A method, apparatus, device and storage medium for determining parallax

Abstract

The present invention relates to the technical field of head-up display systems. The present invention discloses a method, device, equipment and storage medium for determining parallax. By obtaining the position information of multiple pairs of eye positions; for each pair of eye positions among the multiple pairs of eye positions, based on a preset head-up display system, determining the virtual image diagrams respectively corresponding to the two eye positions of the pair of eye positions; sampling the virtual image diagrams respectively corresponding to the two eye positions of the pair of eye positions to obtain the position information of each sampling pair among multiple sampling pairs; determining the initial parallax of the pair of eye positions based on the position information of each sampling pair among the multiple sampling pairs and the position information of the pair of eye positions; and determining the target parallax based on the initial parallax of each pair of eye positions among the multiple pairs of eye positions. Subsequently, the target parallax can be used to evaluate the imaging performance of the head-up display system and adjust the parameters of the head-up display system.

Description

Technical Field

[0001] The present invention relates to the technical field of head-up display systems, and particularly relates to a method, device, equipment and storage medium for determining parallax. Background Art

[0002] As an important part of the human-computer interaction solution, the head-up display (HUD) system is an important hardware for the future intelligent, networked and vehicle human-computer interaction of vehicles. By using the principle of optical reflection, system information such as navigation, vehicle speed, oil pressure, tire pressure, and Bluetooth phone is projected onto the front windshield, allowing the vehicle owner to concentrate on driving the vehicle, thereby improving driving safety. Since the human eye includes a left eye and a right eye, in practice, when the vehicle owner observes the projection, there will be slight differences in the projection images observed by the left eye and the right eye respectively, resulting in image distortion. How to determine the parallax corresponding to the head-up display system to better evaluate the imaging situation of the head-up display system has become a technical problem that needs to be solved urgently. Summary of the Invention

[0003] To solve the above technical problems, on the one hand, the present application discloses a method for determining parallax, which includes:

[0004] Obtain the position information of multiple pairs of eye positions; the eye position spacing of each pair of eye positions in the multiple pairs of eye positions is equal;

[0005] For each pair of eye positions in the multiple pairs of eye positions, based on a preset head-up display system, determine the virtual image diagrams respectively corresponding to the two eye positions of the pair of eye positions;

[0006] Sample the virtual image diagrams respectively corresponding to the two eye positions of the pair of eye positions to obtain the position information of each pair of samples in multiple pairs of samples, where the two sampling points of each pair of samples in the multiple pairs of samples are located on different virtual image diagrams, and the multiple sampling points on the same virtual image diagram are evenly distributed;

[0007] Determine the initial parallax of the pair of eye positions based on the position information of each pair of samples in the multiple pairs of samples and the position information of the pair of eye positions;

[0008] Determine the target parallax based on the initial parallax of each pair of eye positions in the multiple pairs of eye positions.

[0009] Optionally, determining the initial parallax of the pair of eye positions based on the position information of each pair of samples in the multiple pairs of samples and the position information of the pair of eye positions includes:

[0010] Determine the position information of the midpoint of the pair of eye positions based on the position information of the pair of eye positions;

[0011] Determine the initial disparity of the eye pair based on the position information of each sampling pair among multiple sampling pairs and the position information of the midpoint of the eye pair.

[0012] Optionally, each sampling pair among the multiple sampling pairs includes a first sampling point and a second sampling point;

[0013] Determining the initial disparity of the eye pair based on the position information of each sampling pair among multiple sampling pairs and the position information of the midpoint of the eye pair includes:

[0014] Determine the position information of the projection point of the first sampling point on the virtual image map of the second sampling point based on the position information of each sampling pair among the multiple sampling pairs; the projection point and the first sampling point are on the first direction line; the projection point and the second sampling point are on the second direction line; the first direction line is parallel to the straight line of the horizontal field of view angle of the eye pair; the second direction line is parallel to the straight line of the vertical field of view angle of the eye pair;

[0015] Determine the initial horizontal disparity of the eye pair based on the position information of the first sampling point, the position information of the projection point, and the position information of the midpoint of the eye pair;

[0016] Determine the initial vertical disparity of the eye pair based on the position information of the second sampling point, the position information of the projection point, and the position information of the midpoint of the eye pair.

[0017] Optionally, determining the target disparity based on the initial disparities of each eye pair among multiple eye pairs includes:

[0018] Determine the target horizontal disparity based on the initial horizontal disparities of each eye pair among multiple eye pairs;

[0019] Determine the target vertical disparity based on the initial vertical disparities of each eye pair among multiple eye pairs;

[0020] Determine the target disparity based on the target horizontal disparity and the target vertical disparity.

[0021] Optionally, sampling the virtual image maps respectively corresponding to the two eye positions of the eye pair to obtain the position information of each sampling pair among the multiple sampling pairs, including:

[0022] For the virtual image map corresponding to each eye position in the eye pair, sample the virtual image map corresponding to the eye position to determine multiple sampling points on the virtual image map, where the multiple sampling points are evenly distributed;

[0023] Obtain the position information corresponding to each sampling point;

[0024] Determine the position information of each sampling point among the multiple sampling points corresponding to the eye position based on the position information of each sampling point among the multiple sampling points;

[0025] Determine the position information of each sampling pair based on the position information of each sampling point corresponding to each eye position among multiple sampling points corresponding to the eye positions being centered.

[0026] Optionally, the head-up display system includes an eyebox area;

[0027] Multiple eye position pairs are located in the eyebox area.

[0028] Optionally, the shape of the eyebox area is rectangular;

[0029] The multiple eye position pairs at least include an eye position pair located in the first area of the eyebox area, an eye position pair located in the second area of the eyebox area, and an eye position pair located in the third area of the eyebox area; the first area, the second area, and the third area arranged from bottom to top constitute the eyebox area.

[0030] On the other hand, the present application also discloses a parallax determination device for a head-up display system, which includes:

[0031] An acquisition module, configured to acquire the position information of multiple eye position pairs; the eye position spacing of each eye position pair among the multiple eye position pairs is equal;

[0032] A first determination module, configured to, for each eye position pair among the multiple eye position pairs, determine the virtual image diagrams respectively corresponding to the two eye positions of the eye position pair based on a preset head-up display system;

[0033] A sampling module, configured to respectively sample the virtual image diagrams respectively corresponding to the two eye positions of the eye position pair to obtain the position information of each sampling pair among multiple sampling pairs; the two sampling points of each sampling pair among the multiple sampling pairs are located on different virtual image diagrams, and the multiple sampling points located on the same virtual image diagram are evenly distributed;

[0034] A second determination module, configured to determine the initial parallax of the eye position pair based on the position information of each sampling pair among the multiple sampling pairs and the position information of the eye position pair;

[0035] A third determination module, configured to determine the target parallax based on the initial parallax of each eye position pair among the multiple eye position pairs.

[0036] On the other hand, the present application also discloses an electronic device, which includes a processor and a memory. At least one instruction, at least one program, a code set or an instruction set is stored in the memory, and at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the above-mentioned parallax determination method.

[0037] On the other hand, the present application also discloses a computer storage medium, in which at least one instruction or at least one program is stored, and at least one instruction or at least one program is loaded and executed by the processor to implement the above-mentioned parallax determination method.

[0038] Adopting the above technical solution, the parallax determination method provided by this application has the following beneficial effects:

[0039] By obtaining the position information of multiple pairs of eye positions; the eye position intervals of each pair of eye positions in the multiple pairs of eye positions are equal; for each pair of eye positions in the multiple pairs of eye positions, based on a preset head-up display system, determine the virtual image diagrams respectively corresponding to the two eye positions of the pair of eye positions; sample the virtual image diagrams respectively corresponding to the two eye positions of the pair of eye positions to obtain the position information of each sampling pair in multiple sampling pairs; the two sampling points of each sampling pair in the multiple sampling pairs are located on different virtual image diagrams, and the multiple sampling points located on the same virtual image diagram are evenly distributed; determine the initial parallax of the pair of eye positions based on the position information of each sampling pair in the multiple sampling pairs and the position information of the pair of eye positions; determine the target parallax based on the initial parallaxes of each pair of eye positions in the multiple pairs of eye positions. Thus, subsequently, the target parallax can be used to evaluate the imaging performance of the head-up display system and adjust the parameters of the head-up display system. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] To more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0041] Figure 1 is a schematic diagram of an application scenario provided by an embodiment of this application;

[0042] Figure 2 is a flowchart of a parallax determination method provided by an embodiment of this application;

[0043] Figure 3 is a distribution diagram of pairs of eye positions provided by an embodiment of this application;

[0044] Figure 4 is another distribution diagram of pairs of eye positions provided by an embodiment of this application;

[0045] Figure 5 is a schematic diagram of the structure of a head-up display system provided by an embodiment of this application;

[0046] Figure 6 is a parallax model diagram of a pair of eye positions provided by an embodiment of this application;

[0047] Figure 7 is a flowchart of determining the initial parallax of a pair of eye positions provided by an embodiment of this application;

[0048] Figure 8 is another parallax model diagram of a pair of eye positions provided by an embodiment of this application;

[0049] Figure 9 is a schematic structural diagram of a parallax determination device provided by an embodiment of the present application;

[0050] Figure 10 is a hardware structure block diagram of a server for a parallax determination method provided by an embodiment of the present application. Detailed implementation manners

[0051] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0053] Refer to Figure 1 , Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the present application. This scenario includes a terminal 10 and a server 20; among them, the terminal 10 can send a parallax processing instruction including the parameters of the head-up display system to the server 20, and the server 20, in response to the parallax processing instruction, obtains the position information of multiple eye position pairs; the eye position spacing of each eye position pair in the multiple eye position pairs is equal; for each eye position pair in the multiple eye position pairs, based on a preset head-up display system, virtual image diagrams respectively corresponding to the two eye positions of the eye position pair are determined; sampling is respectively performed on the virtual image diagrams respectively corresponding to the two eye positions of the eye position pair to obtain the position information of each sampling pair in the multiple sampling pairs; the two sampling points of each sampling pair in the multiple sampling pairs are located on different virtual image diagrams, and the multiple sampling points on the same virtual image diagram are evenly distributed; an initial parallax of the eye position pair is determined based on the position information of each sampling pair in the multiple sampling pairs and the position information of the eye position pair; a target parallax is determined based on the initial parallaxes of the eye position pairs in the multiple eye position pairs; and the target parallax is sent to the terminal 10.

[0054] Optionally, the terminal 10 and the server 20 can be indirectly connected through a wireless communication method.

[0055] The terminal 10 can be a physical device such as a smart phone, a computer (such as a desktop computer, a tablet computer, a laptop computer), a digital assistant, a smart voice interaction device (such as a smart speaker), a smart wearable device, a vehicle terminal, etc., or can be software running on the physical device, such as a computer program. The operating system corresponding to the terminal can be an Android system, an iOS system (a mobile operating system developed by Apple Inc.), a Linux system (an operating system), a Microsoft Windows system (Microsoft Windows operating system), etc.

[0056] The server 20 can be an independent physical server, or a server cluster or a distributed system composed of multiple physical servers, or can be a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. The server can include a network communication unit, a processor, a memory, and so on. The server can provide background services for the corresponding terminal.

[0057] Optionally, in another scenario, the scenario includes the terminal 10 and a parallax determination module located on the terminal 10, and the parallax determination module is used to implement the process of determining the target parallax.

[0058] The above terminal 10 and server 20 can be used to construct an image processing system, and the system can be a distributed system. Taking the distributed system as a blockchain system as an example, it is formed by multiple nodes (any form of computing device accessing the network, such as a server, a user terminal) and a terminal, and a peer-to-peer (P2P) network is formed between the nodes. The P2P protocol is an application layer protocol running on top of the Transmission Control Protocol (TCP). In a distributed system, any machine such as a server or a terminal can join and become a node, and the node includes a hardware layer, an intermediate layer, an operating system layer, and an application layer.

[0059] The following introduces a specific embodiment of a parallax determination method of the present application. Figure 2It is a schematic flowchart of a parallax determination method provided by an embodiment of the present application. This specification provides method operation steps such as in the embodiment or flowchart, but based on routine or non-creative labor, it may include more or fewer operation steps. The step order listed in the embodiment is only one way among the execution orders of numerous steps and does not represent the only execution order. When the actual system or server product executes, it can be executed in the order shown in the embodiment or the drawing or executed in parallel (for example, in an environment of parallel processors or multi-threaded processing). Specifically, as Figure 2 shown, the method may include:

[0060] S201: Obtain the position information of multiple eye position pairs; the eye position spacing of each eye position pair in the multiple eye position pairs is equal.

[0061] The eye box area is an area used to simulate the area where the human eye can see the virtual image of the HUD in the construction of the HUD system scenario. The position and size of the eye box are set according to the required conditions.

[0062] In some possible embodiments, the multiple eye position pairs are located in the eye box area.

[0063] For the convenience of simplifying calculations and facilitating the understanding of the technical solution of the present application, refer to Figure 3 , Figure 3 is a distribution diagram of eye position pairs provided by an embodiment of the present application. In some possible embodiments, the shape of the eye box area is rectangular. Optionally, in order to further improve the accuracy of the subsequent parallax result, the above-mentioned multiple eye position pairs at least include eye position pairs located in the first area of the eye box area, eye position pairs located in the second area of the eye box area, and eye position pairs located in the third area of the eye box area; the first area, the second area, and the third area arranged from bottom to top constitute the eye box area. According to needs, the eye position pairs can also be distributed only in any one or two of the first area, the second area, or the third area.

[0064] In the embodiment of the present application, each eye position pair includes a left eye position and a right eye position, which are used to simulate the left and right eyes of a real human eye.

[0065] Optionally, in order to further improve the calculation efficiency and accuracy, when there are eye position pairs distributed in the first area, the second area, and the third area, there are n eye position pairs distributed in the first area, the second area, and the third area respectively, and the arrangement modes of the eye position pairs distributed in the above three areas are the same; n is an integer greater than or equal to 1.

[0066] Optionally, the arrangement mode of the eye position pairs in each area can be as Figure 3As shown, except for the first eye position, each eye position forms an eye position pair with the previous eye position, which can increase the number of eye position pairs, add sampling data, and make the finally determined parallax result more accurate. In another alternative embodiment, refer to Figure 4 , Figure 4 which is another eye position pair distribution diagram provided by the embodiment of the present application. Each eye position pair is composed of the order that the previous one is the left eye position and the current one is the right eye position. For multiple eye position pairs in the same area, the spacing between adjacent two eye position pairs may not be equal. Optionally, the spacing between any two eye position pairs in different areas may also not be equal.

[0067] It should be noted that when the eye position pairs are distributed as shown in Figure 4 , multiple eye position pairs may not be on a straight line, and the distribution manner of the eye position pairs may also be Figure 3 and Figure 4 a combination of the ways. For example, for n eye position pairs in any one area, a part of the eye position pairs may be combined in the way that each eye position forms an eye position pair with the previous eye position, and the other part is combined in the order that the previous one is the left eye position and the current one is the right eye position. There is no limitation here.

[0068] S203: For each eye position pair among multiple eye position pairs, based on a preset head-up display system, determine the virtual image diagrams respectively corresponding to the two eye positions of the eye position pair.

[0069] In some embodiments, an optical path simulation software (such as CODE V software) can be used to construct the optical path scene of the preset head-up display system. Refer to Figure 5 , Figure 5 which is a schematic structural diagram of a head-up display system provided by the embodiment of the present application. Usually, the light emitted by the HUD optical system is reflected by the windshield and reaches the eye box area, so that the human eyes located in the eye box area can see the virtual image.

[0070] In actual situations, refer to Figure 6 , Figure 6 which is a parallax model diagram of an eye position pair provided by the embodiment of the present application. Each eye position pair includes two eye positions, namely the left eye position P1 and the right eye position P2. Furthermore, the virtual image diagrams corresponding to each eye position can be determined. As shown in Figure 6 , the first virtual image diagram of the left eye position P1 and the second virtual image diagram corresponding to the right eye position P2. Most of these two virtual image diagrams overlap, and a small part does not overlap.

[0071] For example, 9 eye position pairs can be set in the first area, the second area, and the third area of the eye box area respectively, and the first virtual image diagram and the second virtual image diagram of each eye position pair are collected. That is to say, a total of 9 * 3 eye position pairs are set in this eye box area.

[0072] S205: Sample the virtual image diagrams corresponding to the two eye positions of the eye position pair respectively to obtain the position information of each sampling pair in multiple sampling pairs; for each sampling pair in multiple sampling pairs, the two sampling points are located on different virtual image diagrams, and multiple sampling points located on the same virtual image diagram are evenly distributed.

[0073] In some possible embodiments, step S205 may include: for the virtual image diagram corresponding to each eye position in the eye position pair, sample the virtual image diagram corresponding to the eye position to determine multiple sampling points on the virtual image diagram; the multiple sampling points are evenly distributed; obtain the position information corresponding to each sampling point; determine the position information of each sampling point in the multiple sampling points corresponding to the eye position based on the position information of each sampling point in the multiple sampling points; determine the position information of each sampling pair in multiple sampling pairs based on the position information of each sampling point in the multiple sampling points corresponding to each eye position in the eye position pair.

[0074] In some feasible embodiments, the included angle between any two adjacent sampling points located on the same virtual image diagram and a preset observation point is equal to a preset included angle. Optionally, the preset observation point may be one of the eye positions in the eye position pair corresponding to the virtual image diagram, and the preset included angle is related to the number of sampling points. When multiple sampling points on the virtual image diagram are only distributed in the horizontal direction, it is known that the horizontal field of view angle is FOV1 and the number of sampling points is n, then the preset included angle = FOV1 / (n - 1); similarly, when multiple sampling points are distributed in the vertical direction, it is known that the vertical field of view angle is FOV2 and the number of sampling points is n, then the preset included angle = FOV2 / (n - 1); of course, the multiple sampling points may include a sampling point array n*n with horizontal distribution and vertical distribution. For each row of the sampling point array, the included angle between any two adjacent sampling points and the preset observation point is equal to FOV1 / (n - 1); for each column of the sampling point array, the included angle between any two adjacent sampling points and the preset observation point is equal to FOV2 / (n - 1); n is an integer greater than or equal to 2.

[0075] In the embodiments of the present application, refer to Figure 6 , the sampling point A1 on the first virtual image diagram and the sampling point B1 on the second virtual image diagram are a sampling pair. Optionally, the first virtual image diagram includes multiple sampling points A1, A2, A3,... An; the second virtual image diagram includes multiple sampling points B1, B2, B3,... Bn; the included angle between any two adjacent sampling points on the first virtual image diagram and the eye position corresponding to the first virtual image diagram is equal to the above preset included angle, and the included angle between any two adjacent sampling points on the second virtual image diagram and the eye position corresponding to the second virtual image diagram is equal to the above preset included angle to ensure the singularity of variables and ensure the accuracy of the final obtained parallax; optionally, for the two sampling points in any one sampling pair, they are both obtained by tracing the same light ray emitted by the HUD, that is, the two sampling points correspond to the same point on the image source (i.e., the liquid crystal screen of the HUD); refer toFigure 5 , based on the above situation, n sampling pairs can be formed, namely {A1, B1}, {A2, B2}, {A3, B3}, ……, {An, Bn}.

[0076] In another possible embodiment, for a virtual image diagram, the way that multiple sampling points located thereon are evenly distributed can also be that the step length between any two adjacent sampling points on the virtual image diagram is equal to a preset step length.

[0077] S207: Determine the initial disparity of the eye position pair based on the position information of each sampling pair in the multiple sampling pairs and the position information of the eye position pair.

[0078] In some possible embodiments, step S207 may include: determining the position information of the midpoint of the eye position pair based on the position information of the eye position pair; determining the initial disparity of the eye position pair based on the position information of each sampling pair in the multiple sampling pairs and the position information of the midpoint of the eye position pair.

[0079] In this embodiment, refer to Figure 6 , the position information of the midpoint M of the eye position pair can be determined through the position information of the left eye position P1 and the right eye position P2 of the eye position pair; for each sampling pair, such as {A1, B1}, based on the position information of the first sampling point A1, the position information of the second sampling point B1, and the position information of the midpoint M, the included angle with M as the vertex formed by A1, B1, and M can be determined, and this included angle is the initial disparity of the eye position pair.

[0080] Continuing the above example, 25 points are taken from the two virtual images collected at each eye position, and these 25 points are evenly distributed; assuming that these 25 points are numbered from No. 1 to No. 25, then for each eye position pair, the included angle between the No. 1 point in the first virtual image diagram, the No. 1 point in the second virtual image diagram, and the center point of the eye position pair is calculated in sequence. There are 25 included angles for one eye position pair, 25 * 9 included angle data for one eye box area, and a total of 25 * 9 * 3 included angles in the upper, middle, and lower three regions of the eye box area, that is, 25 * 9 * 3 initial disparities.

[0081] Refer to Figure 7 , Figure 7 is a schematic flowchart of a process for determining the initial disparity of an eye position pair provided by an embodiment of the present application. In some possible embodiments, each sampling pair in the multiple sampling pairs includes a first sampling point and a second sampling point; the above determination of the initial disparity of the eye position pair based on the position information of each sampling pair in the multiple sampling pairs and the position information of the midpoint of the eye position pair includes:

[0082] S701: Determine the position information of the projection point of the first sampling point on the virtual image of the second sampling point based on the position information of each sampling pair among multiple sampling pairs; the projection point and the first sampling point are on the first direction line; the projection point and the second sampling point are on the second direction line; the first direction line is parallel to the straight line of the horizontal field of view angle of the eye position pair; the second direction line is parallel to the straight line of the vertical field of view angle of the eye position pair.

[0083] S703: Determine the initial horizontal parallax of the eye position pair based on the position information of the first sampling point, the position information of the projection point, and the position information of the midpoint of the eye position pair.

[0084] S705: Determine the initial vertical parallax of the eye position pair based on the position information of the second sampling point, the position information of the projection point, and the position information of the midpoint of the eye position pair.

[0085] See Figure 8 , Figure 8 FIG. is another parallax model diagram of an eye position pair provided by an embodiment of the present application. For each sampling pair of each eye position pair, for example, based on the position information of the first sampling point A1 of the first virtual image and the second virtual image, the position information of the projection point A'1 of A1 on the second virtual image can be determined, so as to determine ∠A1MA'1 based on the position information of A1, the position information of A'1, and the position information of the midpoint M; determine ∠B1MA'1 based on the position information of B1, the position information of A'1, and the position information of the midpoint M; the above included angle ∠A1MA'1 is the initial horizontal parallax of the sampling pair, and ∠B1MA'1 is the initial vertical parallax of the sampling pair.

[0086] S209: Determine the target parallax based on the initial parallax of each eye position pair among multiple eye position pairs.

[0087] In some possible embodiments, step S209 may include: determining the target horizontal parallax based on the initial horizontal parallax of each eye position pair among multiple eye position pairs; determining the target vertical parallax based on the initial vertical parallax of each eye position pair among multiple eye position pairs; determining the target parallax based on the target horizontal parallax and the target vertical parallax.

[0088] In this embodiment, the maximum initial horizontal disparity among the initial horizontal disparities of each eye position pair among multiple eye position pairs can be determined as the target horizontal disparity. Alternatively, the initial horizontal disparities of each eye position pair among multiple eye position pairs can be processed to eliminate abnormal initial horizontal disparity values, and then the maximum initial horizontal disparity can be determined as the target horizontal disparity. Additionally, the average value of multiple initial horizontal disparities greater than a first preset threshold can be determined as the target horizontal disparity. Similarly, the maximum initial horizontal disparity among the initial horizontal disparities of each eye position pair among multiple eye position pairs can be determined as the target horizontal disparity. Alternatively, the initial vertical disparities of each eye position pair among multiple eye position pairs can be processed to eliminate abnormal initial vertical disparity values, and then the maximum initial vertical disparity can be determined as the target vertical disparity. Additionally, the average value of multiple initial vertical disparities greater than a second preset threshold can be determined as the target vertical disparity.

[0089] Continuing the above example, the largest included angle is selected from 25 * 9 * 3 included angles as the target disparity. It should be noted that since the target disparity includes the target horizontal disparity and the target vertical disparity, that is, the target disparity includes the largest included angles in two dimensions, the two largest included angles may correspond to one sampling point or different sampling points.

[0090] To better demonstrate the technical effects of the present application, the following will be described with a specific embodiment. The method for determining the disparity may include the following steps:

[0091] 1) By constructing the optical path scene of the head-up display system as shown in Figure 5 in the CODE V software, during the construction process, set the zoom (default to Z1 without zoom) and the position of the aperture (i.e., the eye box).

[0092] 2) Obtain the position of each eye position pair among multiple eye position pairs. The distribution of the multiple eye position pairs can be any of the above-mentioned methods.

[0093] 3) Each eye position pair can be classified according to the position it belongs to in the eye box area (such as the first area, the second area, and the third area), that is, divided into three categories, and then it, along with the eye box parameters, is input into CODE V in sequence. The command line of CODE V is used to separately export the coordinate files of the sampling pairs corresponding to multiple eye position pairs in each eye box area.

[0094] Specifically, the process of CODE V exporting the coordinate files of the sampling pairs corresponding to multiple eye position pairs in each eye box area may include: saving the running CODE V command line window to generate a txt file; optionally, by sequentially clicking the file (F) option, the save option, and the current window as the I option in the CODE V software, and selecting the save format as txt, the data output by CODE V can be saved.

[0095] 4) Since the txt file contains command statements in CODE V, information such as the coordinates and wavelengths of the sampling points on the virtual image diagram; it is necessary to first copy all the data in the txt file to the data in disparity analysis.xlsx, and then filter out the coordinates of the sampling points on the virtual image diagram in the above data and process them. Finally, the coordinates of the sampling pairs corresponding to multiple eye positions in each eye box area can be obtained.

[0096] 5) The data of the horizontal parallax and the vertical parallax can be automatically calculated by using a preset formula.

[0097] Specifically, the initial parallax of each eye position pair in multiple eye position pairs in each eye box area can be obtained in the manner of step S207 above. The initial parallax of the largest eye position pair (including the initial horizontal parallax and the initial vertical parallax) in the eye box area is determined as the initial parallax of the eye box area; and the largest initial parallax among the initial parallaxes of the three eye box areas is determined as the target parallax. If necessary, unit conversion can also be performed on the target parallax. The unit of the target parallax obtained above is milliradians, and the virtual image distance (Virtual Image Distance, abbreviated as VID), the unit is millimeters. It is necessary to multiply the target parallax by 1000 and then divide it by the virtual image distance.

[0098] In this embodiment, the virtual image distance refers to the distance from the virtual image to the eye box area.

[0099] Refer to Figure 9 , Figure 9 is a schematic structural diagram of a parallax determination device provided by an embodiment of the present application. The parallax determination device of the head-up display system includes:

[0100] An acquisition module 901, configured to acquire the position information of multiple eye position pairs; the eye position intervals of each eye position pair in the multiple eye position pairs are equal;

[0101] A first determination module 903, configured to, for each eye position pair in the multiple eye position pairs, determine the virtual image diagrams respectively corresponding to the two eye positions of the eye position pair based on a preset head-up display system;

[0102] A sampling module 905, configured to sample the virtual image diagrams respectively corresponding to the two eye positions of the eye position pair, and obtain the position information of each sampling pair in the multiple sampling pairs; the two sampling points of each sampling pair in the multiple sampling pairs are located on different virtual image diagrams, and the multiple sampling points on the same virtual image diagram are evenly distributed;

[0103] A second determination module 907, configured to determine the initial parallax of the eye position pair based on the position information of each sampling pair in the multiple sampling pairs and the position information of the eye position pair;

[0104] A third determination module 909, configured to determine a target disparity based on the initial disparities of each eye position pair among multiple eye position pairs.

[0105] In some possible embodiments, the second determination module is configured to determine the position information of the midpoint of the eye position pair based on the position information of the eye position pair;

[0106] Determine the initial disparity of the eye position pair based on the position information of each sampling pair among multiple sampling pairs and the position information of the midpoint of the eye position pair.

[0107] In some possible embodiments, each sampling pair among multiple sampling pairs includes a first sampling point and a second sampling point; the second determination module is configured to determine the position information of the projection point of the first sampling point on the virtual image diagram of the second sampling point based on the position information of each sampling pair among multiple sampling pairs; the projection point and the first sampling point are located on a first direction line; the projection point and the second sampling point are located on a second direction line; the first direction line is a straight line parallel to the horizontal field of view angle of the eye position pair; the second direction line is a straight line parallel to the vertical field of view angle of the eye position pair;

[0108] Determine the initial horizontal disparity of the eye position pair based on the position information of the first sampling point, the position information of the projection point, and the position information of the midpoint of the eye position pair;

[0109] Determine the initial vertical disparity of the eye position pair based on the position information of the second sampling point, the position information of the projection point, and the position information of the midpoint of the eye position pair.

[0110] In some possible embodiments, the third determination module is configured to determine a target horizontal disparity based on the initial horizontal disparities of each eye position pair among multiple eye position pairs;

[0111] Determine a target vertical disparity based on the initial vertical disparities of each eye position pair among multiple eye position pairs;

[0112] Determine the target disparity based on the target horizontal disparity and the target vertical disparity.

[0113] In some possible embodiments, the sampling module is configured to sample the virtual image diagram corresponding to each eye position in the eye position pair to determine multiple sampling points on the virtual image diagram; the multiple sampling points are evenly distributed;

[0114] Obtain the position information corresponding to each sampling point;

[0115] Determine the position information of each sampling point among the multiple sampling points corresponding to the eye position based on the position information of each sampling point among the multiple sampling points;

[0116] Determine the position information of each sampling pair among multiple sampling pairs based on the position information of each sampling point among the multiple sampling points corresponding to each eye position in the eye position pair.

[0117] In some possible embodiments, the head-up display system includes an eyebox area;

[0118] Multiple eye positions are located in the eyebox area.

[0119] In some possible embodiments, the shape of the eyebox area is rectangular;

[0120] The multiple eye positions at least include the eye positions located in the first area of the eyebox area, the eye positions located in the second area of the eyebox area, and the eye positions located in the third area of the eyebox area; the first area, the second area, and the third area are stacked in sequence to form the eyebox area.

[0121] The apparatus embodiments and method embodiments in this application are based on the same application concept.

[0122] The method embodiments provided by the embodiments of this application can be executed on a computer terminal, a server, or a similar computing device. Taking running on a server as an example, Figure 10 is a hardware structure block diagram of a server for a parallax determination method provided by the embodiments of this application. As Figure 10 shown, the server 1000 may vary greatly due to configuration or performance, and may include one or more central processing units (CPUs) 1010 (the central processing unit 1010 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1030 for storing data, and one or more storage media 1020 for storing application programs 1023 or data 1022 (for example, one or more mass storage devices). Among them, the memory 1030 and the storage media 1020 may be transient storage or persistent storage. The program stored in the storage media 1020 may include one or more modules, and each module may include a series of instruction operations on the server. Further, the central processing unit 1010 may be configured to communicate with the storage media 1020 and execute a series of instruction operations in the storage media 1020 on the server 1000. The server 1000 may also include one or more power supplies 1060, one or more wired or wireless network interfaces 1050, one or more input / output interfaces 1040, and / or one or more operating systems 1021, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0123] The input / output interface 1040 can be used to receive or transmit data via a network. Specific examples of the above-mentioned network may include a wireless network provided by the communication provider of the server 1000. In one example, the input / output interface 1040 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the input / output interface 1040 can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0124] Those of ordinary skill in the art can understand that Figure 10 the structure shown is only schematic and does not limit the structure of the above-mentioned electronic device. For example, the server 1000 may also include more or fewer components than those shown in Figure 10 or have a different configuration from that shown in Figure 10 the figure.

[0125] An embodiment of the present application also provides an electronic device, which includes a processor and a memory. At least one instruction, at least one program, a code set or an instruction set is stored in the memory. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the parallax determination method as described above.

[0126] An embodiment of the present application also provides a computer storage medium. The computer storage medium can be disposed in the server to store at least one instruction, at least one program, a code set or an instruction set related to a parallax determination method in the method embodiment. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the above-mentioned parallax determination method.

[0127] Optionally, in this embodiment, the above storage medium can be located in at least one of multiple network servers in a computer network. Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media that can store program codes such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks or optical discs.

[0128] It should be noted that: the above sequence of the embodiments of the present application is only for description and does not represent the superiority or inferiority of the embodiments. Moreover, the above specific embodiments of this specification have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0129] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0130] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and the above-mentioned storage medium can be a read-only memory, a disk, an optical disc, or the like.

[0131] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A parallax determination method, characterized in that, Including: Obtaining position information of multiple pairs of eye positions; the eye position intervals of each pair of eye positions in the multiple pairs of eye positions are equal; For each pair of eye positions in the multiple pairs of eye positions, based on a preset head-up display system, determining virtual image graphs respectively corresponding to the two eye positions of the pair of eye positions; Sampling the virtual image graphs respectively corresponding to the two eye positions of the pair of eye positions to obtain position information of each sampling pair in multiple sampling pairs, wherein, for each sampling pair in the multiple sampling pairs, the two sampling points are located on different virtual image graphs, and multiple sampling points located on the same virtual image graph are evenly distributed; Determining an initial parallax of the pair of eye positions based on the position information of each sampling pair in the multiple sampling pairs and the position information of the pair of eye positions, including: determining position information of the midpoint of the pair of eye positions based on the position information of the pair of eye positions; determining the initial parallax of the pair of eye positions based on the position information of each sampling pair in the multiple sampling pairs and the position information of the midpoint of the pair of eye positions; Determining a target parallax based on the initial parallaxes of each pair of eye positions in the multiple pairs of eye positions.

2. The parallax determination method according to claim 1, wherein Each sampling pair in the multiple sampling pairs includes a first sampling point and a second sampling point; The determining the initial parallax of the pair of eye positions based on the position information of each sampling pair in the multiple sampling pairs and the position information of the midpoint of the pair of eye positions includes: Determining position information of the projection point of the first sampling point on the virtual image graph of the second sampling point based on the position information of each sampling pair in the multiple sampling pairs; the projection point and the first sampling point are located on a first direction line; the projection point and the second sampling point are located on a second direction line; the first direction line is parallel to a straight line of the horizontal field of view angle of the pair of eye positions; the second direction line is parallel to a straight line of the vertical field of view angle of the pair of eye positions; Determining the initial horizontal parallax of the pair of eye positions based on the position information of the first sampling point, the position information of the projection point, and the position information of the midpoint of the pair of eye positions; Determining the initial vertical parallax of the pair of eye positions based on the position information of the second sampling point, the position information of the projection point, and the position information of the midpoint of the pair of eye positions.

3. The parallax determination method according to claim 2, characterized in that The determining the target parallax based on the initial parallaxes of each pair of eye positions in the multiple pairs of eye positions includes: Determining a target horizontal parallax based on the initial horizontal parallaxes of each pair of eye positions in the multiple pairs of eye positions; Determining a target vertical parallax based on the initial vertical parallaxes of each pair of eye positions in the multiple pairs of eye positions; Determining the target parallax based on the target horizontal parallax and the target vertical parallax.

4. The parallax determination method according to claim 1, characterized in that, The sampling the virtual image graphs respectively corresponding to the two eye positions of the pair of eye positions to obtain position information of each sampling pair in multiple sampling pairs includes: For the virtual image graph corresponding to each eye position in the pair of eye positions, sampling the virtual image graph corresponding to the eye position to determine multiple sampling points on the virtual image graph, wherein, the multiple sampling points are evenly distributed; Obtaining position information corresponding to each sampling point; the position information of each sampling point among the multiple sampling points determines the position information of each sampling point in the multiple sampling points corresponding to the eye position; Determine the position information of each sampling pair in the multiple sampling pairs based on the position information of each sampling point corresponding to each eye position among the multiple eye positions corresponding to the eye position alignment.

5. The parallax determination method according to any one of claims 1-4, characterized in that, The head-up display system includes an eyebox area; The multiple eye position pairs are located in the eyebox area.

6. The parallax determination method according to claim 5, wherein The shape of the eyebox area is rectangular; The multiple eye position pairs at least include an eye position pair located in the first area of the eyebox area, an eye position pair located in the second area of the eyebox area, and an eye position pair located in the third area of the eyebox area; the first area, the second area, and the third area arranged from bottom to top constitute the eyebox area.

7. A parallax determination device for a head-up display system, characterized in that, Including: An acquisition module for acquiring the position information of multiple eye position pairs; the eye position intervals of each eye position pair in the multiple eye position pairs are equal; A first determination module for, for each eye position pair in the multiple eye position pairs, determining the virtual image diagrams respectively corresponding to the two eye positions of the eye position pair based on a preset head-up display system; A sampling module for respectively sampling the virtual image diagrams respectively corresponding to the two eye positions of the eye position pair to obtain the position information of each sampling pair in the multiple sampling pairs, wherein the two sampling points of each sampling pair in the multiple sampling pairs are located on different virtual image diagrams, and the multiple sampling points located on the same virtual image diagram are evenly distributed; A second determination module for determining the initial parallax of the eye position pair based on the position information of each sampling pair in the multiple sampling pairs and the position information of the eye position pair; A third determination module for determining the target parallax based on the initial parallaxes of the respective eye position pairs in the multiple eye position pairs.

8. An electronic device, the electronic device includes a processor and a memory, and at least one instruction, at least one program, a code set, or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the parallax determination method according to any one of claims 1-6.

9. A computer storage medium, characterized in that, At least one instruction or at least one program is stored in the computer storage medium, and the at least one instruction or at least one program is loaded and executed by the processor to implement the parallax determination method according to any one of claims 1-6.

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