movement of the line of sight provided in an embodiment of the present invention;

[0053] Figure 10 This is a schematic flowchart of the head-up display system control method provided in the first embodiment of the present invention.

[0054] The reference numerals in the attached drawings are as follows: 1. Display device; 2. Eye-tracking detection module; 3. Central control panel; 4. Windshield; 51. Slider; 52. First slide rail; 53. First support rod; 54. Second support rod; 55. Fourth gear; 56. First motor; 61. First gear; 62. Second gear; 63. First rack; 64. Second rack; 65. Second motor; 71. Third gear; 72. Third rack; 73. Third motor; 74. Second slide rail; 8. Rotating device. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] Reference Figure 1 The first embodiment of the present invention provides a head-up display system, including a display device 1, a mobile device, an eye-tracking detection module 2, and a main control module. The display device 1 is connected to the mobile device and is used to follow the movement of the mobile device. The eye-tracking detection module 2 is disposed opposite to the driver's seat of the vehicle and is used to detect the driver's gaze direction information, generate detection data, and send it to the main control module. The main control module is communicatively connected to the eye-tracking detection module 2 and is used to generate coordinate information based on the received detection data and control the movement of the mobile device based on the coordinate information.

[0057] The head-up display system provided by this invention, when used in conjunction with an eye tracker, allows the information projected onto the windshield 4 by the W-HUD device to move in accordance with the driver's line of sight, thereby enhancing the user's driving experience.

[0058] In one embodiment, the system further includes a rotating device 8, which is disposed between the display device 1 and the moving device; the main control module is used to generate a rotation angle based on the received detection data, and control the rotating device 8 to rotate based on the rotation angle, and the display device 1 is used to follow the movement of the rotating device 8.

[0059] It should be noted that the display device 1 is a W-HUD device, and the eye-tracking detection module 2 can be an eye tracker. The eye tracker is installed directly in front of the driver, at the same horizontal level as the rearview mirror. The car W-HUD device is installed below the center console 3, and the entire projection area of ​​the center console 3 is a transparent area, allowing the W-HUD device to project images from any position.

[0060] In one embodiment, the moving device includes a left-right moving mechanism, a front-back moving mechanism, and a up-down moving mechanism. One end of the display device 1 is connected to one end of the up-down moving mechanism, the other end of the up-down moving mechanism is connected to one end of the left-right moving mechanism, and the other end of the left-right moving mechanism is connected to the front-back moving mechanism.

[0061] Reference Figure 2 , Figure 3 Specifically, the up-and-down moving mechanism includes a slider 51, a first slide groove 52, a first support rod 53, a second support rod 54, a fourth gear 55, and a first motor 56. The slider 51 is connected to the display device 1 and is disposed within the first slide groove 52. One end of the first support rod 53 is connected to the slider 51, and the other end of the first support rod 53 is rotatably connected to one end of the second support rod 54. The other end of the second support rod 54 is connected to the fourth gear 55, and the fourth gear 55 is connected to the output shaft of the first motor 56. The slider 51 is connected to the W-HUD device, and its movement causes the W-HUD device to move up and down.

[0062] The left-right movement mechanism includes a first gear 61, a second gear 62, a first rack 63, a second rack 64, and a second motor 65. The first rack 63 and the second rack 64 are arranged opposite to each other. The first gear 61 meshes with the first rack 63, and the second gear 62 meshes with the second rack 64. The output shaft of the second motor 65 is connected to the first gear 61 and the second gear 62. The second motor 65 is a dual-shaft motor. When the first gear 61 and the second gear 62 move along the first rack 63 and the second rack 64, they drive the W-HUD device to move left and right.

[0063] The forward and backward movement mechanism includes a third gear 71, a third rack 72, a third motor 73, and a second slide groove 74. The third gear 71 meshes with the third rack 72, which is located at both ends of the first rack 63 and the second rack 64. The second slide groove 74 is opposite to the third rack 72. The output shaft of the third motor 73 is connected to the third gear 71. When the third motor 73 drives the third gear 71 to rotate, the third rack 72 moves, thereby driving the W-HUD device to move forward and backward.

[0064] Specifically, the W-HUD eye-following motion device works as follows:

[0065] When the W-HUD's gaze-following function is activated, the driver must first look straight ahead. The eye tracker will then calibrate, using the driver's current gaze position as a reference. The eye tracker will then enter detection mode, continuously monitoring whether the driver's gaze has moved. This detection provides information such as the direction and distance of movement along the original gaze path. The eye tracker transmits this detection data to the main control module, which processes the data and converts it into the necessary data to control the movement of the W-HUD's three-dimensional coordinates.

[0066] The W-HUD device is equipped with a gyroscope for three-dimensional spatial coordinate positioning. Each time the W-HUD device is turned on, it first checks if its position is the factory default coordinate position. If so, no action is taken. If not, the current coordinate information is sent to the main control module. The main control module calculates data based on the current coordinate parameters and the default coordinate parameters, and controls the movement device to restore the W-HUD device to its default coordinate position based on the calculated data.

[0067] Once the main control module converts the data information transmitted from the eye tracker into relevant data for controlling the movement of the W-HUD device's three-dimensional coordinates, it will control the corresponding components of the moving device based on the data information, and the control components will make corresponding movements in the direction and distance of movement.

[0068] To facilitate understanding of this invention, some examples are provided below for further explanation. The forward, backward, left, and right directions in these examples are defined based on the driver's direct line of sight.

[0069] 1) When the gaze moves to the right, the main control module controls the left and right moving parts of the mobile device. At this time, the dual-axis motor simultaneously controls the first gear 61 and the second gear 62 to rotate clockwise, allowing the first gear 61 and the second gear 62 to move to the right on the first rack 63 and the second rack 64 respectively, thereby driving the W-HUD device to translate to the right. Similarly, when the gaze moves to the left, the first gear 61 and the second gear 62 will rotate counterclockwise, driving the W-HUD device to translate to the left.

[0070] 2) When the gaze moves upward, the main control module controls the forward and backward movement components of the moving device. At this time, the third motor 73 controls the third gear 71 to rotate clockwise, causing the third rack 72 to move backward, thereby driving the W-HUD device to move backward in a translating motion. Similarly, when the gaze moves downward, the third gear 71 rotates counterclockwise, driving the W-HUD device to move forward in a translating motion.

[0071] 3) Because the windshield 4 is tilted and installed at a certain angle to the center console 3, the W-HUD device is connected to a vertical moving component to compensate for various movements. This ensures that the content projected onto the windshield 4 by the W-HUD device is clear and unblurred. For example, when the W-HUD device moves forward, its vertical distance to the windshield 4 decreases. Therefore, the main control module controls the vertical moving component, and the first motor 56 controls the gear D to rotate counterclockwise, driving the support rods A and B to move, controlling the slider 51 to move downwards. Figure 3 As shown, this ultimately causes the W-HUD device to move downwards, increasing the vertical distance between the W-HUD device and the windshield 4. The direction and distance of the vertical movement are controlled by the main control module based on the compensation amount derived from the processing of line-of-sight movement data.

[0072] 4) such as Figure 4 As shown, in order to ensure that the direction of the light reflected from the W-HUD device enters the driver's eyes, the 360° rotating platform will also rotate according to the direction and position of the line of sight, calculated by the main control module, thereby controlling the W-HUD device to tilt at a certain angle.

[0073] In one implementation, the main control module is used for:

[0074] A spatial coordinate system is constructed based on the projection area, and the reference coordinates of the preset initial projection position in the spatial coordinate system and the first coordinates of the display device in the spatial coordinate system are obtained.

[0075] Based on the detection data, the coordinates of the gaze position and the gaze offset angle of the human eye are calculated; wherein, the gaze offset angle is the offset angle between the human eye's gaze position and the preset reference gaze position.

[0076] The second coordinates of the display device are calculated based on the reference coordinates, the gaze position coordinates, the line of sight offset angle, and the preset virtual image distance.

[0077] The movement distance and direction of the display device are obtained based on the second coordinate and the first coordinate.

[0078] In one implementation, the main control module is further configured to:

[0079] When vertical movement of the gaze is detected, the formula for calculating the second coordinate is:

[0080] β = 60° + α;

[0081] DH = Zb / tanβ;

[0082] GH=2.2cosβ-(Zb-Za)cosβ / sinα-Zb / tanβ;

[0083] X2 = Xa;

[0084] Y2 = Yb - DH - GH;

[0085] Z2=2.2sinβ-(Zb-Za)sinβ / sinα-Zb;

[0086] Wherein, the reference coordinates are A(Xa,Ya,Za), the first coordinates are W1(Xa,Y1,0), the gaze position coordinates are B(Xa,Yb,Zb), the second coordinates are W2(X2,Y2,Z2), α is the gaze offset angle, and β represents the intermediate angle variable.

[0087] In one implementation, the main control module is further configured to:

[0088] When left or right eye movement is detected, the formula for calculating the second coordinate is:

[0089] MN=sinω*cos60°*(2.2-(Xc-Xa) / sinω);

[0090] NK=cosω*cos60°*(2.2-(Xc-Xa) / sinω);

[0091] CW3 = 2.2 - (Xc - Xa) / sinω;

[0092] X3 = Xc + MN;

[0093] Y3 = (Ya – NK);

[0094] Z3 = Za - sin 60° * CW3;

[0095] Wherein, the reference coordinates are A(Xa, Ya, Za), the first coordinates are W1(Xa, Y1, 0), the gaze position coordinates are C(Xc, Ya, Za), the second coordinates are W3(X3, Y3, Z3), and ω is the line of sight offset angle.

[0096] In this embodiment, the windshield is tilted at a 30° angle to the center console, as follows: Figure 5 As shown. Assuming point A is the reference coordinate, and a three-dimensional coordinate system is constructed with point O as the origin, the coordinates of point A are (Xa, Ya, Za), and the first coordinate of the W-HUD device is W1(Xa, Y1, 0). According to the virtual image theory in optical imaging, the virtual image position W1' is as follows: Figure 6 As shown, AW1 and AW1' are mirror images of each other about AF. The virtual image distance of a W-HUD is generally designed to be 2.2 meters, i.e., the distance between the human eye E and the virtual image W1'. To maintain a constant projection size, the virtual image distance must be kept fixed at 2.2 meters when the W-HUD device is moved. Figure 6 As shown, according to the law of reflection, AW1 and AE are mirror images of each other about the dashed line a, so ∠FAW1 = 30°. According to the exterior angle theorem of a triangle, the direction of the projected light from the W-HUD device is calculated to be 60° to the horizontal.

[0097] A transparent thin-film screen is attached to the windshield to connect to an eye tracker. Based on the working principle of screen-based eye trackers, when the eye tracker detects the user's gaze, it locates itself at a corresponding position on the transparent thin-film screen. This position corresponds to the location on the windshield where the user's gaze is focused. The transparent thin-film screen is also connected to a device that constructs a three-dimensional coordinate system. This device continuously monitors the fixed position on the screen to obtain its coordinates in the three-dimensional coordinate system. The entire coordinate system is constructed as follows: Figure 7 As shown, the change in position is equivalent to the change in coordinate value.

[0098] In one embodiment, when the driver's gaze is vertically upward, the eye tracker detects that the gaze is currently focused on point B on the windshield. Using points A and B, the upward offset angle α from the original gaze is calculated. Since the gaze is vertically upward, the X-axis coordinates of point B are the same as those of point A, and the gaze position at point B is (Xa, Yb, Zb). Because the virtual image distance is fixed, the distance to the virtual image position W2' is 2.2m. BW2' and BW2 are mirror images of each other about axis BF, therefore the W-HUD needs to be moved to position W2. Since W2 is shifted backward compared to W1, the X-axis coordinates remain unchanged, so the coordinates of W2 are (Xa, Y2, -Z2).

[0099] At this point, BC = Zb - Za; therefore, BE = BC / sinα = (Zb - Za) / sinα;

[0100] According to the law of light reflection, BW2 and BE are mirror images of each other with the dashed line b as the axis of symmetry. Therefore, ∠FBW2 = 30° + α. According to the exterior angle theorem of a triangle, the included angle β = 30° + (30° + α) = 60° + α. Thus, DH = Zb / tanβ; BH = Zb / sinβ.

[0101] Since BW2' and BW2 are mirror images of each other about BF, BW2 = BW2' and BW2 + BE = 2.2m;

[0102] Then HW2=2.2-BE-BH=2.2-(Zb-Za) / sinα-Zb / sinβ;

[0103] Calculated according to the principle of proportionality:

[0104] Since Zb, DH, HW2, and BH are known values, the values ​​of W2G and GH can be calculated from them.

[0105]

[0106]

[0107] Based on W2G and GH, the Y-axis coordinate value of W2 is Y2 = Yb - DH - GH, and the Z-axis coordinate value is Z2 = W2G. Then, the distance that the W-HUD device needs to move backward from position W1 to position W2 is (Yb - DH - GH - Y1), and the distance that it needs to move downward is W2G.

[0108] The dashed line c represents the W-HUD device maintaining its original projection light direction at position W2, which does not coincide with BW2. Since the original projection light direction is at 60° to the horizontal, θ = 60°. To ensure that the reflected light from the W-HUD device reaches the driver's eyes, the 360° rotating gimbal must be controlled to tilt the W-HUD device upwards counterclockwise by an angle β - θ = 60° + α - 60° = α. Correspondingly, when the line of sight is shifted downwards by a certain angle, the 360° rotating gimbal will tilt the W-HUD device downwards clockwise by the corresponding angle.

[0109] When the driver's gaze is vertically downward, the same calculation method is used as when the gaze is vertically upward to determine the direction, distance, and angle of rotation that the W-HUD needs to move.

[0110] In another embodiment, when the driver's gaze shifts horizontally to the right, the eye tracker detects that the gaze is now focused on point C on the windshield. Using points A and C, the angle ω from the original gaze to the right is calculated. Since the gaze is horizontal to the right, the Y and Z coordinates of point C are the same as those of point A, and the gaze position at point C is (Xc, Ya, Za). Because the virtual image distance is fixed, the distance to the virtual image position W3' is 2.2m. CW3' and CW3 are mirror images of each other about the CL axis, therefore the W-HUD needs to be moved to position W3, with coordinates (X3, Y3, Z3).

[0111] Since the line of sight is horizontally translated, AC is a horizontal parallel line, so it is perpendicular to EA by 90°. Therefore, CE = (Xc - Xa) / sinω.

[0112] Since CW3' and CW3 are mirror images of each other about CL, CW3 = CW3' and CW3 + CE = 2.2m. Therefore, CW3 = 2.2 – CE = 2.2 - (Xc - Xa) / sinω.

[0113] W3J is a line parallel to the XY-axis plane. Since the default angle between the projected light from the W-HUD device and the horizontal direction is 60° = ∠CW3J, then CJ = sin 60° * CW3. W3M = JK are both lines perpendicular to the XY-axis plane. Therefore, W3M = JK = Za - CJ. Thus, the Z-axis coordinate value of W3 is Za - sin 60° * CW3.

[0114] W3J and MK are both lines parallel to the line of sight EC, so MK = W3J = cos60° * CW3. NK is a line parallel to the original line of sight, so the angle ∠MKN is equal to the angle ω of the line of sight offset. MN is a line parallel to the X-axis and perpendicular to NK. Therefore, MN = sinω * MK = sinω * cos60° * (2.2 - (Xc - Xa) / sinω), NK = cosω * MK = cosω * cos60° * (2.2 - (Xc - Xa) / sinω). So the X-axis coordinate X3 of W3 is (Xc + MN), and the Y-axis coordinate Y3 is (Ya – NK).

[0115] The dashed line d represents the original projection light direction of the W-HUD device at position W3, which does not coincide with CW3. CW3 is the current line of sight plane, and the dashed line d is the original line of sight plane. The offset angle value υ is equal to the angle value ω of the human eye's line of sight offset. Therefore, to ensure that the reflected light from the W-HUD device enters the driver's eye position, the 360° rotating gimbal must be controlled to tilt the W-HUD device counterclockwise to the left by an angle ω. Correspondingly, when the line of sight is offset to the left by a certain angle, the 360° rotating gimbal will tilt the W-HUD device clockwise to the right by the corresponding angle value.

[0116] When the driver's gaze shifts to the left, the same calculation method is used as when the gaze shifts to the right to determine the direction, distance, and angle of rotation that the W-HUD needs to move.

[0117] Reference Figure 10 The second embodiment of the present invention provides a head-up display system control method, including the following steps:

[0118] S11, Obtain the detection data sent by the eye-tracking detection module and generate coordinate information;

[0119] S12, control the movement of the mobile device according to the coordinate information.

[0120] Preferably, the method further includes:

[0121] A spatial coordinate system is constructed based on the projection area, and the reference coordinates of the preset initial projection position in the spatial coordinate system and the first coordinates of the display device in the spatial coordinate system are obtained.

[0122] Based on the detection data, the coordinates of the gaze position and the gaze offset angle of the human eye are calculated; wherein, the gaze offset angle is the offset angle between the human eye's gaze position and the preset reference gaze position.

[0123] The second coordinates of the display device are calculated based on the reference coordinates, the gaze position coordinates, the line of sight offset angle, and the preset virtual image distance.

[0124] The movement distance and direction of the display device are obtained based on the second coordinate and the first coordinate.

[0125] It should be noted that the head-up display system control method provided in this embodiment of the invention is used to implement all the process steps of the head-up display system control system in the above embodiment. The working principles and beneficial effects of the two are one-to-one, so they will not be described again.

[0126] This invention also provides a vehicle including a head-up display system as described in any one of the first embodiments.

[0127] This invention also provides a terminal device. The terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor, such as a head-up display system control program. When the processor executes the computer program, it implements the steps in the various head-up display system control method embodiments described above, such as step S11. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the various device embodiments described above, such as a control module.

[0128] For example, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the terminal device.

[0129] The terminal device may be a desktop computer, laptop, handheld computer, or smart tablet, etc. The terminal device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above components are merely examples of terminal devices and do not constitute a limitation on the terminal device. It may include more or fewer components than described above, or a combination of certain components, or different components. For example, the terminal device may also include input / output devices, network access devices, buses, etc.

[0130] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0131] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0132] Wherein, if the modules / units integrated in the terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, it can implement the steps of the various method embodiments described above. Wherein, the computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0133] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0134] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A head-up display system, characterized in that, It includes a display device, a mobile device, an eye-tracking detection module, and a main control module. The display device is connected to the mobile device and is used to follow the movement of the mobile device. The eye-tracking detection module is positioned opposite the driver's seat in the vehicle. The eye-tracking detection module is used to detect the driver's gaze direction information, generate detection data, and send it to the main control module. The main control module is communicatively connected to the eye-tracking detection module. The main control module is used to generate coordinate information based on the received detection data and control the movement of the mobile device based on the coordinate information. The main control module is used for: A spatial coordinate system is constructed based on the projection area, and the reference coordinates of the preset initial projection position in the spatial coordinate system and the first coordinates of the display device in the spatial coordinate system are obtained. Based on the detection data, the coordinates of the gaze position and the gaze offset angle of the human eye are calculated; wherein, the gaze offset angle is the offset angle between the human eye's gaze position and the preset reference gaze position. The second coordinates of the display device are calculated based on the reference coordinates, the gaze position coordinates, the line of sight offset angle, and the preset virtual image distance. The movement distance and direction of the display device are obtained based on the second coordinate and the first coordinate; The main control module is also used for: When vertical movement of the gaze is detected, the formula for calculating the second coordinate is: β= 60°+α； DH = Zb / tanβ; GH=2.2 cosβ - (Zb-Za)cosβ / sinα - Zb / tanβ; X2 = Xa; Y2 = Yb - DH - GH; Z2= 2.2 sinβ - (Zb-Za)sinβ / sinα- Zb; Wherein, the reference coordinates are A (Xa,Ya,Za), the first coordinates are W1 (Xa,Y1,0), the gaze position coordinates are B (Xa,Yb,Zb), the second coordinates are W2 (X2,Y2,Z2), α is the gaze offset angle, β represents the intermediate angle variable, DH is the distance between points D and H, GH is the distance between points G and H, and point D is the projection position of the gaze position B on the XY-axis plane, point H is the intersection point of the W2 position that the display device needs to follow and the gaze position B on the XY-axis plane, and point G is the projection position of the W2 position that the display device needs to follow on the XY-axis plane.

2. The head-up display system according to claim 1, characterized in that, The system also includes a rotating device, which is located between the display device and the moving device; the main control module is used to generate a rotation angle based on the received detection data, and control the rotating device to rotate based on the rotation angle; the display device is used to follow the movement of the rotating device.

3. The head-up display system according to claim 1, characterized in that, The moving device includes a left-right moving mechanism, a front-back moving mechanism, and a up-down moving mechanism. One end of the display device is connected to one end of the up-down moving mechanism, the other end of the up-down moving mechanism is connected to one end of the left-right moving mechanism, and the other end of the left-right moving mechanism is connected to the front-back moving mechanism.

4. The head-up display system according to claim 3, characterized in that, The up-and-down moving mechanism includes a slider, a first slide groove, a first support rod, a second support rod, a fourth gear, and a first motor. The slider is connected to the display device and is disposed in the first slide groove. One end of the first support rod is connected to the slider, and the other end of the first support rod is rotatably connected to one end of the second support rod. The other end of the second support rod is connected to the fourth gear, and the fourth gear is connected to the output shaft of the first motor. The left and right moving mechanism includes a first gear, a second gear, a first rack, a second rack, and a second motor. The first rack and the second rack are arranged opposite to each other. The first gear meshes with the first rack, and the second gear meshes with the second rack. The output shaft of the second motor is connected to the first gear and the second gear. The forward and backward moving mechanism includes a third gear, a third rack, a third motor, and a second slide groove. The third gear meshes with the third rack, which is located at both ends of the first rack and the second rack. The second slide groove is positioned opposite to the third rack, and the output shaft of the third motor is connected to the third gear.

5. The head-up display system according to claim 1, characterized in that, The main control module is also used for: When left or right eye movement is detected, the formula for calculating the second coordinate is: MN = sinω * cos 60°* (2.2 − (Xc−Xa) / sin ): NK = cosω * cos 60°* (2.2 − (Xc−Xa) / sin ): CW3 = 2.2 - (Xc-Xa) / sinω; X3 = Xc + MN; Y3 = (Ya – NK); Z3 = Za - sin 60° * CW3; The reference coordinates are A (Xa, Ya, Za), the first coordinate is W1 (Xa, Y1, 0), the gaze position coordinates are C (Xc, Ya, Za), and the second coordinate is W3 (X3, Y3, Z3). Let MN be the angle of visual deviation, NK be the distance between points M and N, NK be the distance between points N and K, and CW3 be the distance between points C and W3. Point C is the position of visual focus after the visual line moves left / right, point W3 is the position that the display device needs to follow, point K is the projection position of point C on the XY-axis plane, point M is the projection position of point W3 on the XY-axis plane, and point N is a geometric auxiliary point located on the XY-axis plane. Point N is such that NK is parallel to the reference visual line and NM is perpendicular to NK.

6. A control method for a head-up display system, characterized in that, For a head-up display system as described in any one of claims 1 to 5, comprising: Obtain the detection data sent by the eye-tracking detection module and generate coordinate information; The mobile device is controlled to move based on the coordinate information.

7. A vehicle, characterized in that, Includes the head-up display system as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the head-up display system control method as described in claim 6.

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