Fault self-checking method, display device, storage medium and vehicle

Abstract

The invention relates to the technical field of projection display, in particular to a fault self-checking method, display equipment, a storage medium and a vehicle. According to the invention, the sensing device arranged on the back surface of the reflector is used for capturing the light penetrating through the reflector in the display light emitted by the image source of the light machine, so that whether the display content of the image source is in a normal corresponding relation is judged based on the acquired and determined information such as brightness and color; therefore, the display state of the ray machine in the equipment is determined on the premise of not influencing projection display. According to the invention, fault self-detection of the HUD display equipment can be realized, the display fault in the equipment can be positioned in real time, the maintenance capability of the equipment is improved, and the service life of the equipment is prolonged.

Description

Technical Field

[0001] The present application relates to the field of projection display technology, and in particular to a fault self-detection method, a display device, a storage medium and a vehicle. Background Art

[0002] HUD (Head Up Display) is a new way to realize in-vehicle display by using reflection on the vehicle windshield. Specifically, the display light is emitted by the optical machine of the HUD display device, and is projected onto the windshield through the corresponding optical lens to produce a corresponding virtual image, which forms an enhanced display effect with the real world outside the windshield. However, the long-term use of HUD display devices often leads to possible display abnormalities. Since the HUD display device is integrated inside the vehicle, it is often troublesome to locate the internal fault that causes the display abnormality. It is usually necessary to remove the HUD display device and place it on the test bench for testing. Accordingly, the cause of the fault cannot be discovered and eliminated in a timely manner, and sometimes even causes the HUD display device to work in an abnormal state for a long time, causing irreversible damage to the equipment components and reducing the service life of the HUD display device. Summary of the invention

[0003] The purpose of the present application is to provide a fault self-detection method, a display device, a storage medium and a vehicle, which solves the technical problem in the prior art that the display fault of the HUD display device needs to be diagnosed with the help of external equipment and real-time monitoring cannot be achieved.

[0004] In order to solve the above technical problems, this application adopts the following technical solutions.

[0005] In a first aspect, the present application provides a fault self-checking method, comprising: The display light is emitted from the image source display surface of the optical machine, and the display light is reflected by at least the first lens so that the light forming the virtual image on the transparent surface is on the projection path; The first lens includes a first mirror surface facing the image source display surface and a second mirror surface away from the image source display surface. A sensing device is arranged on one side of the second mirror surface. The sensing device is configured to collect the display light transmitted through the first lens to determine the display state of the optical machine.

[0006] In an optional implementation of the first aspect, the transparent surface is a windshield of a vehicle.

[0007] In an optional implementation of the first aspect, the acquisition device is a light intensity sensor and / or a color sensor.

[0008] According to the above description, an optional implementation method allows the display light emitted by the image source to be transmitted normally on one side of the first mirror, thereby reaching the transparent surface and forming a virtual image visible to the human eye through reflection, and utilizing a sensor device disposed on one side of the second mirror to collect part of the transmitted display light, and by analyzing the parameters of the part of the display light, the display state of the image source can be determined in real time.

[0009] In an optional implementation manner of the first aspect, the sensor device is arranged relative to the second mirror surface, comprising: The photosensitive surface of the sensing device is arranged opposite to the display surface of the image source.

[0010] According to the above description, in the optional implementation manner, the sensor device disposed on one side of the second mirror surface can obtain the display content parameters presented on the image source display surface as much as possible, thereby reducing unnecessary environmental interference.

[0011] In an optional implementation manner of the first aspect, the providing a sensing device relative to the second mirror surface includes: A cold light film is disposed on the first mirror surface of the first lens; The photosensitive surface of the sensing device forms a certain angle with a reference plane perpendicular to the direction in which the display light is incident on the first mirror surface.

[0012] According to the above description, an optional implementation manner can improve the reception degree of color light other than purple-infrared light by changing the tilt angle, thereby obtaining richer display light parameter information.

[0013] In an optional implementation of the first aspect, the sensing device is configured to collect light transmitted through the first lens by the display light to determine the display state of the optical machine, including: The display content at the corresponding position on the image source display surface is compared with the collected value of the sensor device arranged at the corresponding position to determine whether a specific matching relationship is satisfied.

[0014] In an optional implementation of the first aspect, the collection value of the sensing device set at the corresponding position includes one or more of brightness, saturation, hue, and color temperature.

[0015] In an optional implementation of the first aspect, the specific matching relationship is a pre-calibrated mapping value.

[0016] According to the above description, an optional implementation method uses the target value (mapping value) that can be collected after the calibrated specific display content is transmitted through the lens to compare with the actual collection value of the sensing device. If it is within a reasonable range, it is determined to be normal; if it exceeds the reasonable range, it is determined to be abnormal. This realizes indirect analysis using the sensing device and greatly reduces the difficulty of judgment.

[0017] In an optional implementation manner of the first aspect, comparing the display content at the corresponding position on the image source display surface with the collection value of the sensor device set at the corresponding position to determine whether a specific matching relationship is satisfied includes: In response to the first position of the image source display surface displaying a first presentation state and the second position displaying a second presentation state, a sensing device is arranged on one side of the second mirror surface, including a first light intensity sensor arranged at a third position and a second light intensity sensor arranged at a fourth position, wherein the third position corresponds to the first position and the fourth position corresponds to the second position; When the brightness difference between the first presentation content and the second presentation content is inconsistent with the acquisition value difference between the first light intensity sensor and the second light intensity sensor, it is determined that a display abnormality occurs in the image source of the optical machine.

[0018] According to the above description, the optional implementation method utilizes that the display contents under different controls have different brightness after being transmitted through the lens, and have a stable size relationship, thereby avoiding the error caused by the absolute value and improving the accuracy of abnormality detection.

[0019] In an optional implementation manner of the first aspect, comparing the display content at the corresponding position on the image source display surface with the collection value of the sensor device set at the corresponding position to determine whether a specific matching relationship is satisfied includes: In response to the first position of the image source display surface displaying a first presentation state and the second position displaying a second presentation state, the first presentation state being different from the second presentation state, a sensing device is arranged on one side of the second mirror surface, including a first light intensity sensor arranged at a third position and a second light intensity sensor arranged at a fourth position, the third position corresponds to the first position, and the fourth position corresponds to the second position; When the difference between the collection value of the first light intensity sensor and the collection value of the second light intensity sensor is smaller than a first threshold, it is determined that a display abnormality occurs in the image source of the optical machine.

[0020] According to the above description, an optional implementation method directly compares the brightness information after transmission of adjacent positions to achieve a simpler judgment method, and is suitable for situations where the display content at a specific position is not displayed normally, thereby improving the stability of abnormality detection.

[0021] In an optional implementation of the first aspect, the sensing device is a camera, and a first distance exists between the camera and the second mirror surface of the first lens so that a shooting field angle of the camera is at least larger than a presentation range of the image source display surface; The characteristic icon existing on the image source display surface is determined according to the color information collected by the camera, and when locking and controlling the displayed characteristic icon fails, it is determined that the image source of the optical machine has a display abnormality.

[0022] In an optional implementation of the first aspect, the sensing device is a camera, and a first distance exists between the camera and the second mirror surface of the first lens so that a shooting field angle of the camera is at least larger than a presentation range of the image source display surface; The estimated position of the characteristic icon on the image source display surface is determined based on the color information collected by the camera. When there is a difference between the estimated position and the actual position of the characteristic icon on the image source display surface, it is determined that the image source of the optical machine has a display abnormality.

[0023] According to the above description, the optional implementation method uses the camera to obtain richer information, which can comprehensively analyze all controlled display elements on the image source display surface and improve the refinement of anomaly detection.

[0024] In an optional implementation of the first aspect, the sensing device is configured to collect light transmitted through the first lens by the display light to determine the display state of the optical machine, including: A first collection value at a first moment and a second collection value at a second moment are collected using a sensor device at the same position. When the difference between the first collection value and the second collection value is greater than a second threshold, it is determined that a current abnormality occurs in the backlight source of the optical machine.

[0025] According to the above description, an optional implementation method utilizes the changes in the time series of the collected values ​​of the sensor device at the same position to determine possible backlight current mutations (for example, the current changes to 200mA instantly) and locate the backlight circuit fault in time.

[0026] In an optional implementation of the first aspect, the sensing device is configured to collect light transmitted through the first lens by the display light to determine the display state of the optical machine, including: In response to an abnormality in the display state of the optical machine, an alarm is issued.

[0027] In an optional implementation manner of the first aspect, issuing an alarm prompt includes: Projecting warning cues onto the windscreen; and / or Display warning prompts on the central control screen; and / or Use the car audio to play the warning tone.

[0028] According to the above description, an optional implementation method may utilize an alarm prompt to remind the vehicle user to promptly repair the fault inside the HUD display device.

[0029] In a second aspect, the present application provides a display device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of the fault self-detection method described in the first aspect when executing the computer program.

[0030] In a third aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the fault self-detection method described in the first aspect are implemented.

[0031] In a fourth aspect, the present application provides a vehicle comprising the display device described in the second aspect or the computer-readable storage medium described in the third aspect.

[0032] Compared with the prior art, the present application uses a sensor device disposed on the back of the reflector to capture the light that passes through the reflector in the image source output display light of the optical machine, and then determines whether it is in a normal corresponding relationship with the image source display content based on the collected and determined brightness, color and other information, thereby determining the display state of the optical machine inside the device without affecting the projection display. The present application can realize fault self-checking of the HUD display device, locate the display fault in the device in real time, and improve the maintenance capability and service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the description of the technical solution. Obviously, the drawings described below are only some examples recorded in the present application, and a person of ordinary skill in the art can obtain other drawings based on these drawings without creative work.

[0034] Figure 1 Schematic diagram of HUD projection display in some examples of this application.

[0035] Figure 2 Schematic diagram of the sensor device settings in some examples of this application.

[0036] Figure 3 Schematic diagram of the sensor device settings in some examples of this application.

[0037] Figure 4 This is a schematic diagram of image source display content in some examples of this application.

[0038] Figure 5 Schematic diagram of the sensor device settings in some examples of this application.

[0039] Figure 6 This is a schematic diagram of image source display content in some examples of this application.

[0040] Figure 7Schematic diagram of the sensor device settings in some examples of this application.

[0041] Figure 8 Schematic diagram of the sensor device settings in some examples of this application.

[0042] Fig. 9 This is a flowchart of the fault self-checking method in some examples of this application.

[0043] Fig.10 This is a schematic diagram showing the relationship between display brightness and backlight current in some examples of this application.

[0044] Fig.11 Schematic diagram of HUD display device module in some examples of this application.

[0045] Fig.12 This is a schematic diagram of the composition of the HUD display device in some examples of this application.

[0046] Fig.13 This is a schematic diagram of projection display in a vehicle in some examples of the present application. DETAILED DESCRIPTION

[0047] The present application will be described in detail below in conjunction with the accompanying drawings, but the content of the description is merely some examples recorded in the present application and does not limit the present application. Changes in structure, method, function, etc. made by ordinary technicians in this field based on these examples are included in the protection scope of the present application.

[0048] It should be noted that the same reference numerals or marks may be used in different examples, but these do not represent an absolute connection in structure or function. In addition, the "first", "second", etc. mentioned in each example are only for the convenience of description, and do not represent an absolute distinction in structure or function, nor can they be understood as indicating or implying the relative importance or the number of corresponding objects. Unless otherwise specified, the "at least one" that may be involved in the description refers to one or more, and "more than one" refers to two or more.

[0049] In addition, when expressing a feature, the character " / " can indicate that there is an or relationship between the front and back associated objects. For example, head-up display / head-up display can be expressed as head-up display or head-up display. When expressing an operation, the character " / " can indicate that there is a division relationship between the front and back associated objects. For example, the magnification M=L / P can be expressed as L (virtual image size) divided by P (image source size). Moreover, the "and / or" in different examples is only to describe the association relationship between the front and back associated objects. This association relationship can include three situations. For example, a concave mirror and / or a convex mirror can be expressed as the existence of a concave mirror alone, the existence of a convex mirror alone, and the existence of both a concave mirror and a convex mirror.

[0050] HUD projection display mainly uses the optical reflection principle to reflect the imaging light to be displayed through a transparent surface into the viewer's eyes. The human eye can see the virtual image information in the opposite direction of the light. Correspondingly, the transparent surface can be the windshield of the vehicle, and the windshield can be used as a display screen to display the navigation instructions of the vehicle, the vehicle's driving speed, etc. Figure 1 As shown, the HUD display device may include at least an optical machine 1, a first reflector 2, a second reflector 3, etc., wherein the optical machine 1 includes a backlight source and an image source (not shown), the backlight source is used to provide illumination light and adjust the brightness of the illumination light according to control, for example, the backlight source may be an LED (Light Emitting Diode), a laser, etc. Under the illumination light provided by the backlight source, the image source adjusts the corresponding display content according to control and projects the display light from the surface of the image source, for example, the image source may be an LCD (Liquid Crystal Display), a DMD (Digital Micromirror Devices), a MEMS (Micro-Electro-Mechanical System) micromirror, a LCOS (Liquid Crystal on Silicon), etc. The first reflector 2 and the second reflector 3 can project the display light projected by the optical machine 1 onto the windshield 4, so as to customize the optical path in a smaller space and meet different projection display requirements. The first reflector 2 and the second reflector 3 can be set as a concave mirror, a convex mirror, a concave lens, a convex lens, etc. according to the requirements of optical planning, and the surface shape of the lens can adopt a free-form surface. Optionally, at least one of the first reflector 2 and the second reflector 3 can also be adjusted to a certain degree of angle, so as to change the projection position of the display light on the windshield 4 to meet the needs of viewers of different heights. The display light of the optical machine 1 is finally reflected on the windshield 4 of the vehicle to form a virtual image 5. When the human eye 6 observes the virtual image 5 facing the windshield 4, it can feel a certain sense of depth, just like watching a real object at a specific distance outside the windshield. The virtual image 5 can be the navigation instruction content, vehicle speed, etc. as described above. It should be added that, according to the characteristics of different optical machines, the HUD display device can also be provided with a diffuser. In some examples, the HUD display device can also include Fresnel lenses, waveguide optical devices, diffractive optical devices, holographic optical devices, tapered optical fibers, etc.

[0051] As described above, the image source display surface of the optical machine 1 emits display light including specific image information and transmits it along a certain projection path. The projection path is constrained by the optical lenses in between, etc. Figure 1, the projection path where the display light is located will pass through the first reflector 2 and the second reflector 3 successively. After two reflections, the display light will be reflected on the windshield 4 to form a virtual image required for human eyes to see. Based on the optical transmission principle, during the entire display light transmission process, the first reflector 2 and the second reflector 3 will reflect most of the incident light from the front of the lens, so that the reflected light is on the designed projection path, and part of the light will be transmitted from the front of the lens to the back of the lens. This part of the light also supports the restoration of part of the image information in the display light to a certain extent. Therefore, this part of the transmitted light can be used to monitor the display status of the image source. Figure 2 As shown, the sensor device 21 can be set on one side of the back of the first reflector 2, so that the sensor device 21 will not affect the light transmitted on the projection path, and at the same time, the light transmitted from the first reflector is received through the photosensitive surface of the sensor device 21, and the corresponding brightness, color and other acquisition values ​​are obtained based on the photosensitive ability of the sensor device 21 itself, so that it is possible to realize real-time detection while projecting and displaying, and the two do not affect each other. Specifically, the side of the first reflector 2 opposite to the optical machine 1 can be defined as the first mirror surface, that is, the front side of the reflector, and the side of the first reflector 2 facing away from the optical machine 1 can be defined as the second mirror surface, that is, the back side of the reflector. As mentioned above, the display light emitted by the optical machine 1 will be reflected on the first mirror surface and most of the light will be transmitted in the direction of the second reflector 3, and part of the light will be transmitted from the first mirror surface to one side of the second mirror surface. Correspondingly, the sensor device 21 is also set on one side of the second mirror surface, and it can be at a certain distance from the second mirror, which can be specifically designed according to the internal structure of the HUD display device. The photosensitive surface of the sensor device 21 is arranged opposite to the display surface of the image source. Optionally, the photosensitive surface of the sensor device 21 is located at the reference plane 210. The reference plane 210 can be a plane perpendicular to the light transmitted through the first reflector 2. The reference plane 210 is not a physical plane. It is only used to describe the direction in this application. The light transmitted through the first reflector 2 can be the direction of the incident display light emitted by the optical machine 1 on the first mirror surface of the first reflector 2. Preferably, considering the influence of refraction, the incident direction will have a certain angle with the direction of the light transmitted to the second mirror side, which is simply ignored here. Therefore, the photosensitive surface of the sensor device 21 is almost perpendicular to the extension line of the incident light direction on the first reflector 2, so that the image information of the optical machine 1 can be received in a positive posture, reducing the distortion effect and other environmental interference that may be caused by angle rotation.

[0052] In some examples, Figure 3 exist Figure 2On the basis of the above, a cold light film 20 is arranged on the first mirror surface of the first reflector 2. The cold light film 20 is an optical film that can reflect visible light and transmit infrared light for light in a specific direction. The cold light film 20 is arranged on the surface of the optical lens to filter the light that flows back from the sunlight, especially to bypass infrared light and other light from the projection path. That is, the symmetry of the transmission of the optical system can not only make the display light emitted from the internal optical machine be transmitted to the windshield along the projection path, but also the external sunlight can also reach the inside of the device from the projection position of the windshield in the reverse direction along the projection path, and will threaten to damage the image source when it is irradiated on the optical machine. The cold light film 20 can reduce a part of the energy reaching the display surface of the image source by preventing a part of the infrared light from being reflected along the projection path and being transmitted to the side of the second mirror surface, thereby reducing the temperature rise effect of the external sunlight on the image source. At the same time, the cold light film 20 will also perform the same processing on the display light emitted from the image source display surface. At this time, the infrared light transmitted to the second mirror side will be strengthened, while the other bands of light transmitted to the second mirror side will be weakened. Therefore, in order to obtain more other bands of light and thus reliably restore the image information contained in the display light, the angle of the sensor device 21 can be adjusted so that the photosensitive surface of the sensor device 21 and the reference plane 210 form a certain angle α. The angle α is determined according to the optical design. Through appropriate angle adjustment, the sensor device 21 can collect more comprehensive information such as brightness and color, thereby reversely inferring the display content on the image source display surface, which will be described in detail below.

[0053] As described above, the sensing device 21 disposed on one side of the second mirror receives the light transmitted through the reflector, such as Figure 2 , Figure 3The first reflector 2 in the figure, based on the principle of optical transmission, although the reflector mainly reflects most of the light from the front, some of the light will be transmitted to the back, which provides the possibility of detection for the sensor device set at the back. Although the light transmitted from the reflector cannot be completely equivalent to the reflected light (that is, the light finally projected on the windshield), the image information equivalent to the reflected light (the light before transmission) can be restored based on the reverse calculation of a certain mapping relationship, that is, the reflector can be equivalent to a directional attenuator. With the determination of the reflector and the cold light film material thereon, the mapping relationship between the light before and after transmission is determined. Accordingly, when the parameters after transmission are obtained through the sensor device 21, the parameters before transmission can be inferred based on the mapping relationship, that is, the collected values ​​of the sensor device 21 can be used to infer a certain degree of display content on the image source display surface, and the inferred display content can be further compared with the display content of the actual control image source, and the difference between the two can be used to determine the possible abnormalities in the optical machine, such as abnormal display of specific pixels of the image source or sudden change failure of the backlight source. In some examples, according to different refined requirements of fault self-checking, the sensing device 21 can use different sensors, such as a light intensity sensor that simply collects brightness information, or a color sensor that collects color information, or a camera that can obtain more refined information. In more examples, different sensors also support the collection and determination of richer information such as saturation, hue, and color temperature. Taking the light intensity sensor as an example, when the brightness information of a specific position is obtained, the brightness information of the corresponding position on the image source display surface can be determined by inverse calculation. Optionally, the light intensity sensor can be set at multiple positions on the back side of the reflector to obtain the brightness information of multiple positions, so as to analyze and compare with the display of multiple positions on the image source display surface. Specifically, the display content of the corresponding position on the image source display surface (which can be determined according to the control display information sent by the processor to the image source) can be compared with the collection value of the sensing device set at the corresponding position to determine whether a specific matching relationship is satisfied. The matching relationship here can be a mapping relationship before and after transmission determined by an optical lens. The corresponding mapping relationship can be pre-calibrated for an optical lens of a specific material, that is, in the normal projection process, the mapping relationship between the specific display content and the specific collection value on the image source display surface is recorded. When a specific matching relationship is met, it means that it is consistent with the situation during calibration and the optical machine is in a normal display state. If the specific matching relationship is not met, it means that the optical machine is in an abnormal state. By realizing back calculation through calibrated data, the complexity of the entire fault self-check can be simplified, and there is no need to restore the collected information to a state that is completely consistent with before transmission, thereby improving feasibility.

[0054] In some examples, such as Figure 4 , Figure 5 As shown, when the fault self-check is triggered, the processor (for details, please refer to Fig.10) can control the image source to display a specified image in a directional manner, and different colors are displayed in different areas of the specified image to show that different areas of the image source display surface have different brightness information. In order to prevent the fault self-checking process from affecting the normal projection display, the image source can be controlled to display a specified image when the HUD display device is turned on and initialized or the optical lens is turned off (the retracted optical lens is not an optical lens with a sensor device). In this way, the specified image will not be projected on the windshield or even if it is projected on the windshield, the user will not find it too abrupt. Figure 4 As shown in the example, the image displayed on the image source display surface includes four areas, the upper left area 111 displays red, the upper right area 112 displays green, the lower left area 113 displays blue, and the lower right area 114 displays white. It should be noted that the displayed colors and the distribution of color areas are not limited to this. The colors of the above different areas show different brightness information due to different color temperatures. Correspondingly, the light reaching the back side of the reflector will also show different brightness information in different areas, such as Figure 5 As shown, light intensity sensors can be respectively set at four positions corresponding to one side of the back of the reflector. According to the principle of light transmission, the light intensity sensor at each position is responsible for receiving the light emitted from the specific color area on the image source display surface. For example, the light intensity sensor 211 obtains the brightness information of the red area after transmission, the light intensity sensor 212 obtains the brightness information of the green area after transmission, the light intensity sensor 213 obtains the brightness information of the blue area after transmission, and the light intensity sensor 214 obtains the brightness information of the white area after transmission. Taking the light intensity sensor 211 as an example, after collecting the brightness information of the red area after transmission, the brightness information before transmission can be calculated based on the pre-calibrated mapping relationship, and then compared with the theoretical brightness information of the red color itself. If the difference is less than a certain threshold, it means that it is normal. Otherwise, it means that the upper left area 111 of the image source display surface does not display the controlled red color, and a display abnormality occurs. In some examples, in order to reduce the error of back calculation, especially the influence of cold light film, the absolute values ​​before and after transmission are not analyzed, but the brightness arrangement order between different color areas is indirectly compared. For example, the theoretical brightness arrangement order of the above four colors according to spectral analysis is red>white>blue>green. It should be noted that the arrangement order here takes into account the influence of cold light film on it. In the comparison process, it is only necessary to sort the collected values ​​​​of the four light intensity sensors according to size. If the sorting order is consistent with the theoretical brightness arrangement order, it means that the display is normal. If it is inconsistent with the theoretical brightness arrangement order, for example, the brightness information collected by the light intensity sensor 212 is the largest, it means that the image source does not display the corresponding color according to the control of the processor.

[0055] In some examples, such as Figure 6As shown, fault self-checking may also not require controlling the image source to display a specified image, but directly perform fault self-checking based on the normal projection of the image source, that is, the sensor device set on the back of the reflector will continuously monitor the changes in the collected values ​​during the projection display, and compare them with the content displayed by the control image source, and find possible display anomalies in real time. In this example, the HUD display device will display prompt information such as vehicle speed, gear information, speed limit signs, etc. on the windshield in normal projection display, so the corresponding image information will be configured on the image source, and the specific display content is controlled by the processor. The processor also always knows its theoretical display situation on the image source display surface (that is, the display content under normal circumstances), and only needs to obtain the collected values ​​of the sensor device set on the back side of the reflector to perform comparative analysis. Due to the actual demand for display aesthetics, generally the prompt information is mostly arranged in the middle of the image source display surface, which corresponds to the middle of the projection display area on the windshield. That is, in this example, the image specifically configured to be displayed on the image source display surface includes a first area 111, a second area 112 and a third area 113, which are respectively located at the top, middle and bottom. In the second area 112, multiple types of prompt information are arranged, such as speed limit signs, vehicle speeds, and vehicle gears from left to right. Their shapes and colors are configured to present different states by processing, and the background is generally black, which is transparent compared to the projection on the windshield. The first area 111 and the third area 113 generally use the same background color as the second area 112, such as black (not shown in the figure), but due to the layout, there is no other prompt information in the first area 111 and the third area 113. Therefore, in theory, the brightness information displayed by the first area 111 and the third area 113 is completely consistent, but inconsistent with the brightness information displayed by the second area 112. If the display content on the second area 112 is not presented normally, it may cause the brightness information of the second area 112 to be consistent with the brightness information of the first area 111 or the third area 113, that is, only the brightness information displayed by the black area. Correspondingly, there will be three positions corresponding to the image source surface on one side of the back of the reflector, that is, light intensity sensors 211, light intensity sensors 212 and light intensity sensors 213 are respectively set at the three positions where the light transmission arrives. In this example, the light intensity sensor 211 can detect the light intensity of the first area 111 after passing through the reflector, the light intensity sensor 212 can detect the light intensity of the second area 112 after passing through the reflector, and the light intensity sensor 213 can detect the light intensity of the third area 113 after passing through the reflector, and then the collected value of the light intensity sensor 212 is compared with the collected value of the light intensity sensor 211 or the collected value of the light intensity sensor 213.As described above, since the second area 112 has more display content than the first area 111 or the third area 113, especially the prompt information presented in different colors, if the difference between the collected value of the light intensity sensor 212 and the collected value of the light intensity sensor 211 and the collected value of the light intensity sensor 213 is less than the first threshold value, it means that the second area 112 presents basically the same content and tends to the same brightness information as the first area 111 and the third area 113, so the second area 112 does not display normally according to the prompt information controlled to be displayed, so it can be determined that the image source of the optical machine has a display abnormality. It should be noted that the first threshold value can be determined in advance through calibration, which can be based on the minimum difference that can be detected behind the reflector in the case of possible display content layout of the two areas. Only when it is greater than the first threshold value, the configured display content will be displayed normally, thereby showing that the image source of the optical machine is in normal operation.

[0056] In some examples, such as Figure 8 As shown, for Figure 6The distribution of the first area 111, the second area 112, and the third area 113 can also be configured with more sensing devices for the areas with more prompt information, and the sensing devices at the corresponding positions are configured according to the location of the prompt information to collect richer information. In this example, since the second area 112 displays three parts of prompt information from left to right, including the speed limit sign, vehicle speed, and vehicle gear, and these three parts of prompt information are also displayed in different colors, such as the speed limit sign includes a red frame, the vehicle speed is completely displayed in white, and the vehicle gear is displayed in blue. These colors give the information icons obvious characteristics, including the light of these color characteristics that still retains certain characteristic information after being transmitted from the reflector to the back, and can be detected by the sensing device, so it is easy to lock abnormal conditions through color detection. Correspondingly, color sensors 2121, 2122, and 2123 may be arranged on the back side of the reflector corresponding to the second area 112. The position of color sensor 2121 corresponds to the position of the speed limit sign, the position of color sensor 2122 corresponds to the position of the vehicle speed, and the position of color sensor 2123 corresponds to the position of the vehicle gear position, that is, different sensor devices may be configured for different prompt information (such as a single display element or multiple display elements of the same style), such as configuring a first sensor device corresponding to the position of the first display element, and configuring a second sensor device corresponding to the position of the second display element. Similar to light intensity, when light of a specific color passes through a certain reflector, a light transformation with a certain mapping relationship will be generated, that is, a fixed one-to-one correspondence exists between the light of a specific color before and after transmission. Once the reflector and the cold light film material thereon are fixed, the mapping relationship is also determined, so it can be obtained by a pre-calibration method, so that when comparing the display content controlled at the corresponding position on the image source display surface with the collection value of the sensor device set at the corresponding position, a call analysis is performed. Taking the speed limit sign with a red frame as an example, when the color sensor 2121 obtains the corresponding collection value, the estimated color before transmission can be inferred based on the corresponding calibration mapping relationship. When the estimated color is inconsistent with the actual red color, it means that there is an abnormality in the display of the image source. Similarly, the display content of the image source controlled by the processor can be judged based on the HUD status, vehicle body message, etc. In more examples, more sensing devices can be set according to more display content, and the different dimensional information obtained by different sensing devices can be used to comprehensively analyze the display situation on the image source display surface before transmission.

[0057] In some examples, the sensor device disposed on the back side of the reflector can be directly implemented with a camera. The camera can completely capture part of the display light on the image source display surface that is transmitted from the reflector, specifically to the pixel level, and analyze the content displayed on the image source display surface by collecting the color distribution characteristics of different areas, such as the presence of feature icons. Optionally, the first distance between the camera and the back of the reflector needs to be determined based on the camera's shooting field of view and the presentation range of the image source display surface. The camera's shooting field of view should be at least larger than the presentation range of the image source display surface to be able to normally capture the image light corresponding to all pixels on the image source display surface. These image lights specifically refer to the light transmitted to the back of the reflector. Although these lights are filtered by the reflector to a certain extent, they still retain the relevant information of the display. The display content presented before transmission can be inferred through the pixel color information captured by the camera. Fig. 9 As shown, the processor can control the HUD display device to project the specified display content, such as driving the display of the image source display surface to display the information that needs to be normally displayed on the windshield. In accordance with normal display requirements, there are generally several feature icons on the image source display surface, such as Figure 6 The speed limit sign, vehicle speed, vehicle gear, etc. in the example are composed of a number of color pixels in a specific arrangement. When the camera set on the back side of the reflector collects the image, under normal circumstances, it may be affected by the reflector and cause directional changes in brightness, color, etc., but its contour and other appearance changes are within a controllable range. Therefore, when controlling the camera for display detection in the next step, the feature icons can be extracted according to the image recognition mechanism. Optionally, you can also refer to Figure 7 , Figure 8Examples such as restore the brightness and color of the characteristic icon on the image source display surface. Among them, the detection process is actually to compare the display content at the corresponding position on the image source display surface with the collection value of the sensor device set at the corresponding position. Further, the estimated content presented before the self-reflector transmission can be calculated based on the collection value, and then compared with the content actually controlled by the processor to determine whether the image source display surface is displayed according to the controlled display content. If there is a difference, it can be determined that the image source display surface has a display abnormality. Only when the display abnormality occurs will the display content not be displayed according to the actual control. In this example, since the camera acquisition is more refined, the above-mentioned comparison process can be divided into two processes, namely the first judgment process and the second judgment process. Among them, the first judgment process is to determine whether the characteristic icon is detected based on the camera's shooting content. As mentioned above, there must be a characteristic icon that needs to be displayed in a normal display. The image source display situation is determined by judging whether the characteristic icon required to be displayed is displayed normally. If the specified characteristic icon is not detected, then the display abnormality can be determined. If the specified feature icon is detected or the detected feature icon data is consistent with the control display, the next step will be entered on another branch to analyze the estimated position of the feature icon on the image source display surface, and then the estimated position is compared with the actual position of the control display through the second judgment process to see if they are consistent. If they are inconsistent, it means that there is an abnormality in the display. If they are completely consistent or consistent within the error range, it means that the content displayed on the image source display surface is consistent with the content of the control display and is in a normal display state. In more examples, there is still a certain difference between the display abnormality determined by the first judgment process and the display abnormality determined by the second judgment process. Optionally, these two types of display abnormalities can also be classified by type alarm prompts. For example, the display abnormality determined by the first judgment process is more likely to be that the image source cannot output normal display content, while the display abnormality determined by the second judgment process is more likely to be that the program controlling the image source is misaligned.

[0058] In some examples, the abnormality of the backlight current supply can be determined by collecting value changes of the sensor device at the same location in different time series, such as referring to Figure 6 , Figure 7 , monitor the changes in the collected values ​​of the light intensity sensor 212 corresponding to the position of the second area 112 during the entire projection process. As mentioned above, the brightness of the display light emitted by the image source is provided by the backlight source. Generally, the greater the driving current of the backlight source circuit, the greater the brightness of the emitted illumination light and the display light generated by irradiating the image source, and vice versa. Correspondingly, the intensity of the light reaching the back side through the reflector will also increase and decrease. Fig.10As shown, there is a very strong positive correlation between the brightness of the display light or the collected value of the light intensity sensor at the corresponding position and the current of the backlight source. For example, when the brightness is very high, the corresponding backlight current will also be very high. When the brightness is very low, the corresponding backlight current will also be very low. When the brightness changes greatly, the corresponding backlight current will also change greatly. Accordingly, the estimated current of the backlight source circuit can be calculated by the collected value of the light intensity sensor. Under normal circumstances, the backlight source will not produce a large range of current changes. If the backlight source circuit of the HUD display device has a sudden change in current, such as greater than 200mA, it is likely that the backlight source circuit has a fault. If it is not repaired in time, it may cause permanent damage to the backlight source circuit. In this example, the light intensity sensor at the corresponding position can be used to achieve accurate and real-time backlight fault monitoring, which compares the brightness values ​​collected at different times, such as comparing the first collected value at the first moment with the second collected value at the second moment, where the time interval between the first moment and the second moment is fixed and consistent with the calibration. Accordingly, if the difference between the first collected value and the second collected value is greater than the second threshold, it means that the backlight current has a large jump. Among them, the second threshold value can be calibrated in advance, and specifically can establish a mapping relationship with the minimum jump value of the abnormal backlight current. Optionally, the first acquisition value and the second acquisition value can also be back-calculated into the corresponding estimated backlight current, and whether an instantaneous mutation has occurred can be determined by directly comparing the current. In some examples, monitoring can also be achieved based on the correlation between other characteristics of the light transmitted to the back side of the reflector and the backlight current. Accordingly, a sensor device that can monitor other characteristics of the light is used to achieve acquisition. In some examples, in the comparison process between the first acquisition value and the second acquisition value, the change of the image source display controlled by the processor will also be combined. If the processor does not control the image source to change the brightness over a large range, the difference between the first acquisition value and the second acquisition value is greater than the second threshold value before it is determined to be abnormal display. This example avoids interference caused by changes in the display of the image source content itself. Since the above example implements monitoring through a sensor device set on the back side of the reflector, there is no need to add an expensive current sensor to the backlight circuit, which greatly saves hardware costs.

[0059] Due to the use of the light collection of the sensor device and the comparison and judgment of the processor in the above example, different abnormality detection of the optical machine can be realized. At the same time, the sensor device is not set on the main light path of the projection path. Therefore, the sensor device will not block the light projected on the windshield when detecting the light condition, and will not affect the normal projection display. It can be detected in real time while the HUD display device is working normally. In some examples, when the display abnormality is not detected, the detection and analysis can be continuously realized in the background in a silent state. When the display abnormality is detected, an alarm prompt can be issued to remind the user that there is an abnormality on the HUD display device, and it is necessary to take repair measures or seek professional services for maintenance and maintenance to help the user stop the loss in time. The alarm method can project the corresponding prompt sign directly on the windshield. If the image source display abnormality may affect the presentation of the alarm prompt on the windshield, the central control screen on the vehicle can also be used to assist the alarm, so as to ensure that the alarm prompt can be reliably delivered to the user. Further, when the abnormality involved is very serious and urgent, the vehicle audio can also be driven to play the alarm prompt sound, which can help the user to find possible abnormal conditions in time. In some examples, when a display abnormality is determined, an alarm prompt text message can also be sent to the mobile phone number bound to the corresponding vehicle. This can increase the dimension of the extended alarm. Optionally, the corresponding display abnormality can also be pushed to the HUD display device supplier or automobile manufacturer, and the relevant service department can actively intervene and support to improve the quality of after-sales service.

[0060] When the HUD display device implementing the fault self-checking method in the above example is applied to a vehicle, the internal fault self-checking of the HUD display device can be realized, especially the detection of abnormal display status of the optical machine can be strengthened, and the user can be prompted to perform maintenance in time to reduce unnecessary damage to display components. Fig.11 As shown, the HUD display device integrated in the vehicle can be powered and data by the vehicle computer 92, or the HUD display device itself can provide power and generate data. The HUD display device can specifically include a processor 91, an Ethernet interface 901, a CAN (Controller Area Network) interface 902, a power management module 903, a running memory 904, a storage memory 905, a temperature detection 906, a motor 907, a backlight source 908, an image source 909, a positioning module 910, a radar 911, a camera 912, etc. It should be noted that Fig.11 The modules listed in the description are merely exemplary and do not constitute any limitation. In some examples, the HUD display device may further include other modules. In addition, the above modules may be implemented in one or more hardware in different examples, or a single module may be implemented by a combination of multiple hardware.

[0061] The processor 91 serves as the control center of the HUD display device, and includes one or more processing units of any type, including but not limited to a microcontroller, a microcontroller, a DSP (Digital Signal Processor) or any combination thereof. The processor 91 is used to generate operation control signals according to a computer program, realize the control of other modules, and cooperate with corresponding modules to process the acquired or inherent data, instructions, etc.

[0062] The Ethernet interface 901 is a network data connection port for local area network communication, which defines a series of software and hardware standards. Multiple electronic devices can be connected together through the Ethernet interface 901. In this example, the processor 91 can exchange information with the vehicle computer 92 through the Ethernet interface 901, such as sending data to the vehicle computer 92 or receiving data sent by the vehicle computer 92.

[0063] The CAN interface 902 is a network data connection port of the controller area network, which provides a standard bus for the control system and embedded industrial control inside the car, and realizes the communication interaction between the control nodes. In this example, the processor 91 can also exchange information with the vehicle computer 92 through the CAN interface 902. Optionally, the processor 91 can also connect to other external devices through the CAN interface 902. In some examples, the processor 91 can also be provided with a GPIO (General-purpose input / output) interface to improve the compatibility of peripheral connections.

[0064] The power management module 903 is connected to the vehicle computer 92 and can receive the power provided by the vehicle computer 92 to provide a regulated power supply for each module of the HUD display device, thereby ensuring that the processor 91 and each module operate under normal voltage supply and avoid damage due to overvoltage.

[0065] The running memory 904 is used to store computer programs executed by the processor 91, temporarily stored calculation data, data exchanged with the storage memory, etc. The running memory 904 can be a memory such as SDRAM (Synchronous Dynamic Random-access Memory).

[0066] The storage memory 905 is used to store resources such as display content related to the HUD display device, and long-term storage of running programs and data, etc. The storage memory 905 can be a memory such as Flash (flash memory). In some examples, the processor 91 can also provide an interface to access an external memory.

[0067] Temperature detection 906 is used to detect the temperature inside the HUD display device, and may specifically include several temperature sensors. Since the resistance value of the temperature sensor changes with the change of temperature, the processor 91 can determine the resistance value of the temperature sensor at the corresponding temperature according to the voltage change between each temperature sensor and the voltage divider resistor under a fixed power supply voltage, thereby reversely deducing the temperature at the location of the temperature sensor. In some examples, the processor 91 can control several temperature sensors through the GPIO interface, and several temperature sensors can be set at different locations inside the HUD display device. The processor 91 can use time-sharing detection to obtain the temperature values ​​fed back by several temperature sensors respectively.

[0068] Motor 907 is used to drive the optical lens in the HUD display device to rotate under the control of processor 91, so as to achieve the change of the corresponding optical path. For example, when the backflow of sunlight causes the temperature rise on the surface of the image source, the motor can be used to drive the optical lens to prevent the external sunlight from reaching the surface of the image source. In some examples, the processor 91 can also drive the fan provided on the HUD display device through motor 907 to increase the speed of air exchange between the inside and outside of the HUD display device to achieve heat dissipation. Specifically, the motor 907 is connected to the processor 91 through a motor driver chip, and the motor driver chip provides high-performance power output for the motor 907, and can also communicate and control with the processor 91 through interfaces such as SPI (Serial Peripheral Interface).

[0069] The backlight source 908 is used to provide illumination light and adjust the brightness of the illumination light according to the control of the processor 91, so as to adjust the projection display brightness of the entire HUD display device. The backlight source 908 cooperates with the image source 909 to realize the main function of optical machine projection display. The backlight source 908 can be an LED (Light Emitting Diode), a laser, etc. Specifically, the backlight source 908 is connected to the processor 91 through a backlight driver chip, and the backlight driver chip provides a driving voltage for the backlight source 908 and controls the brightness of the backlight source 908 under the pulse width signal output by the processor 91.

[0070] The image source 909 is used to display an image of corresponding content and project the display light corresponding to the image according to the control of the processor 91. The image source 909 can be an LCD (Liquid Crystal Display), a DMD (Digital Micromirror Devices), a MEMS (Micro-Electro-Mechanical System) micromirror, a LCOS (Liquid Crystal on silicon), etc.

[0071] The positioning module 910 is used to monitor the position of the HUD display device and the corresponding vehicle. The positioning module 910 can be a global navigation satellite system such as GPS (Global Positioning System) and Beidou Satellite Navigation System. By measuring the distance between the satellite and the receiver on the positioning module 910 at different positions, the corresponding position and orientation data are determined. In some examples, the positioning module 910 may also include an inertial navigation system, which is based on Newton's laws of mechanics. By measuring the acceleration of the positioning module 910 in the inertial reference system, integrating it over time, and transforming it into the navigation coordinate system, the speed, yaw angle, and position data in the navigation coordinate system are obtained. Optionally, the inertial navigation system can assist the global navigation satellite system to achieve more accurate positioning and provide the processor 91 with corresponding position information.

[0072] The radar 911 is used to determine the position of a target object through electromagnetic waves, and can usually determine the distance of the target object from the vehicle where the radar 911 is located.

[0073] Camera 912 includes a vehicle body camera and an in-vehicle camera, wherein the vehicle body camera is used to determine the position of the target object through visual recognition, and the vehicle body camera can be a monocular camera or a binocular camera. The biggest difference between a monocular camera and a binocular camera is that a binocular camera can capture images from two different perspectives, thereby obtaining distance information in three-dimensional space. The in-vehicle camera is used to identify the behavior status of the driver and passengers in the vehicle, including fatigue detection, distraction detection, expression recognition, gesture recognition, sight tracking, etc. In this example, the in-vehicle camera can also implement eye tracking.

[0074] In some examples, the positioning module 910, radar 911 and camera 912 can also be directly connected to the vehicle computer 92, and are not directly connected to the processor 91 of the HUD display device. For example, the vehicle computer 92 itself is integrated with a positioning module for position tracking and a radar and camera for automatic driving. The HUD display device can obtain the collected data of the positioning module, radar and camera in real time through communication with the vehicle computer 92.

[0075] like Fig.12As shown, the HUD display device that implements the above-mentioned example fault self-checking method may specifically include a processor 931, a memory 932, an input device 933 and an output device 934, wherein the input device 933 may include an operation button integrated on the display device, etc., and the display device may receive input control instructions and data through the input device 933. The output device 934 may include an image source integrated on the display device, etc., and the display device may output corresponding instructions or data to the output device 934. Further, the memory 932 stores a computer program running on the processor 931, and the processor 931 implements the above-mentioned example fault self-checking method when executing the computer program. In some examples, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above-mentioned example fault self-checking method when executed by the processor.

[0076] like Fig.13 As shown, the vehicle can be provided with the above-mentioned HUD display device. Specifically, the HUD display device is integrated inside the center console 10, such as in front of the steering wheel. The corresponding display light is projected onto the opposite vehicle windshield 4 through the projection window 102 of the HUD display device. The effect of the viewer observing the windshield 4 from the cockpit is that the corresponding virtual image can be directly seen. Specifically, the corresponding display area 50 of the windshield 4 includes basic display information (vehicle speed information, gear information, etc.) and extended display information (warning information, navigation information, etc.) and other display elements. The driver can view the corresponding content without lowering his head while driving, which improves safety. More importantly, while the driver is watching these projected contents, the HUD display device also supports synchronous detection. The detection process is in a silent state and does not affect the normal driving process. In some examples, the vehicle can also distribute the program of the fault self-detection method in the above example through the above-mentioned computer-readable storage medium, so that the display device can be updated and upgraded accordingly. It should be noted that the means of transportation are not limited to cars as a means of transportation, but may also include buses, trucks, excavators, motorcycles, trains, high-speed trains, ships, yachts, airplanes, spacecraft, etc. The projected windshield is not limited to the front windshield of a car, but may also be a transparent surface at other locations.

[0077] In combination with the above examples, the technical solutions involved in the present application can be directly embodied as hardware, a software module executed by a control unit, or a combination of the two, that is, one or more steps and / or one or more step combinations, which can correspond to various software modules of a computer program flow, or to various hardware modules, such as ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any appropriate combination thereof. For the convenience of description, the above description is divided into various modules and described separately according to their functions. Of course, when implementing the present application, the functions of each module can be implemented in the same or more software and / or hardware.

[0078] Through the description of the above examples, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution involved in the present application can be essentially or partly contributed to the prior art in the form of a software product. The software is executed by a microcontroller unit and, depending on the required configuration, may include one or more microcontroller units of any type, including but not limited to a microcontroller unit, a microcontroller, a DSP (Digital Signal Processor) or any combination thereof. The software is stored in a memory, such as a volatile memory (such as a random access memory, etc.), a non-volatile memory (such as a read-only memory, a flash memory, etc.) or any combination thereof.

[0079] In summary, the present application uses a sensor device disposed on the back of the reflector to capture the light that passes through the reflector in the image source output display light of the optical machine, and then determines whether it is in a normal corresponding relationship with the image source display content based on the collected and determined brightness, color and other information, thereby determining the display state of the optical machine inside the device without affecting the projection display. The present application can realize fault self-checking of the HUD display device, locate the display fault in the device in real time, and improve the maintenance capability and service life of the equipment.

[0080] It should be understood that although this specification includes some examples, none of these examples contains only one independent technical solution, and this description of the specification is only for the purpose of clarity. A person skilled in the art should take the specification as a whole, and the technical solutions in each example can also be appropriately combined to form other implementation methods that can be understood by a person skilled in the art.

[0081] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present application. They are not intended to limit the scope of protection of the present application. All equivalent implementation methods or modifications that do not deviate from the teachings of the present application should be included in the scope of protection of the present application.

Claims

1. A fault self-checking method, characterized in that: include: The display light is emitted from the image source display surface of the optical machine, and the display light is reflected by at least the first lens so that the light forming the virtual image on the transparent surface is on the projection path; The first lens includes a first mirror surface facing the image source display surface and a second mirror surface away from the image source display surface. A sensing device is arranged on one side of the second mirror surface. The sensing device is configured to collect the display light transmitted through the first lens to determine the display state of the optical machine.

2. The fault self-checking method according to claim 1, characterized in that: The sensor device arranged relative to the second mirror surface comprises: A cold light film is disposed on the first mirror surface of the first lens; The photosensitive surface of the sensing device forms a certain angle with a reference plane perpendicular to the direction in which the display light is incident on the first mirror surface.

3. The fault self-checking method according to claim 1, characterized in that: The sensing device is configured to collect light transmitted through the first lens by the display light to determine the display state of the optical machine, including: The display content at the corresponding position on the image source display surface is compared with the collected value of the sensor device arranged at the corresponding position to determine whether a specific matching relationship is satisfied.

4. The fault self-checking method according to claim 3, characterized in that: The comparing the display content at the corresponding position on the image source display surface with the collected value of the sensor device set at the corresponding position to determine whether a specific matching relationship is satisfied includes: In response to the first position of the image source display surface displaying a first presentation state and the second position displaying a second presentation state, a sensing device is arranged on one side of the second mirror surface, including a first light intensity sensor arranged at a third position and a second light intensity sensor arranged at a fourth position, wherein the third position corresponds to the first position and the fourth position corresponds to the second position; When the brightness difference between the first presentation content and the second presentation content is inconsistent with the acquisition value difference between the first light intensity sensor and the second light intensity sensor, it is determined that a display abnormality occurs in the image source of the optical machine.

5. The fault self-checking method according to claim 3, characterized in that: The comparing the display content at the corresponding position on the image source display surface with the collected value of the sensor device set at the corresponding position to determine whether a specific matching relationship is satisfied includes: In response to the first position of the image source display surface displaying a first presentation state and the second position displaying a second presentation state, the first presentation state being different from the second presentation state, a sensing device is arranged on one side of the second mirror surface, including a first light intensity sensor arranged at a third position and a second light intensity sensor arranged at a fourth position, the third position corresponds to the first position, and the fourth position corresponds to the second position; When the difference between the collection value of the first light intensity sensor and the collection value of the second light intensity sensor is smaller than a first threshold, it is determined that a display abnormality occurs in the image source of the optical machine.

6. The fault self-checking method according to claim 1, characterized in that: The sensing device is a camera, and a first distance exists between the camera and the second mirror surface of the first lens so that the shooting field angle of the camera is at least larger than the presentation range of the image source display surface; The estimated position of the characteristic icon on the image source display surface is determined based on the color information collected by the camera. When there is a difference between the estimated position and the actual position of the characteristic icon on the image source display surface, it is determined that the image source of the optical machine has a display abnormality.

7. The fault self-checking method according to claim 1, characterized in that: The sensing device is configured to collect light transmitted through the first lens by the display light to determine the display state of the optical machine, including: A first collection value at a first moment and a second collection value at a second moment are collected using a sensor device at the same position. When the difference between the first collection value and the second collection value is greater than a second threshold, it is determined that a current abnormality occurs in the backlight source of the optical machine.

8. A display device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of the fault self-checking method according to any one of claims 1 to 7 when executing the computer program.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the fault self-detection method according to any one of claims 1 to 7 are implemented.

10. A means of transport, characterized in that: Includes the display device of claim 8 or the computer-readable storage medium of claim 9.

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