Image blur compensation method and apparatus, head-up display device, vehicle, and medium

Abstract

The application discloses an image jitter compensation method and device, a head-up display device, a carrier and a medium. The method comprises the following steps: acquiring first position description information of a target AR element in a real world; when it is determined that the carrier is in jitter, determining second position description information of the target AR element in a virtual image plane after jitter compensation according to longitudinal and / or transverse speed description information of the carrier and the first position description information of the target AR element in the real world; determining a target layout position of the target AR element in a target projection image formed by a head-up display device in the carrier according to the second position description information, and projecting the target projection image displayed by the head-up display device to an imaging element of the carrier. Through the technical scheme, the image displayed on the imaging element can be prevented from being distorted when the carrier is in jitter, and the image can be normally and regularly displayed.

Description

Technical Field

[0001] This invention relates to the field of head-up display technology, and in particular to an image jitter compensation method, apparatus, head-up display device, carrier, and medium. Background Technology

[0002] A head-up display (HUD) is a device that displays vehicle driving information on the windshield in front of the driver, allowing the driver to view important driving information without looking down or turning their head.

[0003] In existing technologies, vehicle head-up display functions generally only project vehicle speed or simple navigation elements onto an imaging element in front of the driver, failing to combine complex projection elements with the real driving environment.

[0004] In realizing this invention, the inventors considered that to integrate the projection elements with the real driving environment, it is necessary to ensure that the projected image displayed by the head-up display device can continuously and stably match the real driving environment. During actual driving, vehicles are often affected by environmental factors, causing them to bounce relative to the actual moving environment. However, the head-up display device and the vehicle are relatively stationary. This can lead to the image projected onto the imaging element by the head-up display device failing to match the real driving environment, potentially causing driver misjudgment and affecting the driving experience. Summary of the Invention

[0005] This invention provides an image jitter compensation method, device, head-up display device, vehicle, and medium, which can prevent the AR (Augmented Reality) elements displayed on the imaging element from being distorted when the vehicle shakes, ensuring that the image can be displayed normally and neatly, and effectively improving the driver's user experience.

[0006] According to one aspect of the present invention, an image jitter compensation method is provided, applied to a head-up display device, comprising:

[0007] Obtain the first location description information of the target AR element in the real world;

[0008] When it is determined that the vehicle is shaking, the second position description information of the target AR element after shaking compensation is determined in the head-up display coordinate system in the virtual image plane, based on the longitudinal and / or lateral velocity description information of the vehicle and the first position description information of the target AR element in the real world.

[0009] Based on the second position description information, the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle is determined, and the target projection image displayed by the head-up display device is projected onto the imaging element of the vehicle.

[0010] Optionally, obtain the first location description information of the target AR element to be displayed in the real world, including:

[0011] When an obstacle to be alerted is detected in the environment around the vehicle, the first location description information of the target AR collision warning element that matches the obstacle in the real world is obtained;

[0012] or;

[0013] When a cue condition for the next desired action of the vehicle is detected, the first location description information of the target AR navigation element in the real world that satisfies the next desired action is obtained.

[0014] The advantage of this setup is that by acquiring the first location description information of the target AR element in the real world that matches the driving environment when the vehicle is detected to be in a specific driving environment, it is possible to ensure that effective driving assistance information is provided to the driver based on the real-time driving environment.

[0015] Optionally, obtaining the first location description information of the target AR element in the real world includes:

[0016] When the target AR element is determined to be a target AR collision warning element, the preset offset of the vehicle itself relative to the vehicle's driving axis, the relative distance in the relative position description information between the obstacle and the vehicle, and the offset of the obstacle relative to the vehicle's driving axis are obtained as the first position description information of the target AR collision warning element; or

[0017] When the target AR element is determined to be a target AR navigation element, the length and width values ​​of the target AR navigation element in the real world, the height value from the reference plane, the left offset of the center point of the target AR navigation element relative to the driving axis, and the current distance value between the target AR navigation element and the vehicle in the target projection image currently displayed in the virtual image plane are obtained as the first position description information of the target AR navigation element.

[0018] The advantages of this setup are as follows: By acquiring the vehicle's offset relative to its driving axis, the relative distance between the obstacle and the vehicle, and the obstacle's offset relative to the vehicle's driving axis as the first position description information, the lateral and longitudinal position differences between the vehicle and the obstacle in the real world can be accurately described. This provides an accurate data source for the accurate alignment of subsequent AR collision warning elements with obstacles in their actual real-world locations. By utilizing the vehicle's navigation data to obtain the target AR element's position description information in the real world, the position description parameters that the AR navigation element should have when virtually placed in the real world can be accurately described before the AR navigation element is displayed on the windshield. This provides accurate data preparation for the accurate calculation of the AR navigation element's second position information in the virtual image plane. This allows the driver to experience a better alignment between the AR navigation element and the real world, thus providing a better head-up display visual experience for vehicle navigation.

[0019] Optionally, based on the longitudinal and / or lateral velocity description information of the vehicle and the first position description information of the target AR element in the real world, a second position description information of the target AR element after jitter compensation in the head-up display coordinate system in the virtual image plane is determined, including:

[0020] Obtain at least one optical performance parameter corresponding to the virtual image plane;

[0021] Based on the longitudinal velocity description information of the vehicle, at least one of the target optical performance parameters is corrected.

[0022] Based on the corrected optical performance parameters and the first position description information, the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after longitudinal jitter compensation is determined.

[0023] The advantage of this setting is that by correcting the optical performance parameters and determining the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after longitudinal jitter compensation based on the corrected optical performance parameters and the first position description information, it is possible to quickly calculate the second position description information after longitudinal jitter compensation. The calculation is simple, fast, and the results are accurate.

[0024] Optionally, based on the longitudinal and / or lateral velocity description information of the vehicle and the first position description information of the target AR element in the real world, a second position description information of the target AR element after jitter compensation in the head-up display coordinate system in the virtual image plane is determined, including:

[0025] Obtain at least one optical performance parameter corresponding to the virtual image plane;

[0026] Based on the lateral velocity description information of the vehicle, at least one of the target first position description information in the first position description information is corrected;

[0027] Based on the acquired optical performance parameters and the corrected first position description information, the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after lateral jitter compensation is determined.

[0028] The advantage of this setup is that by correcting the target's first position description information in the first position description information based on the vehicle's lateral velocity description information, and determining the target AR element's second position description information after lateral jitter compensation in the head-up display coordinate system in the virtual image plane based on the corrected first position description information, it is possible to quickly calculate the second position description information after lateral jitter compensation. The calculation is simple, fast, and the results are accurate.

[0029] Optional optical performance parameters include:

[0030] The lateral field of view of the virtual image plane, the longitudinal field of view of the virtual image plane, the downward angle of view of the virtual image plane, the horizontal resolution of the virtual image plane, the vertical resolution of the virtual image plane, the virtual image distance, and the preset distance value between the human eye and the reference plane.

[0031] The advantage of this setting is that by presetting optical performance parameters, the projection position and size of the target AR element in the virtual image plane can be calculated more accurately, while effectively improving calculation efficiency.

[0032] Optionally, based on the longitudinal velocity description information of the vehicle, at least one of the target optical performance parameters is corrected, including:

[0033] The real-time acceleration of the vehicle in the longitudinal direction is obtained, and the preset distance value between the human eye and the reference plane is corrected based on the real-time acceleration of the vehicle in the longitudinal direction.

[0034] The real-time angular acceleration of the vehicle in the longitudinal direction is obtained, and the downward viewing angle of the virtual image plane is corrected based on the real-time angular acceleration of the vehicle in the longitudinal direction.

[0035] The advantage of this setup is that by acquiring the vehicle's real-time acceleration and angular acceleration in the longitudinal direction, the optical performance parameters can be corrected using readily available vehicle data. The calculation is simple and the results are accurate and effective.

[0036] Optionally, the real-time acceleration of the vehicle in the longitudinal direction is obtained, and the preset distance value between the human eye and the reference plane is corrected based on the real-time acceleration of the vehicle in the longitudinal direction, including:

[0037] The acceleration of the vehicle in the vertical direction is obtained as the real-time acceleration of the vehicle in the longitudinal direction;

[0038] The real-time acceleration of the vehicle in the longitudinal direction is integrated over a set time period to obtain a first correction value, and the first correction value is used to correct the preset distance value between the human eye and the reference plane.

[0039] The advantage of this setting is that by integrating the real-time acceleration of the vehicle in the longitudinal direction over a set time period to obtain a first correction value, and using the first correction value to correct the preset distance between the human eye and the reference plane, the real-time velocity of the vehicle in the longitudinal direction can be accurately calculated under the action of integration, thereby enabling accurate estimation of the longitudinal displacement of the vehicle and improving the accuracy of the corrected optical performance parameters.

[0040] Optionally, the real-time angular acceleration of the vehicle in the longitudinal direction is obtained, and the downward viewing angle of the virtual image plane is corrected based on the real-time angular acceleration of the vehicle in the longitudinal direction, including:

[0041] The rotational angular acceleration of the vehicle in the vertical direction is obtained as the real-time angular acceleration of the vehicle in the longitudinal direction;

[0042] The real-time angular acceleration of the vehicle in the longitudinal direction is integrated over a set time period to obtain a second correction value, and the second correction value is used to correct the downward viewing angle of the virtual image plane.

[0043] The advantage of this setting is that by integrating the real-time angular acceleration over a set time period to obtain a second correction value, and using the second correction value to correct the downward viewing angle of the virtual image plane, the angular acceleration increment in the longitudinal direction of the vehicle can be accurately calculated under the action of integration, thereby improving the accuracy of the corrected optical performance parameters.

[0044] Optionally, based on the lateral velocity description information of the vehicle, at least one item of the target first position description information in the first position information is corrected, including:

[0045] When the target AR element is determined to be a target AR navigation element, the real-time angular acceleration of the vehicle in the lateral direction is obtained, and the left offset of the center point of the target AR navigation element relative to the driving axis is corrected based on the real-time angular acceleration of the vehicle in the lateral direction.

[0046] The advantage of this setup is that by using the vehicle's real-time angular acceleration in the lateral direction to correct the left offset of the target AR navigation element's center point relative to the driving axis, it is possible to use simple vehicle data to correct the left offset of the target AR navigation element's center point relative to the driving axis. The calculation is simple and the results are accurate and effective.

[0047] Optionally, the real-time angular acceleration of the vehicle in the lateral direction is obtained, and the left offset of the center point of the target AR navigation element relative to the driving axis is corrected based on the real-time angular acceleration of the vehicle in the lateral direction, including:

[0048] The rotational angular acceleration of the vehicle in the horizontal direction is obtained as the real-time angular acceleration of the vehicle in the transverse direction;

[0049] The real-time angular acceleration of the vehicle in the lateral direction is integrated over a set time period to obtain a third correction value;

[0050] Based on the third correction value and the current distance between the target AR navigation element and the vehicle in the currently displayed target projection image in the virtual image plane, the left offset of the center point of the target AR navigation element relative to the driving axis is corrected.

[0051] The advantage of this setup is that by integrating the real-time angular acceleration of the vehicle in the lateral direction and correcting the left offset of the center point of the target AR navigation element relative to the driving axis based on the integration result and the current distance between the target AR navigation element in the currently displayed target projection image in the virtual image plane and the vehicle, the real-time angular acceleration increment of the vehicle in the lateral direction can be accurately calculated under the action of integration. This allows for accurate calculation of the lateral displacement of the vehicle and improves the accuracy of the corrected left offset of the center point of the target AR navigation element relative to the driving axis.

[0052] According to another aspect of the present invention, an image jitter compensation device is provided, comprising:

[0053] The first location description information acquisition module is used to acquire the first location description information of the target AR element in the real world;

[0054] The second position description information acquisition module is used to determine the second position description information of the target AR element after jitter compensation in the head-up display coordinate system in the virtual image plane, based on the longitudinal and / or lateral velocity description information of the vehicle and the first position description information of the target AR element in the real world when it is determined that the vehicle is shaking.

[0055] The projection image module is used to determine the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle according to the second position description information, and to project the target projection image displayed by the head-up display device onto the imaging element of the vehicle.

[0056] According to another aspect of the present invention, a head-up display device is provided, the head-up display device comprising:

[0057] At least one processor; and

[0058] A memory communicatively connected to the at least one processor; wherein,

[0059] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the image jitter compensation method according to any embodiment of the present invention.

[0060] According to another aspect of the present invention, a vehicle is provided, the vehicle including the head-up display device described in any embodiment of the present invention.

[0061] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the image jitter compensation method according to any embodiment of the present invention.

[0062] The technical solution of this invention obtains the first position description information of the target AR element in the real world, corrects specified parameters when vehicle vibration is detected, and uses the corrected parameters to determine the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after vibration compensation. Based on the second position description information, the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle is determined. The target projection image displayed by the head-up display device is then projected onto the imaging element of the vehicle. This method ensures that the target AR element on the imaging element of the vehicle can still conform to the real moving environment when the vehicle is vibrating, avoids distortion of the target AR element, ensures that the image can be displayed normally and neatly, and effectively improves the driver's user experience.

[0063] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1a This is a flowchart of an image jitter compensation method provided according to an embodiment of the present invention;

[0066] Figure 1b This is a schematic diagram of a target AR element projection in a virtual image plane according to an embodiment of the present invention;

[0067] Figure 2a This is a flowchart of another image jitter compensation method provided according to an embodiment of the present invention;

[0068] Figure 2b This is a schematic diagram of the lateral field of view and the longitudinal viewing angle of a virtual image plane according to an embodiment of the present invention.

[0069] Figure 2c This is a schematic diagram of a virtual image plane from a lower perspective according to an embodiment of the present invention;

[0070] Figure 2d This is a schematic diagram of virtual image distance provided according to an embodiment of the present invention;

[0071] Figure 2e This is a parameter diagram provided according to an embodiment of the present invention;

[0072] Figure 2f This is a schematic diagram of the position between an obstacle and a vehicle according to an embodiment of the present invention;

[0073] Figure 2g This is a schematic diagram of the head-up display effect of AR collision warning information provided in an embodiment of the present invention;

[0074] Figure 2h This is a parameter diagram provided according to an embodiment of the present invention;

[0075] Figure 2i This is a hardware architecture diagram provided according to an embodiment of the present invention;

[0076] Figure 2j This is another hardware architecture diagram provided according to an embodiment of the present invention;

[0077] Figure 2k This is a schematic diagram of vehicle longitudinal vibration according to an embodiment of the present invention;

[0078] Figure 3a This is a flowchart of another image jitter compensation method provided according to an embodiment of the present invention;

[0079] Figure 3b This is another parameter diagram provided according to an embodiment of the present invention;

[0080] Figure 4 This is a schematic diagram of the structure of an image jitter compensation device according to an embodiment of the present invention;

[0081] Figure 5 This is a schematic diagram of a vehicle structure provided by the present invention;

[0082] Figure 6 This is a schematic diagram of the structure of the vehicle for implementing the image jitter compensation method of this invention. Detailed Implementation

[0083] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0084] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0085] The image jitter compensation method provided in this application embodiment can be applied to a head-up display device, which can be applied to any variety of vehicles (not shown). For example, the vehicles can include, but are not limited to, land vehicles such as vehicles, air vehicles such as aircraft (or flying vehicles), or water or underwater vehicles.

[0086] Figure 1aThis is a flowchart of an image jitter compensation method provided in an embodiment of the present invention. This embodiment is applicable to situations where the vehicle is jittering, and the target AR element is projected onto the imaging element of the vehicle by determining the position information of the target AR element in the head-up display coordinate system. This method can be executed by an image jitter compensation device, which can be implemented in hardware and / or software.

[0087] like Figure 1a As shown, the method includes:

[0088] S110. Obtain the first location description information of the target AR element in the real world.

[0089] During actual driving, relying on electronic screens on the vehicle to obtain driving assistance information may prolong the driver's control time, potentially impacting driving safety to some extent. When AR elements are displayed using a head-up display (HUD), these elements can be matched with the real-world mobile environment, providing driving assistance information to the driver without interfering with their normal driving, thus enabling timely control of the vehicle.

[0090] In this context, AR elements can be understood as driver assistance information displayed using augmented reality technology. AR elements can be any element that needs to be displayed on the imaging elements of a vehicle using virtual reality technology. This embodiment of the invention uses AR navigation elements and AR collision warning elements as examples, but does not limit the specific AR elements used.

[0091] Driving assistance information may include, but is not limited to, instructions for navigation routes or markers indicating obstacles in a real-world moving environment. Optionally, when the driving assistance information is instructions for navigation routes, the AR element may be an AR navigation element, which may include, but is not limited to, virtual models, arrows, dashed lines, or other elements used to indicate direction. When the driving assistance information is markers indicating obstacles in a real-world moving environment, the AR element may be an AR collision warning element, which may include, but is not limited to, shapes such as triangles or straight lines that can indicate or mark obstacles. For example, in some embodiments, the AR collision warning element may also be a simple line drawing of a person, an animal, or a building.

[0092] Optionally, when the head-up display condition of the target AR element is met, the first location description information of the target AR element in the real world can be obtained.

[0093] Heads-up display conditions can serve as a prerequisite for displaying target AR elements on the imaging element of a vehicle.

[0094] The target AR element can be understood as an AR element that matches the driving assistance information required by the driver in the current real-world mobile environment.

[0095] In a specific example, if an obstacle to be alerted is detected in the environment surrounding the vehicle, the conditions for an AR collision warning element to be displayed are met. The target AR element can be an AR collision warning element, and its shape and size can be set according to the actual obstacle attributes and preset specifications. If the vehicle has a planned navigation path and the vehicle's position changes within a certain distance from the planned navigation path, the conditions for an AR navigation element to be displayed are met. The target AR element can be an AR navigation element, and its shape and size can be set according to the actual movement environment and navigation plan. At a specific moment in the vehicle's operation, the target AR element is not limited to either an AR navigation element or an AR collision warning element; it can be both, or it can include other AR elements, such as lane departure warning or line crossing warning elements.

[0096] The first position description information may represent the desired display position of the target AR element in the real world. For example, when the target AR element is an AR navigation element, the first position description information of the target AR element in the real world may include the length and width values ​​of the target AR element in the real world, the height value from the reference plane, the left offset of the center point of the target AR element relative to the driving axis, and the current distance the vehicle needs to travel to perform the next desired action. When the target AR element is an AR collision warning element, the first position description information of the target AR element in the real world may include the length and width values ​​of the target AR element in the real world, the height value from the reference plane, the left offset of the center point of the target AR element relative to the driving axis, and the current distance the vehicle needs to travel to perform the next desired action.

[0097] Taking vehicles as an example, AR elements can be sent from the vehicle controller to the vehicle HUD device, and then projected onto the windshield of the vehicle by the HUD device. The image formed by the reflection of the windshield is usually called a virtual image. The driver can see the virtual image through the windshield, as well as the real road conditions ahead. In other words, the user can see a virtual image superimposed on the real environment.

[0098] Furthermore, to understand the present invention, the display effect of the target AR navigation element is illustrated by way of example. Taking a vehicle as an example, the vehicle is equipped with the head-up display device provided in this application. When there is a slow-moving vehicle in front of the vehicle and the vehicle is traveling at a relatively high speed, the vehicle controller may determine that the vehicle in front is an obstacle to be warned, and generate a collision warning matching the obstacle. Then, an image containing the collision warning element is displayed through the HUD, and a projected image containing AR collision warning elements (such as colored horizontal lines) is displayed on the vehicle's imaging element. In the driver's view, the colored horizontal lines may be located directly below the vehicle in front in the real world. According to real-time navigation information, when it is determined that the vehicle is about to turn right, a right turn indicator arrow is displayed on the driver's windshield, and in the driver's view, the right turn indicator arrow is laid flat or perpendicular to the target road to be entered, so as to indicate the driving route.

[0099] S120. When it is determined that the vehicle is shaking, based on the longitudinal and / or lateral velocity description information of the vehicle and the first position description information of the target AR element in the real world, determine the second position description information of the target AR element after shaking compensation in the head-up display coordinate system in the virtual image plane.

[0100] This invention fully considers that during vehicle movement, changes in the moving environment (such as uneven road surfaces or strong currents in water) often cause the relative position of the vehicle to change beyond expectations. This change in relative position may be in the longitudinal or lateral direction of the vehicle. Furthermore, the head-up display device inside the vehicle is relatively stationary. This may cause the image projected onto the imaging element by the head-up display device to fail to match the actual driving environment, resulting in the AR elements failing to accurately fit the actual moving environment and affecting the driver's judgment. To address the aforementioned issues, this invention creatively proposes a method to determine, based on the longitudinal and / or lateral velocity description information of the vehicle and the first position description information of the target AR element in the real world, a second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after jitter compensation. This second position description information is then used to determine the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle. This results in obtaining a target projection image with a new target layout position, which is then projected onto the imaging element of the vehicle. This ensures that the target AR element can still be displayed stably even when the vehicle is jittering, and can conform to the real-world moving environment.

[0101] Optionally, the vehicle can determine whether it is shaking by using sensors installed on it. Taking a vehicle as an example, the vehicle can determine the longitudinal shaking by using the accelerometer and gyroscope in the vertical direction of its inertial measurement unit (IMU), and it can also determine the lateral shaking by using the gyroscope in the horizontal direction of its IMU. Other devices or components capable of determining whether the vehicle is shaking can also be used for this determination; there is no limitation on the method of determining vehicle shaking.

[0102] The longitudinal description information of the vehicle may include the vehicle's acceleration 'a' in the vertical direction. v and angular acceleration a ω The lateral description information of the vehicle may include the rotational angular acceleration of the vehicle in the horizontal direction. The horizontal direction of the vehicle generally refers to the direction of movement of the vehicle, and the vertical direction of the vehicle generally refers to the direction perpendicular to the vehicle itself. For example, in some embodiments, assuming the road surface on which the vehicle travels is considered a horizontal plane, the vertical direction of the vehicle may refer to the vertical direction relative to that horizontal plane.

[0103] It is understandable that the virtual image plane serves as the virtual image imaging surface of the target AR element (refer to the principle of mirror imaging). When the light source in the HUD projects the projection image containing the target AR element onto the imaging element of the vehicle, the target AR element actually observed from the driver's perspective is located on this virtual image plane in space. By controlling the imaging size and imaging position of the target AR element in the virtual image plane, the final effect presented from the driver's perspective is the fusion of the virtual image of the target AR element with the moving environment in the real world.

[0104] Optionally, the virtual image plane can generally be one or more planes with known length and width. When there are multiple virtual image planes, these planes can serve as virtual image imaging surfaces for different target AR elements. The head-up display coordinate system can be understood as a coordinate system in the virtual image plane with a fixed point as the origin. For example, the upper left corner of the virtual image plane can be used as the origin of the head-up display coordinate system, with the horizontal direction as the x-axis and the vertical direction as the y-axis. Each point in the virtual image plane has a fixed coordinate value in the head-up display coordinate system.

[0105] Figure 1b This is a schematic diagram of the projection of a target AR element within an optional virtual image plane. Figure 1bIn the example shown, the HUD projects a target image containing the target AR element onto the windshield, allowing the driver to observe the target AR element through the windshield. The three triangles pointing to the left represent the target AR element within the virtual image plane. The four points of the smaller rectangle outside the triangles represent the corner points of the target AR element in the head-up display coordinate system. The head-up display coordinate system is located within the virtual image plane, and the specific origin and orientation of the head-up display coordinate system can be determined by the designer. The corner point coordinates are as follows: Figure 1b As shown, the coordinates can be the top left corner (Xi, Yi), the top right corner (Xi, Yj), the bottom left corner (Xj, Yi), and the bottom right corner (Xj, Yj).

[0106] Since the distance between the virtual image plane of the vehicle projection and the vehicle itself is generally a fixed distance, if you want to change the display position and size of the target AR element that blends with the real world in the driver's view, you can generally change the position and size of the target AR element in the head-up display coordinate system in the virtual image plane, thereby changing the display position and size of the target AR element that blends with the real world in the driver's view.

[0107] The second position description information may include, but is not limited to, the corner coordinates, fixed point coordinates, and shape parameters of the target AR element in the head-up display coordinate system of the virtual image plane. The specific content of the second position description information may be matched with the type of the target AR element, and the second position description information may be used to describe the specific imaging position and shape size of the target AR element in the virtual image plane.

[0108] Optionally, when the target AR element is an AR navigation element, the second location description information can be calculated using the first location description information and preset optical performance parameters; when the target AR element is a collision warning element, the second location description information can be calculated using the first location description information, preset optical performance parameters, standard obstacle width, and the element shape of the target AR collision warning element.

[0109] When the target AR element is initially projected onto the vehicle's imaging element, it possesses an initial second position description in the head-up display coordinate system of the virtual image plane. When the vehicle experiences real-time vibrations, to prevent the target AR element from failing to blend with the real world, the second position description information of the target AR navigation can be modified to compensate for the specific imaging position and shape size of the target AR element in the head-up display coordinate system of the virtual image plane. This ensures that, from the driver's perspective, the target AR element always blends with the real world.

[0110] Optionally, the parameters used to calculate the second position description information can be corrected based on the longitudinal and / or lateral description information of the vehicle, thereby compensating for the initial second position description information. When the vehicle experiences longitudinal vibration (e.g., in the direction perpendicular to the ground plane relative to the ground plane), the specified optical performance parameters can be corrected using the vehicle's longitudinal description information, and the second position description information can be recalculated using the corrected optical performance parameters to obtain the second position description information after longitudinal vibration compensation. When the vehicle experiences lateral vibration, the specified first position description information can be corrected using the vehicle's lateral description information, and the second position description information can be recalculated based on the corrected first position description information to obtain the second position description information after lateral vibration compensation.

[0111] In the embodiments described in this invention, when longitudinal compensation is performed on the second position description information of the vehicle, the compensation result is to change the longitudinal coordinates of the target AR element in the projected image. When lateral compensation is performed on the second position description information of the vehicle, the compensation result is to change the lateral coordinates of the target AR element in the projected image. If the vehicle produces both longitudinal and lateral jitter, then the longitudinal and lateral coordinates of the target AR element in the projected image are changed simultaneously. If the vehicle produces only longitudinal or lateral jitter, then the corresponding coordinates are changed.

[0112] S130. Based on the second position description information, determine the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle, and project the target projection image displayed by the head-up display device onto the imaging element of the vehicle.

[0113] The head-up display device in the vehicle can be used to project a target projection image, including the target AR element, onto the imaging element of the vehicle, so that the user can view the virtual image including the target AR element displayed in the virtual image plane.

[0114] The imaging element of the vehicle can be the vehicle's front window (e.g., the windshield), a reflective film layer or an imaging window disposed on the surface of the front window near the head-up display device. Imaging through the windshield is called W-HUD (Windshield-HUD), and imaging through the imaging window is called C-HUD (Combiner-HUD). Optionally, the imaging window is generally made of a transparent material (transparent to visible light) or an imaging plate with a certain curvature.

[0115] The target projection image can be generated by a head-up display device and displayed on the imaging element of the vehicle. The target projection image can contain the target AR element that needs to be displayed. Taking a vehicle as an example, the imaging element of the vehicle can generally be the windshield. The four sides of the projection image displayed on the windshield can be aligned with the four sides of a pre-defined rectangular area on the windshield to reflect the target projection image to the driver's eyes.

[0116] In a specific example, if it is desired to display the target AR element in the middle of a preset rectangular area on the windshield of the vehicle, then the target AR element should also be positioned in the corresponding middle part of the target projected image.

[0117] Understandably, based on the existing virtual image plane imaging principle, once the second position description information of the target AR element is obtained, the specific position that the target AR element should be displayed on the imaging element of the vehicle can be obtained, and thus the specific image layout position of the target AR element in the target projection image can also be obtained.

[0118] Furthermore, the target layout position can be understood as the layout position of the target AR element in the target projection image (or further understood as the pixel position occupied by the target AR element in the target projection image). Since the relative positions of the virtual image plane, the imaging element of the vehicle, and the head-up display device are generally relatively fixed, it is only necessary to obtain the second position description information of the target AR element to obtain the definite target layout position of the target AR element in the target projection image according to the preset coordinate transformation relationship. The above information all have a certain mapping relationship.

[0119] The technical solution of this invention obtains the first position description information of the target AR element in the real world, corrects specified parameters when vehicle vibration is detected, and uses the corrected parameters to determine the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after vibration compensation. Based on the second position description information, the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle is determined. The target projection image displayed by the head-up display device is then projected onto the imaging element of the vehicle. This method ensures that the target AR element on the vehicle imaging element can still conform to the real moving environment when the vehicle is vibrating, avoids distortion of the target AR element, ensures that the image can be displayed normally and neatly, and effectively improves the driver's user experience.

[0120] Figure 2aThis is a flowchart of another image jitter compensation method provided by an embodiment of the present invention. Based on the above embodiments, this embodiment specifically illustrates the image jitter compensation process during longitudinal vehicle turbulence. Figure 2a As shown, the method includes:

[0121] S210. Obtain the first location description information of the target AR element in the real world.

[0122] Specifically, obtaining the first location description information of the target AR element to be displayed in the real world can include:

[0123] When an obstacle to be alerted is detected in the environment around the vehicle, the first location description information of the target AR collision warning element that matches the obstacle in the real world is obtained;

[0124] or;

[0125] When a cue condition for the next desired action of the vehicle is detected, the first location description information of the target AR navigation element in the real world that matches the next desired action is obtained.

[0126] Specifically, obtaining the first location description information of the target AR element in the real world can include:

[0127] When a target AR element is identified as a target AR collision warning element, the preset offset of the vehicle itself relative to the vehicle's driving axis, the relative distance in the relative position description information between the obstacle and the vehicle, and the offset of the obstacle relative to the vehicle's driving axis are obtained as the first position description information of the target AR collision warning element; or

[0128] When a target AR element is identified as a target AR navigation element, the length and width values ​​of the target AR navigation element in the real world, the height value from the reference plane, the left offset of the center point of the target AR navigation element relative to the driving axis, and the current distance value between the target AR navigation element and the vehicle in the target projection image currently displayed in the virtual image plane are obtained as the first position description information of the target AR navigation element.

[0129] When a vehicle navigates via a controller mounted on the vehicle, if the navigation path planning information determines that the vehicle needs to change its current attitude, then the action to change the current attitude is the vehicle's next desired action. For example, if the vehicle is currently traveling straight, and the navigation plan indicates that it is about to turn right, then the next desired action is for the vehicle to turn right.

[0130] S220. When it is determined that the vehicle is shaking, acquire at least one optical performance parameter corresponding to the virtual image plane.

[0131] The optical performance parameters include, but are not limited to:

[0132] The virtual image plane's horizontal field of view, vertical field of view, downward viewing angle, horizontal resolution, vertical resolution, virtual image distance, and preset distance between the human eye and the reference plane are all included.

[0133] For ease of understanding, Figure 2b The diagram illustrates the lateral field of view and longitudinal viewing angle of a virtual image plane projected onto a vehicle's windshield, using this example. Figure 2c The diagram illustrates a possible lower-view perspective of the virtual image plane; Figure 2d The diagram shows an optional virtual image distance.

[0134] Among them, the lateral field of view of the virtual image plane is as follows: Figure 2b As shown, this can be understood as the angle between the lines connecting the midpoints of the two vertical sides of the rectangular virtual image and the central eye point; the longitudinal viewing angle of the virtual image plane is as follows: Figure 2b As shown, the angle between the midpoints of the two horizontal sides of the rectangular virtual image and the central eye point can be understood as the angle between the line connecting the central eye point and the center point of the virtual image and the horizontal line containing the center point of the virtual image; the downward angle of the virtual image plane is as follows: Figure 2c As shown, this can be understood as the angle between the line connecting the central eye point and the center point of the virtual image and the horizontal plane; the virtual image distance is as follows: Figure 2d As shown, this can be understood as the distance from the driver's eye to the projection onto the virtual image plane.

[0135] The advantage of this setting is that by presetting optical performance parameters, the projection position and size of the target AR collision warning element in the virtual image plane can be calculated more accurately, and at the same time, the calculation efficiency can be effectively improved.

[0136] S230. Based on the longitudinal velocity description information of the vehicle, at least one of the target optical performance parameters is corrected.

[0137] Specifically, correcting at least one target optical performance parameter based on the longitudinal velocity description information of the vehicle can include:

[0138] The vehicle's real-time acceleration in the longitudinal direction is obtained, and the preset distance value between the human eye and the reference plane is corrected based on the vehicle's real-time acceleration in the longitudinal direction.

[0139] The vehicle's real-time angular acceleration in the longitudinal direction is obtained, and the downward viewing angle of the virtual image plane is corrected based on the real-time angular acceleration.

[0140] Specifically, acquiring the vehicle's real-time acceleration in the longitudinal direction and correcting the preset distance value between the human eye and the reference plane based on the vehicle's real-time acceleration in the longitudinal direction can include:

[0141] Obtain the vehicle's acceleration in the vertical direction as the vehicle's real-time acceleration in the longitudinal direction;

[0142] The real-time acceleration of the vehicle in the longitudinal direction is integrated over a set time period to obtain a first correction value, and the first correction value is used to correct the preset distance value between the human eye and the reference plane.

[0143] This includes acquiring the real-time angular acceleration of the vehicle in the longitudinal direction, and correcting the downward viewing angle of the virtual image plane based on the real-time angular acceleration of the vehicle in the longitudinal direction, including:

[0144] The vehicle's rotational angular acceleration in the vertical direction is obtained and used as the vehicle's real-time angular acceleration in the longitudinal direction.

[0145] The real-time angular acceleration of the vehicle in the longitudinal direction is integrated over a set time period to obtain a second correction value, which is then used to correct the downward viewing angle of the virtual image plane.

[0146] In a specific example, ed can be used to represent the distance between the human eye and the ground, and the first correction value used to correct ed can be expressed as ∫a v Δt, the corrected ed can be expressed as ed(new)=∫a v Δt+ed; the downward angle of the virtual image plane can be represented by lda, and the second correction value used to correct lda can be expressed as ∫a ω Δt, the corrected lda can be expressed as lda(new)=∫a ω Δt+lda.

[0147] Among them, a v a represents the acceleration of the vehicle in the vertical direction. ω This represents the angular acceleration of the vehicle in the vertical direction.

[0148] S240. Based on the corrected optical performance parameters and the first position description information, determine the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after longitudinal jitter compensation.

[0149] Optionally, based on the corrected optical performance parameters and the first position description information, the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after longitudinal jitter compensation is determined, which may specifically include:

[0150] When a target AR element is identified as a target AR collision warning element, the fixed-point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system are determined based on the corrected optical performance parameters, the first position description information, the standard obstacle width corresponding to the obstacle type indicated by the target AR collision warning element, and the element shape of the target AR collision warning element, and are used as the second position description information.

[0151] When determining that the target AR element is the target AR navigation element, the corner coordinates of the target AR navigation element in the head-up display coordinate system are determined based on various optical performance parameters and the first position description information, and are used as the second position description information.

[0152] It is understandable that when the vehicle experiences longitudinal shaking, the impact on the imaging position of the target AR element is generally also longitudinal. Therefore, when the head-up display coordinate system of the virtual image plane has the horizontal plane as the X-axis and the direction perpendicular to the horizontal plane as the Y-axis, it is only necessary to use the corrected optical performance parameters to correct the second position description information in the Y-axis direction.

[0153] Taking a target AR navigation element as an example, the corner coordinates X of the target AR navigation element in the head-up display coordinate system can be calculated using the following formula. i X j Y i and Y j ;

[0154]

[0155]

[0156]

[0157]

[0158] Where hr is the horizontal resolution of the virtual image plane, vr is the vertical resolution of the virtual image plane, vid is the virtual image distance, hfov is the lateral field of view, vfov is the longitudinal field of view, irw is the width of the target AR navigation element in the real world, irh is the length of the target AR navigation element in the real world, igh is the height of the target AR navigation element relative to the distance reference plane in the real world, ild is the left offset of the center point of the target AR navigation element relative to the driving axis, ed is the distance between the human eye and the ground, loa is the left view of the virtual image plane, lda is the lower view of the virtual image plane, and icd is the current distance between the target AR navigation element and the vehicle in the currently displayed image frame of the virtual image plane. For example, assuming the AR navigation element is a directional arrow, the current distance between the center point of the arrow and the vehicle.

[0159] When the vehicle experiences longitudinal vibration, only the Y... i and Y j By making corrections, the technical effect of matching the target AR navigation elements with the real world can be achieved. If the corrected ed is represented as ed(new) and the corrected lda is represented as lda(new), then the second position description information after vertical jitter compensation can be:

[0160]

[0161]

[0162] Figure 2e This is a diagram illustrating an optional parameter. (Example) Figure 2e As shown, the diagonal thick line segment represents the longitudinal position of the target AR element in the virtual image plane, the vertical thick line segment represents the longitudinal position of the target AR element in the real world, the upper left corner is the driver's center eye point, Yi is the uppermost coordinate value of the target AR element in the virtual image plane, Yj is the lowermost coordinate value of the target AR element in the virtual image plane, ed is the distance between the human eye and the ground, vfov is the longitudinal field of view angle, igh is the height value of the distance reference plane of the target AR element in the real world, icd is the current distance between the target AR navigation element and the vehicle in the currently displayed image frame of the virtual image plane, for example, assuming the AR navigation element is a directional arrow, the current distance between the center point of the arrow and the vehicle. lda is the lower viewpoint of the virtual image plane, and irh is the length value of the target AR element in the real world.

[0163] Taking the target AR element as an AR collision hint element as an example, Figure 2f This is a schematic diagram illustrating the possible positions of an obstacle and a vehicle. (Example) Figure 2f As shown, the vehicle in the lower left corner is a vehicle using the collision warning information display method of this invention, and the vehicle in the upper right corner is an obstacle vehicle in the surrounding environment of the vehicle. Figure 2f In this context, D can represent the offset between the vehicle's driving axis and the obstacle vehicle's centerline, and L can represent the relative distance between the front end of the vehicle and the rear end of the obstacle vehicle. For example, L can represent the relative distance between the driver and the rear end of the obstacle vehicle. D and L are descriptions of the relative position between the vehicle and the obstacle vehicle.

[0164] Figure 2g This is a schematic diagram illustrating the head-up display effect of an optional AR collision warning element. The target AR collision warning element is... Figure 2g The horizontal line below the vehicle in the AR collision warning element has a starting coordinate of 'a' in the head-up display coordinate system. The width of the line segment is the width of the horizontal line. Generally, the line segment width matches the vehicle type. For wider and larger vehicles, the line segment width will be appropriately increased.

[0165] Optionally, assuming the obstacle vehicle width obtained from the second database is W, the line segment width Δx can be calculated using the following formula:

[0166]

[0167] Where x is the horizontal resolution of the virtual image plane, and FOVx is the lateral field of view of the virtual image plane. h is the height of the driver's view above the ground (equivalent to ed in the previous example), and L is the relative distance between the front of the vehicle and the rear of the obstacle vehicle.

[0168] The starting coordinate of the line segment is 'a'. Available coordinates This means that x0 and y0 can be calculated using the following formula:

[0169]

[0170]

[0171] Where FOVy is the longitudinal field of view of the virtual image plane, y is the vertical resolution of the virtual image plane, LDA is the downward viewing angle of the virtual image plane, and D and d are related to... Figure 2f The parameters corresponding to them are the same. D and d have been explained in detail in the above embodiments, and will not be explained again here.

[0172] When the vehicle experiences real-time vertical shaking, correcting only y0 is sufficient to achieve the technical effect of matching the target AR navigation elements with the real world. If the corrected lda is represented as lda(new), and the corrected h is represented as h(new), which is equivalent to ed(new) mentioned earlier, then the second position description information after shaking compensation can be:

[0173]

[0174] The formulas used above to represent the second position description information after jitter compensation are for illustrative purposes only. For different types of target AR elements, the formulas used to represent the second position description information and the formulas used to represent the second position description information after jitter compensation can be set according to the actual target AR element type, and are not limited here.

[0175] Figure 2h This is a schematic diagram of an optional parameter, such as... Figure 2h As shown, the point in the upper left corner is the driver's center eye point, h is the height of the driver's view from the ground plane, L is the relative distance between the driver and the rear of the obstacle vehicle, L0 is the third side of the right triangle formed by h and L, FOVy is the longitudinal field of view of the virtual image, and LDA is the downward field of view of the virtual image.

[0176] S250. Based on the second position description information, determine the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle, and project the target projection image displayed by the head-up display device onto the imaging element of the vehicle.

[0177] Figure 2i and Figure 2j The diagrams show two different hardware architectures that can implement the image jitter compensation method of this invention. Figure 2i and Figure 2j The hardware architecture diagram in the diagram can be configured in the vehicle, but Figure 2i and Figure 2j This is just an example and does not impose any specific restrictions. Figure 2i and Figure 2j The hardware architecture diagrams shown all consist of a combination of a camera, an advanced driver assistance system, a main control module, a head-up display (HUD), and an IMU (Inertial Measurement Unit). Figure 2i The IMU and HUD are directly connected to the main control module. Figure 2j The HUD is directly connected to the main control module, and the IMU is directly connected to the HUD module. The main control module can be used to execute the image jitter compensation method as described in this embodiment; the camera is used to acquire images, including lanes / lane lines / vehicles / pedestrians / non-motorized vehicles, etc.; the advanced driver assistance system is used to recognize the information acquired by the camera; the HUD is used to project target AR elements onto a projection element; and the IMU is used for vehicle motion attitude detection (e.g., tilting, nodding, and pitching during turning or acceleration / deceleration).

[0178] Figure 2k This is a schematic diagram illustrating one possible form of vehicle longitudinal vibration. (Example) Figure 2j As shown, when the vehicle moves up and down, the projected image on the vehicle's head-up display has a significant vertical displacement in the virtual image plane. This results in the target AR element projected onto the in-vehicle imaging element having a vertical displacement in the driver's view, and the target AR element cannot fit the real scene.

[0179] The technical solution of this invention, by correcting the specified optical performance parameters and using the corrected optical performance parameters to compensate for the second position description information of the target AR element in the virtual image plane in the head-up display coordinate system, can adjust the longitudinal coordinate of the target AR element in the virtual image plane, so as to ensure that the target AR element can still match the real moving environment when the vehicle has longitudinal shaking, achieve a better display effect, and effectively improve the driver's user experience.

[0180] Figure 3aThis is a flowchart of another image jitter compensation method provided by an embodiment of the present invention. Based on the above embodiments, this embodiment specifically illustrates the image jitter compensation process during lateral vehicle movement. Figure 3a As shown, the method includes:

[0181] S310. Obtain the first position description information of the target AR element in the real world.

[0182] S320. When it is determined that the vehicle is shaking, acquire at least one optical performance parameter corresponding to the virtual image plane.

[0183] S330. Based on the lateral velocity description information of the vehicle, at least one of the target first position description information in the first position description information is corrected.

[0184] Specifically, correcting at least one item of the target's first position description information in the first position description information based on the vehicle's lateral velocity description information may include:

[0185] When the target AR element is determined to be the target AR navigation element, the real-time angular acceleration of the vehicle in the lateral direction is obtained, and the left offset of the center point of the target AR navigation element relative to the driving axis is corrected based on the real-time angular acceleration of the vehicle in the lateral direction.

[0186] Specifically, acquiring the vehicle's real-time angular acceleration in the lateral direction and correcting the left offset of the target AR navigation element's center point relative to the driving axis based on this real-time angular acceleration can include:

[0187] The vehicle's rotational angular acceleration in the horizontal direction is obtained as the vehicle's real-time angular acceleration in the lateral direction;

[0188] The real-time angular acceleration of the vehicle in the lateral direction is integrated over a set time period to obtain the third correction value;

[0189] Based on the third correction value and the current distance between the target AR navigation element and the vehicle in the target projection image currently displayed in the virtual image plane, the left offset of the center point of the target AR navigation element relative to the driving axis is corrected.

[0190] In a specific example, ild can be used to represent the left offset of the center point of the target AR navigation element relative to the driving axis, ha can be used to represent the real-time angular acceleration of the vehicle in the lateral direction, the third correction value can be expressed as ∫haΔt, and the corrected ild can be expressed as ild(new). The specific formula for ild(new) is as follows:

[0191] ild(new)=icd*tan((ild0+∫haΔt) / icd)

[0192] Where icd is the current distance between the target AR navigation element and the vehicle in the image frame currently displayed on the virtual image plane. For example, assuming the AR navigation element is a directional arrow, it is the current distance between the center point of the arrow and the vehicle. ild0 is the ild value before correction.

[0193] S340. Based on the acquired optical performance parameters and the corrected first position description information, determine the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after lateral jitter compensation.

[0194] It is understandable that when the vehicle is laterally shaking, the impact on the imaging position of the target AR element is generally also lateral. Therefore, when the head-up display coordinate system of the virtual image plane has the horizontal plane as the X-axis and the direction perpendicular to the horizontal plane as the Y-axis, it is only necessary to use the corrected optical performance parameters to correct the second position description information in the X-axis direction.

[0195] Taking a target AR navigation element as an example, the corner coordinates X of the target AR navigation element in the head-up display coordinate system can be calculated using the following formula. i X j Y i and Y j , where X i X j Y i and Y j As described in the above embodiments, when the vehicle experiences lateral vibration, only X... i and X j By making corrections, the technical effect of matching the target AR navigation element with the real world can be achieved. If the corrected ild is represented as ild(new), then the second position description information after lateral jitter compensation can be:

[0196]

[0197]

[0198] Among them, X i and X j The meanings of each parameter have been explained in detail in the above embodiments and will not be repeated here.

[0199] Figure 3b This is a diagram illustrating an optional parameter. (Example) Figure 3bAs shown, the thick diagonal line segment represents the lateral position of the target AR element in the virtual image plane, the thick vertical line segment represents the lateral position of the target AR element in the real world, the left endpoint is the driver's center eye point, Xi is the leftmost coordinate value of the target AR element in the virtual image plane, Xj is the rightmost coordinate value of the target AR element in the virtual image plane, icd is the current distance between the target AR navigation element and the vehicle in the currently displayed image frame of the virtual image plane, for example, assuming the AR navigation element is a directional arrow, the current distance between the center point of the arrow and the vehicle. ild is the left offset of the center point of the target AR navigation element relative to the driving axis, and loa is the left viewpoint of the virtual image plane.

[0200] S350. Based on the second position description information, determine the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle, and project the target projection image displayed by the head-up display device onto the imaging element of the vehicle.

[0201] The technical solution of this invention, by correcting the specified first position description information and compensating the second position description information of the target AR element in the virtual image plane in the head-up display coordinate system according to the optical performance parameters and the corrected first position description information, can adjust the lateral coordinates of the target AR element in the virtual image plane, so as to ensure that the target AR element can still match the real moving environment when the vehicle has lateral shaking, achieve a better display effect, and effectively improve the driver's user experience.

[0202] Figure 4 This is a schematic diagram of an image jitter compensation device provided in an embodiment of the present invention. Figure 4 As shown, the device includes: a first location description information acquisition module 410, a second location description information acquisition module 420, and a projection image projection module 430.

[0203] The first location description information acquisition module 410 is used to acquire the first location description information of the target AR element in the real world.

[0204] The second position description information acquisition module 420 is used to determine, when it is determined that the vehicle is shaking, the second position description information of the target AR element after shaking compensation in the head-up display coordinate system in the virtual image plane, based on the longitudinal and / or lateral velocity description information of the vehicle and the first position description information of the target AR element in the real world.

[0205] The projection image module 430 is used to determine the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle according to the second position description information, and to project the target projection image displayed by the head-up display device onto the imaging element of the vehicle.

[0206] The technical solution of this invention obtains the first position description information of the target AR element in the real world, corrects specified parameters when vehicle vibration is detected, and uses the corrected parameters to determine the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after vibration compensation. Based on the second position description information, the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle is determined. The target projection image displayed by the head-up display device is then projected onto the imaging element of the vehicle. This method ensures that the target AR element on the imaging element of the vehicle can still conform to the real moving environment when the vehicle is vibrating, avoids distortion of the target AR element, ensures that the image can be displayed normally and neatly, and effectively improves the driver's user experience.

[0207] Based on the above embodiments, the first location description information acquisition module 410 can be specifically used for:

[0208] When an obstacle to be alerted is detected in the environment around the vehicle, the head-up display conditions of the target AR collision warning element that matches the obstacle are obtained;

[0209] or;

[0210] When a cue condition for the next desired action of the vehicle is detected, a head-up display condition for the target AR navigation element that matches the next desired action is determined.

[0211] Based on the above embodiments, the first location description information acquisition module 410 can also be specifically used for:

[0212] When a target AR element is identified as a target AR collision warning element, the preset offset of the vehicle itself relative to the vehicle's driving axis, the relative distance in the relative position description information between the obstacle and the vehicle, and the offset of the obstacle relative to the vehicle's driving axis are obtained as the first position description information of the target AR collision warning element; or

[0213] When a target AR element is identified as a target AR navigation element, the length and width values ​​of the target AR navigation element in the real world, the height value from the reference plane, the left offset of the center point of the target AR navigation element relative to the driving axis, and the current distance value between the target AR navigation element and the vehicle in the target projection image currently displayed in the virtual image plane are obtained as the first position description information of the target AR navigation element.

[0214] Based on the above embodiments, the second location description information acquisition module 420 may include:

[0215] The first optical performance parameter acquisition unit is used to acquire at least one optical performance parameter corresponding to the virtual image plane;

[0216] An optical performance parameter correction unit is used to correct at least one target optical performance parameter among various optical performance parameters based on the longitudinal velocity description information of the vehicle.

[0217] The longitudinal jitter compensation second position description information determination unit is used to determine the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after longitudinal jitter compensation, based on the corrected optical performance parameters and the first position description information.

[0218] Based on the above embodiments, the second location description information acquisition module 420 may further include:

[0219] The second optical performance parameter acquisition unit is used to acquire at least one optical performance parameter corresponding to the virtual image plane;

[0220] The first position description information correction unit is used to correct at least one target first position description information in the first position description information according to the lateral velocity description information of the vehicle.

[0221] The second position description information determination unit for lateral jitter compensation is used to determine the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after lateral jitter compensation, based on the acquired optical performance parameters and the corrected first position description information.

[0222] Based on the above embodiments, the optical performance parameters may include:

[0223] The lateral field of view of the virtual image plane, the longitudinal field of view of the virtual image plane, the downward angle of view of the virtual image plane, the horizontal resolution of the virtual image plane, the vertical resolution of the virtual image plane, the virtual image distance, and the preset distance value between the human eye and the reference plane.

[0224] Based on the above embodiments, the optical performance parameter correction unit may include:

[0225] The human eye-reference plane distance correction subunit is used to obtain the real-time acceleration of the vehicle in the longitudinal direction and correct the preset human eye-reference plane distance value based on the real-time acceleration of the vehicle in the longitudinal direction.

[0226] The downward view correction subunit is used to obtain the real-time angular acceleration of the vehicle in the longitudinal direction and correct the downward view of the virtual image plane based on the real-time angular acceleration of the vehicle in the longitudinal direction.

[0227] Based on the above embodiments, the distance correction subunit between the human eye and the reference plane can be specifically used for:

[0228] Obtain the vehicle's acceleration in the vertical direction as the vehicle's real-time acceleration in the longitudinal direction;

[0229] The real-time acceleration of the vehicle in the longitudinal direction is integrated over a set time period to obtain a first correction value, and the first correction value is used to correct the preset distance value between the human eye and the reference plane.

[0230] Based on the above embodiments, the downward view correction subunit can be specifically used for:

[0231] The vehicle's rotational angular acceleration in the vertical direction is obtained and used as the vehicle's real-time angular acceleration in the longitudinal direction.

[0232] The real-time angular acceleration of the vehicle in the longitudinal direction is integrated over a set time period to obtain a second correction value, which is then used to correct the downward viewing angle of the virtual image plane.

[0233] Based on the above embodiments, the first position description information correction unit may include:

[0234] The left offset correction subunit is used to obtain the real-time angular acceleration of the vehicle in the lateral direction when the target AR element is determined to be the target AR navigation element, and to correct the left offset of the center point of the target AR navigation element relative to the driving axis based on the real-time angular acceleration of the vehicle in the lateral direction.

[0235] Based on the above embodiments, the left offset correction subunit can be specifically used for:

[0236] The vehicle's rotational angular acceleration in the horizontal direction is obtained as the vehicle's real-time angular acceleration in the lateral direction;

[0237] The real-time angular acceleration of the vehicle in the lateral direction is integrated over a set time period to obtain the third correction value;

[0238] Based on the third correction value and the current distance between the target AR navigation element and the vehicle in the target projection image currently displayed in the virtual image plane, the left offset of the center point of the target AR navigation element relative to the driving axis is corrected.

[0239] The head-up display device provided in the embodiments of the present invention can execute the image jitter compensation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0240] Figure 5 This is a schematic diagram of a vehicle structure provided in an embodiment of the present invention. Figure 5As shown, the vehicle is equipped with a head-up display device capable of executing any embodiment of the present invention, as well as auxiliary devices such as radar, front axle wheel speed sensor, IMU, controller, steering wheel angle sensor, forward-facing camera, rear wheel speed sensor, and ESC (Electronic Stability Control) system.

[0241] The head-up display device in the vehicle can be used for:

[0242] Obtain the first location description information of the target AR element in the real world;

[0243] When it is determined that the vehicle is shaking, the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after shaking compensation is determined based on the longitudinal and / or lateral velocity description information of the vehicle and the first position description information of the target AR element in the real world.

[0244] Based on the second position description information, the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle is determined, and the target projection image displayed by the head-up display device is projected onto the imaging element of the vehicle.

[0245] Optionally, the head-up display device in the vehicle can be specifically used for:

[0246] When an obstacle to be alerted is detected in the environment around the vehicle, the first location description information of the target AR collision warning element that matches the obstacle in the real world is obtained;

[0247] or;

[0248] When a cue condition for the next desired action of the vehicle is detected, the first location description information of the target AR navigation element in the real world that matches the next desired action is obtained.

[0249] The advantage of this setup is that by acquiring the first location description information of the target AR element in the real world that matches the driving environment when the vehicle is detected to be in a specific driving environment, it is possible to ensure that effective driving assistance information is provided to the driver based on the real-time driving environment.

[0250] Optionally, the head-up display device in the vehicle can also be specifically used for:

[0251] When a target AR element is identified as a target AR collision warning element, the preset offset of the vehicle itself relative to the vehicle's driving axis, the relative distance in the relative position description information between the obstacle and the vehicle, and the offset of the obstacle relative to the vehicle's driving axis are obtained as the first position description information of the target AR collision warning element; or

[0252] When a target AR element is identified as a target AR navigation element, the length and width values ​​of the target AR navigation element in the real world, the height value from the reference plane, the left offset of the center point of the target AR navigation element relative to the driving axis, and the current distance value between the target AR navigation element and the vehicle in the target projection image currently displayed in the virtual image plane are obtained as the first position description information of the target AR navigation element.

[0253] Optionally, the head-up display device in the vehicle can also be specifically used for:

[0254] Obtain at least one optical performance parameter corresponding to the virtual image plane;

[0255] Based on the longitudinal velocity description information of the vehicle, at least one of the target optical performance parameters is corrected.

[0256] Based on the corrected optical performance parameters and the first position description information, the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after longitudinal jitter compensation is determined.

[0257] Optionally, the head-up display device in the vehicle can also be specifically used for:

[0258] Obtain at least one optical performance parameter corresponding to the virtual image plane;

[0259] Based on the lateral velocity description information of the vehicle, at least one of the target first position description information in the first position description information is corrected;

[0260] Based on the acquired optical performance parameters and the corrected first position description information, the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after lateral jitter compensation is determined.

[0261] Optionally, the head-up display device in the vehicle can also be specifically used for:

[0262] The vehicle's real-time acceleration in the longitudinal direction is obtained, and the preset distance value between the human eye and the reference plane is corrected based on the vehicle's real-time acceleration in the longitudinal direction.

[0263] The real-time angular acceleration of the vehicle in the longitudinal direction is obtained, and the downward viewing angle of the virtual image plane is corrected based on the real-time angular acceleration of the vehicle in the longitudinal direction.

[0264] Optionally, the head-up display device in the vehicle can also be specifically used for:

[0265] Obtain the vehicle's acceleration in the vertical direction as the vehicle's real-time acceleration in the longitudinal direction;

[0266] The real-time acceleration of the vehicle in the longitudinal direction is integrated over a set time period to obtain a first correction value, and the first correction value is used to correct the preset distance value between the human eye and the reference plane.

[0267] Optionally, the head-up display device in the vehicle can also be specifically used for:

[0268] The vehicle's rotational angular acceleration in the vertical direction is obtained and used as the vehicle's real-time angular acceleration in the longitudinal direction.

[0269] The real-time angular acceleration of the vehicle in the longitudinal direction is integrated over a set time period to obtain a second correction value, which is then used to correct the downward viewing angle of the virtual image plane.

[0270] The advantage of this setting is that by integrating the real-time angular acceleration over a set time period to obtain a second correction value, and using the second correction value to correct the downward viewing angle of the virtual image plane, the angular acceleration increment in the longitudinal direction of the vehicle can be accurately calculated under the action of integration, thereby improving the accuracy of the corrected optical performance parameters.

[0271] Optionally, the head-up display device in the vehicle can also be specifically used for:

[0272] When the target AR element is determined to be the target AR navigation element, the real-time angular acceleration of the vehicle in the lateral direction is obtained, and the left offset of the center point of the target AR navigation element relative to the driving axis is corrected based on the real-time angular acceleration of the vehicle in the lateral direction.

[0273] Optionally, the head-up display device in the vehicle can also be specifically used for:

[0274] The vehicle's rotational angular acceleration in the horizontal direction is obtained as the vehicle's real-time angular acceleration in the lateral direction;

[0275] The real-time angular acceleration of the vehicle in the lateral direction is integrated over a set time period to obtain the third correction value;

[0276] Based on the third correction value and the current distance between the target AR navigation element and the vehicle in the target projection image currently displayed in the virtual image plane, the left offset of the center point of the target AR navigation element relative to the driving axis is corrected.

[0277] The technical solution of this invention, by configuring a head-up display device and other auxiliary devices in the vehicle, can ensure that the target AR element on the vehicle's imaging element can still fit the real moving environment when the vehicle is shaking, thus avoiding distortion of the target AR element and ensuring that the image can be displayed normally and neatly, effectively improving the driver's user experience.

[0278] Figure 6 A schematic diagram of the structure of a head-up display device 10 that can be used to implement an embodiment of the present invention is shown.

[0279] like Figure 6 As shown, the head-up display device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the head-up display device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0280] Multiple components in the head-up display device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the head-up display device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0281] Processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, central processing unit (CPU), graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the image jitter compensation method as described in the embodiments of the present invention. That is:

[0282] Obtain the first location description information of the target AR element in the real world;

[0283] When it is determined that the vehicle is shaking, the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after shaking compensation is determined based on the longitudinal and / or lateral velocity description information of the vehicle and the first position description information of the target AR element in the real world.

[0284] Based on the second position description information, the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle is determined, and the target projection image displayed by the head-up display device is projected onto the imaging element of the vehicle.

[0285] In some embodiments, the image jitter compensation method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the head-up display device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the image jitter compensation method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the image jitter compensation method by any other suitable means (e.g., by means of firmware).

[0286] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0287] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0288] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0289] To provide interaction with a user, the systems and techniques described herein can be implemented on a head-up display device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the head-up display device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0290] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0291] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0292] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0293] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An image jitter compensation method, applied to a head-up display device, characterized in that, include: Obtain the first location description information of the target AR element in the real world; When it is determined that the vehicle is shaking, the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after shaking compensation is determined based on the longitudinal and / or lateral velocity description information of the vehicle and the first position description information of the target AR element in the real world. Based on the second position description information, determine the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle, and project the target projection image displayed by the head-up display device onto the imaging element of the vehicle; Specifically, based on the longitudinal and / or lateral velocity description information of the vehicle and the first position description information of the target AR element in the real world, the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane, after jitter compensation, is determined, including: Obtain at least one optical performance parameter corresponding to the virtual image plane; wherein the optical performance parameter includes: the lateral field of view of the virtual image plane, the longitudinal field of view of the virtual image plane, the downward viewing angle of the virtual image plane, the horizontal resolution of the virtual image plane, the vertical resolution of the virtual image plane, the virtual image distance, and a preset distance value between the human eye and the reference plane. Based on the longitudinal velocity description information of the vehicle, at least one of the target optical performance parameters is corrected. Based on the corrected optical performance parameters and the first position description information, the second position description information of the target AR element after longitudinal jitter compensation in the head-up display coordinate system in the virtual image plane is determined. Specifically, when the target AR element is a target AR collision warning element, the second position description information is the fixed point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system; when the target AR element is a target AR navigation element, the second position description information is the corner coordinates of the target AR navigation element in the head-up display coordinate system.

2. The method according to claim 1, characterized in that, Obtain the first position description information of the target AR element to be displayed in the real world, including: When an obstacle to be alerted is detected in the environment around the vehicle, the first location description information of the target AR collision warning element that matches the obstacle in the real world is obtained; or; When a cue condition for the next desired action of the vehicle is detected, the first location description information of the target AR navigation element in the real world that matches the next desired action is obtained.

3. The method according to claim 2, characterized in that, Obtaining the first location description information of the target AR element in the real world, including: When the target AR element is determined to be a target AR collision warning element, the preset offset of the vehicle itself relative to the vehicle's driving axis, the relative distance in the relative position description information between the obstacle and the vehicle, and the offset of the obstacle relative to the vehicle's driving axis are obtained as the first position description information of the target AR collision warning element; or When the target AR element is determined to be a target AR navigation element, the length and width values ​​of the target AR navigation element in the real world, the height value from the reference plane, the left offset of the center point of the target AR navigation element relative to the driving axis, and the current distance value between the target AR navigation element and the vehicle in the target projection image currently displayed in the virtual image plane are obtained as the first position description information of the target AR navigation element.

4. The method according to any one of claims 1-3, characterized in that, Based on the longitudinal and / or lateral velocity description information of the vehicle, and the first position description information of the target AR element in the real world, a second position description information of the target AR element after jitter compensation in the head-up display coordinate system in the virtual image plane is determined, including: Obtain at least one optical performance parameter corresponding to the virtual image plane; Based on the lateral velocity description information of the vehicle, at least one of the target first position description information in the first position description information is corrected; Based on the acquired optical performance parameters and the corrected first position description information, the second position description information of the target AR element in the head-up display coordinate system in the virtual image plane after lateral jitter compensation is determined.

5. The method according to claim 1, characterized in that, Based on the longitudinal velocity description information of the vehicle, at least one of the target optical performance parameters is corrected, including: The real-time acceleration of the vehicle in the longitudinal direction is obtained, and the preset distance value between the human eye and the reference plane is corrected based on the real-time acceleration of the vehicle in the longitudinal direction. The real-time angular acceleration of the vehicle in the longitudinal direction is obtained, and the downward viewing angle of the virtual image plane is corrected based on the real-time angular acceleration of the vehicle in the longitudinal direction.

6. The method according to claim 5, characterized in that, Acquire the real-time acceleration of the vehicle in the longitudinal direction, and correct the preset distance value between the human eye and the reference plane based on the real-time acceleration of the vehicle in the longitudinal direction, including: The acceleration of the vehicle in the vertical direction is obtained as the real-time acceleration of the vehicle in the longitudinal direction; The real-time acceleration of the vehicle in the longitudinal direction is integrated over a set time period to obtain a first correction value, and the first correction value is used to correct the preset distance value between the human eye and the reference plane.

7. The method according to claim 5, characterized in that, Obtain the real-time angular acceleration of the vehicle in the longitudinal direction, and correct the downward viewing angle of the virtual image plane based on the real-time angular acceleration of the vehicle in the longitudinal direction, including: The rotational angular acceleration of the vehicle in the vertical direction is obtained as the real-time angular acceleration of the vehicle in the longitudinal direction; The real-time angular acceleration of the vehicle in the longitudinal direction is integrated over a set time period to obtain a second correction value, and the second correction value is used to correct the downward viewing angle of the virtual image plane.

8. The method according to claim 4, characterized in that, Based on the lateral velocity description information of the vehicle, at least one item of the target first position description information in the first position information is corrected, including: When the target AR element is determined to be a target AR navigation element, the real-time angular acceleration of the vehicle in the lateral direction is obtained, and the left offset of the center point of the target AR navigation element relative to the driving axis is corrected based on the real-time angular acceleration of the vehicle in the lateral direction.

9. The method according to claim 8, characterized in that, Acquire the real-time angular acceleration of the vehicle in the lateral direction, and based on the real-time angular acceleration of the vehicle in the lateral direction, correct the left offset of the center point of the target AR navigation element relative to the driving axis, including: The rotational angular acceleration of the vehicle in the horizontal direction is obtained as the real-time angular acceleration of the vehicle in the transverse direction; The real-time angular acceleration of the vehicle in the lateral direction is integrated over a set time period to obtain a third correction value; Based on the third correction value and the current distance between the target AR navigation element and the vehicle in the currently displayed target projection image in the virtual image plane, the left offset of the center point of the target AR navigation element relative to the driving axis is corrected.

10. An image jitter compensation device, characterized in that, include: The first location description information acquisition module is used to acquire the first location description information of the target AR element in the real world; The second position description information acquisition module is used to determine the second position description information of the target AR element after jitter compensation in the head-up display coordinate system in the virtual image plane, based on the longitudinal and / or lateral velocity description information of the vehicle and the first position description information of the target AR element in the real world when it is determined that the vehicle is shaking. The projection image module is used to determine the target layout position of the target AR element in the target projection image formed by the head-up display device in the vehicle according to the second position description information, and to project the target projection image displayed by the head-up display device onto the imaging element of the vehicle. The second location description information acquisition module includes: The first optical performance parameter acquisition unit is used to acquire at least one optical performance parameter corresponding to the virtual image plane; wherein, the optical performance parameter includes: the lateral field of view of the virtual image plane, the longitudinal field of view of the virtual image plane, the downward viewing angle of the virtual image plane, the horizontal resolution of the virtual image plane, the vertical resolution of the virtual image plane, the virtual image distance, and a preset distance value between the human eye and the reference plane. An optical performance parameter correction unit is used to correct at least one target optical performance parameter among the optical performance parameters based on the longitudinal velocity description information of the vehicle. The longitudinal jitter compensation second position description information determination unit is used to determine the second position description information of the target AR element after longitudinal jitter compensation in the head-up display coordinate system in the virtual image plane, based on the optical performance parameters that have been corrected and the first position description information. Specifically, when the target AR element is a target AR collision warning element, the second position description information is the fixed point coordinates and shape parameters of the target AR collision warning element in the head-up display coordinate system; when the target AR element is a target AR navigation element, the second position description information is the corner coordinates of the target AR navigation element in the head-up display coordinate system.

11. A head-up display device, characterized in that, The head-up display device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, which is executed by the at least one processor to enable the at least one processor to perform the image jitter compensation method according to any one of claims 1-9.

12. A vehicle, characterized in that, Includes the head-up display device as described in claim 11.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the image jitter compensation method according to any one of claims 1-9.

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