Image adjusting method, device and equipment, head-up display system and vehicle

Abstract

The invention provides an image adjusting method, device and equipment, a head-up display system and a vehicle, and the method comprises the steps: obtaining an image of an obstacle in front of the vehicle and a plurality of distances between the obstacle and the vehicle, and the image comprises a virtual image displayed by the vehicle; determining a target distance according to the image and the plurality of distances; determining a projection image according to the target distance, wherein the projection image is used for adjusting a virtual image displayed by the vehicle; and sending a control instruction to the image display device, wherein the control instruction comprises the projection image. By adopting the embodiment of the invention, when the virtual image displayed by the HUD is shielded by the obstacle in the vehicle driving process, the new projection image is determined according to the obstacle image and the distance between the obstacle and the vehicle, and the displayed virtual image is adjusted by projecting the new projection image, so that the virtual image is not influenced by the obstacle, the visual sense of a user is more comfortable, and the user experience is improved. And the driving safety is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of head-up display technology, and in particular to an image adjustment method, device, equipment, head-up display system and vehicle. Background Art

[0002] With the popularity of smart cars and electric cars, head-up display systems (HUD) are increasingly installed in cars. HUD can project dashboard information, assisted driving information, navigation information and other content into the external space in front of the car, preventing the driver from looking down at this information.

[0003] At present, as autonomous driving technology becomes more and more mature, HUD has more and more functions, the size of the virtual image projected by HUD is getting larger and larger, and the virtual image projection distance (Virtual Image Distance, VID) is getting farther and farther. For example, the VID of the augmented reality head up display system (Augmented Reality-Head up Display, AR-HUD) is required to be more than 7 meters, and even reach 10-20 meters. In addition, some applications such as navigation, in order to achieve the display effect of the navigation indicator close to the ground, require that the projected virtual image also has a compound tilted perspective relationship close to the ground.

[0004] However, this leads to a very practical problem. If you encounter obstacles during driving, such as a close car in front, a bend, a roadblock, etc., the virtual image will be blocked. Although it is a virtual image, it can still be seen. However, the conflict between the actual VID position, display content and the blockage will seriously affect visual comfort, cause visual fatigue, and bring hidden dangers to driving safety. Summary of the invention

[0005] The purpose of the present invention is to provide an image adjustment method, device, equipment, head-up display system and vehicle, which are used to solve the problem that the virtual image displayed by the HUD is blocked by obstacles during driving, seriously affecting the user's visual comfort, causing visual fatigue, and posing a driving safety hazard.

[0006] In order to solve the above technical problem, an embodiment of the present invention provides an image adjustment method, the method comprising:

[0007] Acquire an image of an obstacle in front of the vehicle and multiple distances between the obstacle and the vehicle, wherein the image includes a virtual image displayed by the vehicle;

[0008] determining a target distance according to the image and the plurality of distances;

[0009] Determine a projection image according to the target distance, wherein the projection image is used to adjust a virtual image displayed by the vehicle;

[0010] A control instruction is sent to an image display device, wherein the control instruction includes the projection image.

[0011] Optionally, determining the target distance according to the image and the multiple distances includes:

[0012] Determine a portion of the image where the obstacle overlaps with the virtual image as a target image;

[0013] The target distance is determined according to the target image and the multiple distances.

[0014] Optionally, determining the target distance according to the target image and the multiple distances includes:

[0015] Among the multiple distances, obtain multiple first distances corresponding to the obstacles in the target image;

[0016] The first distance with the smallest value among the multiple first distances is determined as the target distance.

[0017] Optionally, determining the projection image according to the target distance includes:

[0018] In the case where it is determined that the target distance is less than a first threshold, determining first disparity data according to the target distance;

[0019] A projection image is determined according to the first parallax data.

[0020] Optionally, determining the first disparity data according to the target distance includes:

[0021] Determining the target distance as a target virtual distance;

[0022] The disparity data corresponding to the target virtual distance is determined as the first disparity data.

[0023] The embodiment of the present invention further provides an image adjustment device, the device comprising:

[0024] An acquisition module, used to acquire an image of an obstacle in front of the vehicle and multiple distances between the obstacle and the vehicle; wherein the image includes a virtual image displayed by the vehicle;

[0025] A first determination module, configured to determine a target distance according to the image and the plurality of distances;

[0026] A second determination module, configured to determine a projection image according to the target distance, wherein the projection image is used to adjust a virtual image displayed by the vehicle;

[0027] A control module is used to send a control instruction to the image display device, wherein the control instruction includes the projection image.

[0028] An embodiment of the present invention also provides a control device, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is used to read the program in the memory and execute the image adjustment method as described in any one of the above items.

[0029] An embodiment of the present invention further provides a head-up display system, the system comprising:

[0030] A shooting component disposed inside the vehicle cockpit, used to capture an image of an obstacle in front of the vehicle, wherein the image includes a virtual image displayed by the vehicle;

[0031] A distance measuring component disposed outside the vehicle cockpit, for collecting multiple distances between the obstacle in front of the vehicle and the vehicle;

[0032] An image adjustment device, connected to the shooting component and the distance measuring component respectively, and receiving the image sent by the shooting component and the multiple distances sent by the distance measuring component;

[0033] An image display device connected to the image adjustment device;

[0034] The image adjustment device sends a control instruction to the image display device, wherein the control instruction includes a projection image, and the projection image is used to adjust the virtual image displayed by the vehicle, and the image display device displays the adjusted virtual image.

[0035] Optionally, the image display device comprises:

[0036] A light beam output component connected to the image adjustment device, wherein the light beam output component receives the control instruction sent by the image adjustment device and outputs a projection light beam;

[0037] A beam splitter component is arranged on the beam output component, and the beam splitter component projects the projection beam to form a first imaging beam and a second imaging beam;

[0038] A reflection component is used to amplify and reflect the first imaging light beam and the second imaging light beam to form a first imaging picture and a second imaging picture respectively; wherein the first imaging picture and the second imaging picture form the adjusted virtual image.

[0039] An embodiment of the present invention further provides a vehicle, comprising a head-up display system as described in any one of the above items.

[0040] The beneficial effects of the above technical solution of the present invention are as follows:

[0041] In the above scheme, when the virtual image displayed by the HUD is blocked by an obstacle during driving, a new projection image is determined by the obstacle image and the distance between the obstacle and the vehicle. The displayed virtual image is adjusted by projecting the new projection image, so that the virtual image is not affected by the obstacle, the user's vision is more comfortable, and driving safety is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of a flow chart of an image adjustment method provided by one embodiment of the present invention;

[0043] Figure 2 A schematic diagram of photographing an obstacle in front of a vehicle provided by one embodiment of the present invention;

[0044] Figure 3 A schematic diagram of an image of an obstacle in front of a vehicle provided by one embodiment of the present invention;

[0045] Figure 4 A schematic diagram of a flow chart of an image adjustment method provided by one embodiment of the present invention;

[0046] Figure 5 A schematic structural diagram of an image adjustment device provided by another embodiment of the present invention;

[0047] Figure 6 One of the structural schematic diagrams of a head-up display system provided by another embodiment of the present invention;

[0048] Figure 7 The second structural schematic diagram of the head-up display system provided by another embodiment of the present invention.

[0049] Description of reference numerals:

[0050] 1: Shooting component;

[0051] 2: Distance measurement component;

[0052] 3: Image adjustment device;

[0053] 4: Image display device;

[0054] 41: beam output assembly;

[0055] 42: Reflection component;

[0056] 5: First imaging picture;

[0057] 6: Second imaging picture;

[0058] 7: Virtual image plane;

[0059] 8: Windshield;

[0060] 9: Obstacles. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] like Figure 1 As shown, the image adjustment method of the embodiment of the present invention includes:

[0063] Step S101, acquiring an image of an obstacle in front of a vehicle and multiple distances between the obstacle and the vehicle, wherein the image includes a virtual image displayed by the vehicle;

[0064] Step S102, determining a target distance according to the image and the multiple distances;

[0065] Step S103, determining a projection image according to the target distance, wherein the projection image is used to adjust a virtual image displayed by the vehicle;

[0066] Step S104: sending a control instruction to an image display device, wherein the control instruction includes the projection image.

[0067] The embodiment of the present invention adopts naked eye three-dimensional (3D) head up display (HUD) system technology, generates projection images corresponding to the left eye and the right eye respectively according to the binocular parallax of the user, projects the projection images, and the user's brain automatically synthesizes the left eye and right eye images to display a complete 3D virtual image. Figure 2 As shown, the imaging surface of the virtual image is a virtual image surface 7, and around the virtual image surface 7 there are imaging pictures corresponding to the left eye and the right eye of the user respectively, wherein the first imaging picture 5 is recessed into the virtual image surface 7, and the second imaging picture 6 is protruding from the virtual image surface 7. After synthesis by the brain, 3D vision can be formed within a certain range in front of and behind the virtual image surface to produce a sense of space.

[0068] The distance between the virtual image plane 7 and the vehicle, i.e., the virtual image projection distance (VID), is related to the setting of the image display device. In the embodiment of the present invention, firstly, by setting the VID, it is achieved that in most cases, the virtual image plane 7 and the obstacle 9 will not be blocked, and the formation of the virtual image at the virtual image plane 7 will not be affected. However, when the first imaging screen 5 and / or the second imaging screen 6 are blocked by obstacles, it will still affect the user's visual effect. Therefore, the 3D virtual image is adjusted by adjusting the first imaging screen 5 and / or the second imaging screen 6.

[0069] In step S101, a distance detector installed on the vehicle captures an image of the obstacle 9 in front and obtains multiple distances between the obstacle 9 and the vehicle. The distance detector includes at least a shooting component 1 and a distance measuring component 2. Figure 2 As shown, the shooting range of the shooting component 1 includes the complete virtual image at the virtual image plane 7 and the obstacle 9 in front of the vehicle. Figure 3 It can be seen that the image includes the obstacle 9 and the first imaging picture 5 and the second imaging picture 6 displayed by the shooting virtual image; and it can be seen that the first imaging picture 5 and the second imaging picture 6 both show the effect of superposition of two pictures due to parallax, which is the effect produced by actual shooting, but does not affect subsequent calculations. The ranging component 2 includes but is not limited to ranging devices such as radar, depth camera and laser rangefinder, and the ranging component 2 obtains multiple distance data of the obstacle by scanning the obstacle in front.

[0070] By using the embodiment of the present invention, when the 3D virtual image displayed by the HUD is blocked by an obstacle during driving a vehicle, a new projection image is determined by the obstacle image and the distance between the obstacle and the vehicle, and the new projection image is projected to adjust the first imaging screen 5 and the second imaging screen 6, and the displayed 3D virtual image is adjusted accordingly, so that the 3D virtual image is not affected by the obstacle, the user's vision is more comfortable, and driving safety is enhanced.

[0071] Optionally, determining the target distance according to the image and the multiple distances includes:

[0072] Determine a portion of the image where the obstacle overlaps with the virtual image as a target image;

[0073] The target distance is determined according to the target image and the multiple distances.

[0074] In the embodiment of the present invention, step S102 is further explained. Since the VID of the virtual image at the virtual image plane 7 is related to the setting of the image display device, after the image display device is fixed, the VID of the virtual image is also fixed. The position and size of the virtual image can be calculated according to the parameters of the image display device and the VID of the virtual image, and a boundary box with the same position and size as the virtual image is set. The obstacle image overlapping with the virtual image, that is, the obstacle image within the boundary box is selected and determined as the target image. Multiple distances between the obstacle and the vehicle in the target image are obtained. The specific method of obtaining the distance is to convert the distance data obtained by the distance measurement component into a grayscale image, combine the grayscale image with the target image, obtain the distance value corresponding to the pixel point of the obstacle in the target image, and determine the target distance from the above distance values.

[0075] Optionally, determining the target distance according to the target image and the multiple distances includes:

[0076] Among the multiple distances, obtain multiple first distances corresponding to the obstacles in the target image;

[0077] The first distance with the smallest value among the multiple first distances is determined as the target distance.

[0078] In an embodiment of the present invention, step S102 is further described by converting the distance data obtained by the distance measuring component into a grayscale image, combining the grayscale image with the target image, obtaining the distance values ​​corresponding to the pixel points of the obstacle in the target image, determining them as multiple first distances, and determining the first distance with the smallest value among the multiple first distances as the target distance.

[0079] Optionally, determining the projection image according to the target distance includes:

[0080] In the case where it is determined that the target distance is less than a first threshold, determining first disparity data according to the target distance;

[0081] A projection image is determined according to the first parallax data.

[0082] In the embodiment of the present invention, step S103 is further described, the first threshold is determined according to multiple virtual distances between the first imaging picture 5 and the second imaging picture 6 and the ranging component 2 respectively, and the virtual distance is obtained by triangulation calculation according to the parallax value of the first imaging picture 5 and the second imaging picture 6 and the lens parameter of the shooting component, which is a simple application of triangulation calculation and is not described here; wherein the first threshold is the maximum value of the multiple virtual distances. When the target distance is less than the first threshold, it means that the obstacle 9 blocks the first imaging picture 5 and / or the second imaging picture 6, affecting the visual effect of the user, and it is necessary to adjust the parallax data of the first imaging picture 5 and the second imaging picture 6 to adjust the distance between the first imaging picture 5 and the second imaging picture 6 and the ranging component, and determine the first parallax data when the obstacle does not block the first imaging picture 5 and the second imaging picture 6.

[0083] An image is generated according to the first disparity data, and the image is 3D encoded to generate a projection image. The 3D encoding method is to perform pixel spatial division multiplexing on the image, wherein the specific spatial division multiplexing method is: the odd-numbered columns of pixels in the image represent the left eye view (or right eye view), and the even-numbered columns of pixels represent the right eye view (or left eye view); or, m adjacent columns of pixels in the image are grouped together to represent the left eye view (or right eye view), and the next group of m columns of pixels adjacent to this group represent the right eye view (or left eye view), where m is an integer greater than 1.

[0084] Optionally, determining the first disparity data according to the target distance includes:

[0085] Determining the target distance as a target virtual distance;

[0086] The disparity data corresponding to the target virtual distance is determined as the first disparity data.

[0087] In an embodiment of the present invention, step S103 is further explained. When adjusting the parallax data of the first imaging screen 5 and the second imaging screen 6, the target distance is set to the maximum value of the virtual distance, that is, the target virtual distance, to ensure that there is no obstruction between the first imaging screen 5 and the second imaging screen 6, and the target virtual distance is calculated by triangulation to generate parallax data, which is determined as the first parallax data.

[0088] like Figure 4 FIG. 1 is a flow chart of an image adjustment method provided by one embodiment of the present invention. According to this embodiment, the image adjustment method includes the following steps:

[0089] Step S401, obtaining an image of the obstacle through a photographing component, and obtaining a plurality of distance data of the obstacle by scanning the obstacle through a distance measuring component; wherein the image includes a first imaging picture 5 and a second imaging picture 6;

[0090] Step S402, determining the overlapped portion of the obstacle and the virtual image in the image as the target image according to the position and size of the virtual image at the virtual image plane;

[0091] Step S403, converting the distance data into a grayscale image, combining the grayscale image with the target image to obtain distances corresponding to pixel points of obstacles in the target image and determining them as a plurality of first distances;

[0092] Step S404, determining the first distance with the smallest value among the multiple first distances as the target distance;

[0093] Step S405, determine whether the target distance is less than the first threshold? The first threshold is determined based on multiple virtual distances between the first imaging picture and the second imaging picture and the distance measuring component, and the virtual distance is calculated by triangulation based on the parallax value of the first imaging picture and the second imaging picture and the lens parameters of the shooting component; the first threshold is the maximum value of the multiple virtual distances. If it is less than the first threshold, go to step S406; if it is greater than or equal to the first threshold, go to step S408;

[0094] Step S406, determining first disparity data according to the target distance, setting the target distance as the maximum value of the virtual distances, that is, the target virtual distance, determining first disparity data corresponding to the target virtual distance by triangulation calculation, generating an image according to the first disparity data, performing 3D encoding on the image, and generating a projection image;

[0095] Step S407, adjusting the displayed 3D virtual image by controlling the image display device to project the projection image, and returning to step S401 after the adjustment;

[0096] Step S408: the projected image remains unchanged, the displayed 3D virtual image remains unchanged, and the process goes to step S401.

[0097] In the embodiment of the present invention, when the 3D virtual image displayed by the vehicle is blocked by an obstacle, the display screen of the 3D virtual image is adjusted by adjusting the parallax value of the virtual image according to the distance of the obstacle, so as to provide the user with a better visual experience.

[0098] like Figure 5 , which is a structural schematic diagram of an image adjustment device provided by another embodiment of the present invention;

[0099] The embodiment of the present invention further provides an image adjustment device, the device comprising:

[0100] An acquisition module 501 is used to acquire an image of an obstacle in front of the vehicle and multiple distances between the obstacle and the vehicle; wherein the image includes a virtual image displayed by the vehicle;

[0101] A first determination module 502, configured to determine a target distance according to the image and the multiple distances;

[0102] A second determination module 503, configured to determine a projection image according to the target distance, wherein the projection image is used to adjust a virtual image displayed by the vehicle;

[0103] The control module 504 is used to send a control instruction to the image display device, wherein the control instruction includes the projection image.

[0104] Optionally, the first determining module 502 includes:

[0105] A first determining unit, configured to determine a portion of the image where the obstacle overlaps with the virtual image as a target image;

[0106] The second determining unit is used to determine the target distance according to the target image and the multiple distances.

[0107] Optionally, the second determining unit includes:

[0108] An acquisition unit, configured to acquire, from the plurality of distances, a plurality of first distances corresponding to the obstacles in the target image;

[0109] A third determining unit is configured to determine a first distance with the smallest value among the multiple first distances as a target distance.

[0110] Optionally, the second determining module 503 includes:

[0111] A fourth determining unit, configured to determine first disparity data according to the target distance when it is determined that the target distance is less than a first threshold;

[0112] A fifth determining unit is configured to determine a projection image according to the first parallax data.

[0113] Optionally, the fourth determining unit includes:

[0114] a sixth determining unit, configured to determine the target distance as a target virtual distance;

[0115] The seventh determining unit is configured to determine the disparity data corresponding to the target virtual distance as the first disparity data.

[0116] It should be noted that the embodiment of the device is a device corresponding to the embodiment of the above method, and all implementation methods in the embodiment of the above method are applicable to the embodiment of the device and can achieve the same technical effect.

[0117] An embodiment of the present invention also provides a control device, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is used to read the program in the memory and execute the image adjustment method as described in any one of the above items.

[0118] like Figure 6 and Figure 7 As shown, an embodiment of the present invention further provides a head-up display system, the system comprising:

[0119] A shooting component 1 disposed inside the vehicle cockpit, used to capture an image of an obstacle in front of the vehicle, wherein the image includes a virtual image displayed by the vehicle;

[0120] A distance measuring component 2 disposed outside the vehicle cockpit, used to collect multiple distances between the obstacle in front of the vehicle and the vehicle;

[0121] An image adjustment device 3, connected to the shooting component 1 and the distance measuring component 2, respectively, and receiving the image sent by the shooting component 1 and the multiple distances sent by the distance measuring component 2;

[0122] An image display device 4 connected to the image adjustment device 3;

[0123] The image adjustment device 3 sends a control instruction to the image display device 4 , wherein the control instruction includes a projection image, and the projection image is used to adjust the virtual image displayed by the vehicle, and the image display device 4 displays the adjusted virtual image.

[0124] In the embodiment of the present invention, the shooting component 1 needs to be able to completely capture the virtual image plane 7 and the virtual image, and not block the driver's line of sight, so the shooting component 1 needs to be placed inside the cockpit, and the preferred position is to be placed near the light beam exit of the 3D HUD image projection; the distance measuring component 2 is placed outside the cockpit to avoid being blocked by the windshield, and cannot be too far away from the shooting component 1, otherwise the distance data of the obstacle obtained by the distance measuring component and the pixel matching degree on the image screen captured by the shooting component 1 will be too poor, affecting subsequent calculations, and the best position can be outside the windshield and at the closest distance to the shooting component 1. The head-up display system provided in the embodiment of the present invention can adjust the 3D virtual image through the above-mentioned image adjustment method when the displayed 3D virtual image is unclear due to occlusion by obstacles, giving the driver a better visual experience.

[0125] Optionally, the image display device 4 includes:

[0126] A light beam output component 41 is connected to the image adjustment device, and receives the control instruction sent by the image adjustment device to output a projection light beam;

[0127] A beam splitter component is arranged on the beam output component, and the beam splitter component projects the projection beam to form a first imaging beam and a second imaging beam;

[0128] The reflection component 42 is used to amplify and reflect the first imaging light beam and the second imaging light beam to form a first imaging picture 5 and a second imaging picture 6 respectively; wherein the first imaging picture 5 and the second imaging picture 6 form the adjusted virtual image.

[0129] In an embodiment of the present invention, the beam output component 41 is a picture generation unit (PGU), which projects a projection beam according to a projection image, wherein the projection image is an image that has been 3D encoded. The light splitting component is placed on the beam output component (not shown in the figure), diffracts the projection beam, and outputs a first imaging beam corresponding to the left eye view (or right eye view) and a second imaging beam corresponding to the right eye view (or left eye view); wherein the light splitting component includes but is not limited to a grating that can only diffract the left and right view pixels in the projection image separately, such as a lens array grating or a parallax barrier grating. The reflective component 42 is at least two reflectors, both of which are arranged near the windshield 8. The first imaging light beam and the second imaging light beam are projected onto the windshield 8 after being magnified and reflected by the reflective component 42. Since the windshield 8 is equivalent to a semi-reflective and semi-transmissive mirror, the light beams can be projected into the driver's eyes. The driver can see a 3D virtual image formed in the actual space through the windshield 8. Among them, the reflector can be a curved reflector or a Fresnel reflector. Since the Fresnel reflector is relatively simple to process, low in cost and saves space, the Fresnel reflector is preferred in this embodiment.

[0130] Since the relative positions of the beam output component 41, the beam splitter component, the reflective component 42 and the windshield 8 determine the VID of the virtual image surface 7 and the vehicle, the relative positions of the beam output component 41, the beam splitter component, the reflective component 42 and the windshield 8 are set according to the VID required in actual conditions. In the embodiment of the present invention, the VID is set to be greater than or equal to 3 meters and less than or equal to 5 meters, which can largely avoid obstacles blocking the virtual image surface 7, and the imaging is clearer. It can also reduce the curvature of the reflective component 42, reduce distortion, and can reduce the projection outlet to reduce the impact of sunlight backflow. However, due to different actual conditions and different parameters of different vehicle models, the VID can also be less than 3 meters or greater than 5 meters. As long as the same effect can be achieved, the present invention does not set a limit on the VID value.

[0131] An embodiment of the present invention further provides a vehicle, comprising a head-up display system as described in any one of the above items.

[0132] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0133] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An image adjustment method, characterized in that: The method comprises: Acquire an image of an obstacle in front of the vehicle and multiple distances between the obstacle and the vehicle, wherein the image includes a virtual image displayed by the vehicle; determining a target distance according to the image and the plurality of distances; Determine a projection image according to the target distance, wherein the projection image is used to adjust a virtual image displayed by the vehicle; A control instruction is sent to an image display device, wherein the control instruction includes the projection image.

2. The image adjustment method according to claim 1, characterized in that: Determining the target distance according to the image and the multiple distances includes: Determine a portion of the image where the obstacle overlaps with the virtual image as a target image; The target distance is determined according to the target image and the multiple distances.

3. The image adjustment method according to claim 2, characterized in that: Determining the target distance according to the target image and the multiple distances includes: Among the multiple distances, obtain multiple first distances corresponding to the obstacles in the target image; The first distance with the smallest value among the multiple first distances is determined as the target distance.

4. The image adjustment method according to claim 1, characterized in that: Determining the projection image according to the target distance includes: In the case where it is determined that the target distance is less than a first threshold, determining first disparity data according to the target distance; A projection image is determined according to the first parallax data.

5. The image adjustment method according to claim 4, characterized in that: Determining the first disparity data according to the target distance includes: Determining the target distance as a target virtual distance; The disparity data corresponding to the target virtual distance is determined as the first disparity data.

6. An image adjustment device, characterized in that: The device comprises: An acquisition module, used to acquire an image of an obstacle in front of the vehicle and multiple distances between the obstacle and the vehicle; wherein the image includes a virtual image displayed by the vehicle; A first determination module, configured to determine a target distance according to the image and the plurality of distances; A second determination module, configured to determine a projection image according to the target distance, wherein the projection image is used to adjust a virtual image displayed by the vehicle; The control module is used to send a control instruction to the image display device, wherein the control instruction includes the projection image.

7. A control device, characterized in that: include: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is used to read the program in the memory and execute the image adjustment method according to any one of claims 1 to 5.

8. A head-up display system, characterized in that: The system comprises: A shooting component disposed inside the vehicle cockpit, used to capture an image of an obstacle in front of the vehicle, wherein the image includes a virtual image displayed by the vehicle; A distance measuring component disposed outside the vehicle cockpit, for collecting multiple distances between the obstacle in front of the vehicle and the vehicle; An image adjustment device, connected to the shooting component and the distance measuring component respectively, and receiving the image sent by the shooting component and the multiple distances sent by the distance measuring component; An image display device connected to the image adjustment device; The image adjustment device sends a control instruction to the image display device, wherein the control instruction includes a projection image, and the projection image is used to adjust the virtual image displayed by the vehicle, and the image display device displays the adjusted virtual image.

9. The head-up display system according to claim 8, characterized in that: The image display device comprises: A light beam output component connected to the image adjustment device, wherein the light beam output component receives the control instruction sent by the image adjustment device and outputs a projection light beam; A beam splitter component is arranged on the beam output component, and the beam splitter component projects the projection beam to form a first imaging beam and a second imaging beam; A reflection component is used to amplify and reflect the first imaging light beam and the second imaging light beam to form a first imaging picture and a second imaging picture respectively; wherein the first imaging picture and the second imaging picture form the adjusted virtual image.

10. A vehicle, characterized in that: Comprising a head-up display system as claimed in claim 8 or 9.

Images