HUD automatic test method, device, equipment and medium

Abstract

The invention discloses an HUD automatic test method, device and equipment and a medium, and the method comprises the steps: enabling a coordinate system corresponding to target HUD light path information to coincide with a coordinate system of a to-be-tested HUD system, and determining a unified coordinate system; wherein the to-be-tested HUD system comprises a windshield, an optical machine and a binocular camera; according to the target HUD light path information, determining a target windshield angle value, a target light machine space absolute position coordinate and a target binocular camera space absolute position coordinate in a unified coordinate system; calibrating the to-be-tested HUD system by using the target windshield angle value, the target optical machine space absolute position coordinate and the target binocular camera space absolute position coordinate; and respectively carrying out a brightness contrast test, a brightness uniformity test, an inclination angle test and a distortion degree test on the calibrated to-be-tested HUD system. According to the invention, the automatic calibration and test of the HUD system to be tested can be realized, and the calibration efficiency and the calibration precision are obviously improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle testing technology, and in particular to a HUD automated testing method, device, electronic equipment and computer-readable storage medium. Background Art

[0002] HUD (Head up display) is one of the largest growth areas in the current automotive market. It can project driving status, navigation information, assisted driving information and other information directly in front of the driver's eyes. The driver can intuitively obtain driving information without switching his or her line of sight, which greatly reduces blind driving time and improves driving safety.

[0003] Brightness contrast, brightness uniformity, tilt angle and distortion are the parameters commonly used to evaluate HUD imaging quality. In order to test HUD imaging quality, the existing technology usually uses a laser coordinate meter to manually calibrate the actual physical positions of the windshield, optical machine and binocular camera based on the optical path file provided by the customer regarding the spatial position relationship between the windshield, optical machine and binocular camera to build a test environment, and then uses the optical machine projection binocular camera to focus and take pictures, and manually imports the pictures into the analysis software and analyzes them to obtain a report file of the size of each parameter. This method requires a lot of manual calibration time, is inefficient and cannot guarantee calibration accuracy. Summary of the invention

[0004] The present invention provides a HUD automated testing method, device, equipment and medium to solve the technical problems that the existing HUD testing method needs to consume a lot of manual calibration time, is inefficient and cannot guarantee the calibration accuracy.

[0005] In order to solve the above technical problems, a first aspect of an embodiment of the present invention provides a HUD automated testing method, comprising the following steps:

[0006] Overlap the coordinate system corresponding to the target HUD optical path information with the coordinate system of the HUD system to be tested to determine a unified coordinate system; wherein the HUD system to be tested includes a windshield, an optical machine, and a binocular camera;

[0007] Determine the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates in the unified coordinate system according to the target HUD optical path information;

[0008] Calibrate the HUD system to be tested using the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates;

[0009] The calibrated HUD system to be tested is subjected to brightness contrast test, brightness uniformity test, tilt angle test and distortion test.

[0010] As a preferred solution, the calibrating the HUD system to be tested by using the target windshield angle value, the target optical-mechanical space absolute position coordinates and the target binocular camera space absolute position coordinates specifically includes:

[0011] Obtain the windshield angle value, optical-mechanical space absolute position coordinates, and binocular camera space absolute position coordinates of the HUD system to be tested in the unified coordinate system;

[0012] Calculating the angle value of the windshield to be rotated according to the windshield angle value and the target windshield angle value;

[0013] Calculating the optical machine's position to be moved according to the optical machine's spatial absolute position coordinates and the target optical machine's spatial absolute position coordinates;

[0014] The position of the binocular camera to be moved is calculated according to the binocular camera space absolute position coordinates and the target binocular camera space absolute position coordinates;

[0015] The HUD system to be tested is calibrated according to the angle value of the windshield to be rotated, the position of the optical machine to be moved, and the position of the binocular camera to be moved.

[0016] As a preferred solution, the calculating the windshield angle value to be rotated according to the windshield angle value and the target windshield angle value specifically includes:

[0017] According to the first angle value in the x-axis direction and the second angle value in the y-axis direction of the windshield angle value and the first target angle value in the x-axis direction and the second target angle value in the y-axis direction of the target windshield angle value, the first angle value to be rotated in the z-axis direction is calculated by the following expression:

[0018] rx1=cosγ·rx2-sinγ·ry2;

[0019] ry1=sinγ·rx2+cosγ·ry2;

[0020] According to the third angle value in the z-axis direction of the windshield angle value, the first angle value, the third target angle value in the z-axis direction of the target windshield angle value, and the first target angle value, the second angle value to be rotated in the y-axis direction is calculated by the following expression:

[0021] rx1=cosβ·rx2+sinβ·rz2;

[0022] rz1=-sinβ·rx2+cosβ·rz2;

[0023] According to the second angle value, the third angle value, the second target angle value and the third target angle value, the third angle value to be rotated in the x-axis direction is calculated by the following expression:

[0024] ry1=cosα·ry2-sinα·rz2;

[0025] rz1=sinα·ry2+sinα·rz2;

[0026] Determining the angle value of the windshield to be rotated according to the first angle value to be rotated, the second angle value to be rotated and the third angle value to be rotated;

[0027] Among them, rx1 represents the first target angle value; ry1 represents the second target angle value; rz1 represents the third target angle value; rx2 represents the first angle value; ry2 represents the second angle value; rz2 represents the third angle value; γ represents the first angle value to be rotated; β represents the second angle value to be rotated; α represents the third angle value to be rotated.

[0028] As a preferred solution, the method specifically performs a brightness contrast test on the calibrated HUD system to be tested through the following steps:

[0029] In a lighting environment where the ambient light illuminance is less than 50lx, the calibrated optical engine is controlled to project a white image on the calibrated windshield;

[0030] Controlling the calibrated binocular camera to measure a first brightness value of the white screen;

[0031] Controlling the calibrated optical machine to project a black image on the calibrated windshield;

[0032] Controlling the calibrated binocular camera to measure a second brightness value of the black screen;

[0033] According to the ratio between the first brightness value and the second brightness value, a brightness contrast corresponding to the calibrated HUD system to be tested is obtained.

[0034] As a preferred solution, the method specifically performs a brightness uniformity test on the calibrated HUD system to be tested through the following steps:

[0035] In a lighting environment where the ambient light illuminance is less than 50 lx, controlling the calibrated optical machine to project a nine-point diagram on the calibrated windshield; wherein the nine-point diagram is a dot matrix diagram with a 3×3 distribution;

[0036] Controlling the calibrated binocular camera to measure the brightness value of each point in the nine-point image;

[0037] According to the maximum brightness value and the minimum brightness value among the brightness values ​​of each point, the brightness uniformity corresponding to the calibrated HUD system to be tested is obtained.

[0038] As a preferred solution, the method specifically performs a tilt angle test on the calibrated HUD system to be tested through the following steps:

[0039] In a lighting environment where the ambient light illuminance is less than 50 lx, controlling the calibrated optical machine to project a nine-point diagram on the calibrated windshield; wherein the nine-point diagram is a dot matrix diagram with a 3×3 distribution;

[0040] Determining a first virtual image point and a second virtual image point on a calibration panel located in front of the calibrated windshield; wherein the first virtual image point and the second virtual image point correspond to the first point and the last point of any row in the nine-point diagram, respectively;

[0041] According to the horizontal distance and the vertical distance between the first virtual image point and the second virtual image point, the tilt angle corresponding to the calibrated HUD system to be tested is calculated.

[0042] As a preferred solution, the method specifically performs a distortion test on the calibrated HUD system to be tested through the following steps:

[0043] In a lighting environment where the ambient light illuminance is less than 50 lx, controlling the calibrated optical machine to project a nine-point diagram on the calibrated windshield; wherein the nine-point diagram is a dot matrix diagram with a 3×3 distribution;

[0044] Determining, on a calibration panel located in front of the calibrated windshield, a first virtual image point, a second virtual image point, a third virtual image point, a fourth virtual image point, a fifth virtual image point, a sixth virtual image point, a seventh virtual image point, an eighth virtual image point, and a ninth virtual image point corresponding to each point in the nine-point diagram, respectively;

[0045] Acquire a first distance from the fourth virtual image point to a line segment between the first virtual image point and the seventh virtual image point, a second distance from the fifth virtual image point to a line segment between the second virtual image point and the eighth virtual image point, and a third distance from the sixth virtual image point to a line segment between the third virtual image point and the ninth virtual image point;

[0046] Calculating, according to the first distance, the second distance, and the third distance, the horizontal average distortion and the maximum horizontal distortion corresponding to the calibrated HUD system to be tested;

[0047] Acquire a fourth distance from the second virtual image point to a line segment between the first virtual image point and the third virtual image point, a fifth distance from the fifth virtual image point to a line segment between the fourth virtual image point and the sixth virtual image point, and a sixth distance from the eighth virtual image point to a line segment between the seventh virtual image point and the ninth virtual image point;

[0048] Calculating an average vertical distortion and a maximum vertical distortion corresponding to the calibrated HUD system to be tested according to the fourth distance, the fifth distance, and the sixth distance;

[0049] Among them, the first virtual image point, the second virtual image point, and the third virtual image point correspond to the first point, the second point, and the third point in the first row of the nine-point diagram respectively; the fourth virtual image point, the fifth virtual image point, and the sixth virtual image point correspond to the first point, the second point, and the third point in the second row of the nine-point diagram respectively; the seventh virtual image point, the eighth virtual image point, and the ninth virtual image point correspond to the first point, the second point, and the third point in the third row of the nine-point diagram respectively.

[0050] A second aspect of an embodiment of the present invention provides a HUD automatic testing device, comprising:

[0051] Coordinate System 1 module, used for:

[0052] Overlap the coordinate system corresponding to the target HUD optical path information with the coordinate system of the HUD system to be tested to determine a unified coordinate system; wherein the HUD system to be tested includes a windshield, an optical machine, and a binocular camera;

[0053] Calibration module for:

[0054] Determine the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates in the unified coordinate system according to the target HUD optical path information;

[0055] Calibrate the HUD system to be tested using the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates;

[0056] Automated testing modules for:

[0057] The calibrated HUD system to be tested is subjected to brightness contrast test, brightness uniformity test, tilt angle test and distortion test.

[0058] A third aspect of an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the HUD automated testing method described in any one of the first aspects is implemented.

[0059] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the HUD automated testing method as described in any one of the first aspects.

[0060] Compared with the prior art, the beneficial effect of the embodiments of the present invention lies in that, by unifying the coordinate system corresponding to the target HUD optical path information and the coordinate system of the HUD system to be tested, the target windshield angle value, the target optical-mechanical space absolute position coordinates and the target binocular camera space absolute position coordinates in the unified coordinate system can be determined based on the target HUD optical path information, and the HUD system to be tested can be automatically calibrated, thereby eliminating the need for manual calibration and significantly improving the calibration efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 is a flow chart of the HUD automated testing method in an embodiment of the present invention;

[0062] Figure 2 Schematic diagram of the structure of the HUD automatic testing device in an embodiment of the present invention. DETAILED DESCRIPTION

[0063] 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.

[0064] See also Figure 1 According to a first aspect of an embodiment of the present invention, a HUD automated testing method is provided, comprising the following steps S1 to S4:

[0065] Step S1, aligning the coordinate system corresponding to the target HUD optical path information with the coordinate system of the HUD system to be tested to determine a unified coordinate system; wherein the HUD system to be tested includes a windshield, an optical machine, and a binocular camera;

[0066] Step S2, determining the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates in the unified coordinate system according to the target HUD optical path information;

[0067] Step S3, calibrating the HUD system to be tested by using the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates;

[0068] Step S4, performing a brightness contrast test, a brightness uniformity test, a tilt angle test, and a distortion test on the calibrated HUD system to be tested.

[0069] Specifically, for each HUD system to be tested, the customer usually provides its optical path file, which records the target HUD optical path information required by the customer, so that when testing the HUD system to be tested, it is necessary to test the imaging quality under the target HUD optical path. Furthermore, since the coordinate system corresponding to the target HUD optical path information usually has a deviation from the coordinate system of the actual HUD system to be tested, in order to ensure the calibration accuracy of the HUD system to be tested, the coordinate systems of the two need to be overlapped to determine a unified coordinate system.

[0070] Furthermore, since the target HUD optical path information has been determined, the target physical position among the windshield, optical machine and binocular camera can also be determined, so that the target windshield angle value, the target optical machine space absolute position coordinates and the target binocular camera space absolute position coordinates in the unified coordinate system can be directly determined, and the HUD system to be tested can be calibrated, so that the calibrated HUD system to be tested can be automatically tested based on the preset target HUD optical path.

[0071] As a preferred solution, the calibrating the HUD system to be tested by using the target windshield angle value, the target optical-mechanical space absolute position coordinates and the target binocular camera space absolute position coordinates specifically includes:

[0072] Obtain the windshield angle value, optical-mechanical space absolute position coordinates, and binocular camera space absolute position coordinates of the HUD system to be tested in the unified coordinate system;

[0073] Calculating the angle value of the windshield to be rotated according to the windshield angle value and the target windshield angle value;

[0074] Calculating the optical machine's position to be moved according to the optical machine's spatial absolute position coordinates and the target optical machine's spatial absolute position coordinates;

[0075] The position of the binocular camera to be moved is calculated according to the binocular camera space absolute position coordinates and the target binocular camera space absolute position coordinates;

[0076] The HUD system to be tested is calibrated according to the angle value of the windshield to be rotated, the position of the optical machine to be moved, and the position of the binocular camera to be moved.

[0077] Specifically, this embodiment first needs to obtain the windshield angle value, the optical-mechanical space absolute position coordinates, and the binocular camera space absolute position coordinates of the HUD system to be tested in a unified coordinate system, and then, based on the windshield angle value and the target windshield angle value, the angle difference between the two can be determined, thereby calculating the windshield rotation angle value to achieve angle calibration of the windshield.

[0078] Further, assuming that the absolute position coordinates of the optomechanical space are (x1, y1, z1) and the absolute position coordinates of the target optomechanical space are (x2, y2, z2), this embodiment calculates the positions to be moved of the optomechanical system in the x-axis, y-axis, and z-axis directions in the HUD system to be tested respectively through the following expressions: △x1=x2-x1; △y1=y2-y1; △z1=z2-z1.

[0079] Further, assuming that the absolute position coordinates of the binocular camera space are (x3, y3, z3), and the absolute position coordinates of the target binocular camera space are (x4, y4, z4), this embodiment calculates the positions to be moved of the binocular camera in the HUD system to be tested in the x-axis, y-axis, and z-axis directions respectively through the following expressions: △x2=x4-x3; △y2=y4-y3; △z2=z4-z3.

[0080] Furthermore, according to the windshield rotation angle value, the optical machine moving position and the binocular camera moving position obtained by the above calculations, it is only necessary to move the windshield, the optical machine and the binocular camera in the HUD system to be tested to the corresponding target positions to complete the automatic calibration of the HUD system to be tested.

[0081] As a preferred solution, the calculating the windshield angle value to be rotated according to the windshield angle value and the target windshield angle value specifically includes:

[0082] According to the first angle value in the x-axis direction and the second angle value in the y-axis direction of the windshield angle value and the first target angle value in the x-axis direction and the second target angle value in the y-axis direction of the target windshield angle value, the first angle value to be rotated in the z-axis direction is calculated by the following expression:

[0083] rx1=cosγ·rx2-sinγ·ry2;

[0084] ry1=sinγ·rx2+cosγ·ry2;

[0085] According to the third angle value in the z-axis direction of the windshield angle value, the first angle value, the third target angle value in the z-axis direction of the target windshield angle value, and the first target angle value, the second angle value to be rotated in the y-axis direction is calculated by the following expression:

[0086] rx1=cosβ·rx2+sinβ·rz2;

[0087] rz1=-sinβ·rx2+cosβ·rz2;

[0088] According to the second angle value, the third angle value, the second target angle value and the third target angle value, the third angle value to be rotated in the x-axis direction is calculated by the following expression:

[0089] ry1=cosα·ry2-sinα·rz2;

[0090] rz1=sinα·ry2+sinα·rz2;

[0091] Determining the angle value of the windshield to be rotated according to the first angle value to be rotated, the second angle value to be rotated and the third angle value to be rotated;

[0092] Among them, rx1 represents the first target angle value; ry1 represents the second target angle value; rz1 represents the third target angle value; rx2 represents the first angle value; ry2 represents the second angle value; rz2 represents the third angle value; γ represents the first angle value to be rotated; β represents the second angle value to be rotated; α represents the third angle value to be rotated.

[0093] As a preferred solution, the method specifically performs a brightness contrast test on the calibrated HUD system to be tested through the following steps:

[0094] In a lighting environment where the ambient light illuminance is less than 50lx, the calibrated optical engine is controlled to project a white image on the calibrated windshield;

[0095] Controlling the calibrated binocular camera to measure a first brightness value of the white screen;

[0096] Controlling the calibrated optical machine to project a black image on the calibrated windshield;

[0097] Controlling the calibrated binocular camera to measure a second brightness value of the black screen;

[0098] According to the ratio between the first brightness value and the second brightness value, a brightness contrast corresponding to the calibrated HUD system to be tested is obtained.

[0099] Specifically, this embodiment performs HUD automated testing in a lighting environment where the ambient light illuminance is less than 50 lx, thereby avoiding the influence of ambient light on the test accuracy. Assuming that the first brightness value of the white screen measured by the binocular camera is L white , measure the second brightness value of the black screen as L black , then the brightness contrast CR of the calibrated HUD system to be tested is: CR = L white / L black .

[0100] As a preferred solution, the method specifically performs a brightness uniformity test on the calibrated HUD system to be tested through the following steps:

[0101] In a lighting environment where the ambient light illuminance is less than 50 lx, controlling the calibrated optical machine to project a nine-point diagram on the calibrated windshield; wherein the nine-point diagram is a dot matrix diagram with a 3×3 distribution;

[0102] Controlling the calibrated binocular camera to measure the brightness value of each point in the nine-point image;

[0103] According to the maximum brightness value and the minimum brightness value among the brightness values ​​of each point, the brightness uniformity corresponding to the calibrated HUD system to be tested is obtained.

[0104] Specifically, suppose that among the brightness values ​​of each point in the nine-point image measured by the binocular camera, the maximum brightness value is L max , the minimum brightness value is L min , then the brightness uniformity U corresponding to the HUD system to be tested after calibration is: U = 1-[(L max -L min ) / L max ].

[0105] As a preferred solution, the method specifically performs a tilt angle test on the calibrated HUD system to be tested through the following steps:

[0106] In a lighting environment where the ambient light illuminance is less than 50 lx, controlling the calibrated optical machine to project a nine-point diagram on the calibrated windshield; wherein the nine-point diagram is a dot matrix diagram with a 3×3 distribution;

[0107] Determining a first virtual image point and a second virtual image point on a calibration panel located in front of the calibrated windshield; wherein the first virtual image point and the second virtual image point correspond to the first point and the last point of any row in the nine-point diagram, respectively;

[0108] According to the horizontal distance and the vertical distance between the first virtual image point and the second virtual image point, the tilt angle corresponding to the calibrated HUD system to be tested is calculated.

[0109] Specifically, since the points in the same row in the nine-point diagram are on the same horizontal straight line, if the imaging quality of the HUD system is good, the points in the same row in the projected nine-point diagram should also be on the same horizontal straight line. Therefore, in this embodiment, by locating the first virtual image point and the second virtual image point corresponding to the first point and the last point in any row of the nine-point diagram on the calibration panel, the horizontal distance d between the first virtual image point and the second virtual image point can be calculated. h and vertical distance d v , clarify the imaging tilt angle of the HUD system to be tested Specifically:

[0110] It is worth noting that if the HUD system to be tested has a certain imaging tilt angle, the nine-point diagram projected by it is tilted as a whole, so the virtual image points corresponding to any row can be selected for testing. Preferably, the virtual image points corresponding to the middle row are selected for testing.

[0111] As one of the optional embodiments, by locating six virtual image points corresponding to the first point and the last point of each row in the nine-point diagram on the calibration panel, the tilt angle corresponding to each row can be calculated based on the horizontal distance and vertical distance between the two virtual image points corresponding to each row, and then the tilt angle corresponding to each row is averaged, and the average result is used as the tilt corresponding to the HUD system to be tested.

[0112] As a preferred solution, the method specifically performs a distortion test on the calibrated HUD system to be tested through the following steps:

[0113] In a lighting environment where the ambient light illuminance is less than 50 lx, controlling the calibrated optical machine to project a nine-point diagram on the calibrated windshield; wherein the nine-point diagram is a dot matrix diagram with a 3×3 distribution;

[0114] Determining, on a calibration panel located in front of the calibrated windshield, a first virtual image point, a second virtual image point, a third virtual image point, a fourth virtual image point, a fifth virtual image point, a sixth virtual image point, a seventh virtual image point, an eighth virtual image point, and a ninth virtual image point corresponding to each point in the nine-point diagram, respectively;

[0115] Acquire a first distance from the fourth virtual image point to a line segment between the first virtual image point and the seventh virtual image point, a second distance from the fifth virtual image point to a line segment between the second virtual image point and the eighth virtual image point, and a third distance from the sixth virtual image point to a line segment between the third virtual image point and the ninth virtual image point;

[0116] Calculating, according to the first distance, the second distance, and the third distance, the horizontal average distortion and the maximum horizontal distortion corresponding to the calibrated HUD system to be tested;

[0117] Acquire a fourth distance from the second virtual image point to a line segment between the first virtual image point and the third virtual image point, a fifth distance from the fifth virtual image point to a line segment between the fourth virtual image point and the sixth virtual image point, and a sixth distance from the eighth virtual image point to a line segment between the seventh virtual image point and the ninth virtual image point;

[0118] Calculating an average vertical distortion and a maximum vertical distortion corresponding to the calibrated HUD system to be tested according to the fourth distance, the fifth distance, and the sixth distance;

[0119] Among them, the first virtual image point, the second virtual image point, and the third virtual image point correspond to the first point, the second point, and the third point in the first row of the nine-point diagram respectively; the fourth virtual image point, the fifth virtual image point, and the sixth virtual image point correspond to the first point, the second point, and the third point in the second row of the nine-point diagram respectively; the seventh virtual image point, the eighth virtual image point, and the ninth virtual image point correspond to the first point, the second point, and the third point in the third row of the nine-point diagram respectively.

[0120] Specifically, since the points in the same column of the nine-point diagram are on the same vertical line, if the imaging quality of the HUD system is good, the points in the same column of the projected nine-point diagram should also be on the same vertical line. Therefore, in this embodiment, virtual image points corresponding to the points in the nine-point diagram are located on the calibration panel to calculate the maximum distortion and average distortion of the calibrated HUD system to be tested. Specifically, for the first virtual image point, the fourth virtual image point and the seventh virtual image point in the same column, a line segment is formed between the first virtual image point and the seventh virtual image point, and the vertical distance between the fourth virtual image point and the line segment is calculated, which is the first distance mentioned above. Similarly, for the second virtual image point, the fifth virtual image point and the eighth virtual image point in the same column, and the third virtual image point, the sixth virtual image point and the ninth virtual image point in the same column, the second distance and the third distance are obtained in the same way, respectively. Then, the average horizontal distortion corresponding to the calibrated HUD system to be tested is the average of the first distance, the second distance and the third distance, and the maximum horizontal distortion is the maximum value among the first distance, the second distance and the third distance.

[0121] In addition, for the first virtual image point, the second virtual image point and the third virtual image point in the same row, a line segment is formed between the first virtual image point and the third virtual image point, and the vertical distance between the second virtual image point and the line segment is calculated, which is the fourth distance mentioned above. Similarly, for the fourth virtual image point, the fifth virtual image point and the sixth virtual image point in the same row, and the seventh virtual image point, the eighth virtual image point and the ninth virtual image point in the same row, the fifth distance and the sixth distance are respectively obtained in the same manner. Then, the average vertical distortion corresponding to the calibrated HUD system to be tested is the average value of the fourth distance, the fifth distance and the sixth distance, and the maximum vertical distortion is the maximum value among the fourth distance, the fifth distance and the sixth distance.

[0122] The HUD automated testing method provided by the embodiment of the present invention can determine the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates in the unified coordinate system based on the target HUD optical path information by unifying the coordinate system corresponding to the target HUD optical path information and the coordinate system of the HUD system to be tested, and further automatically calibrate the HUD system to be tested, thereby eliminating the need for manual calibration and significantly improving the calibration efficiency and calibration accuracy.

[0123] See also Figure 2 A second aspect of an embodiment of the present invention provides a HUD automatic testing device, comprising:

[0124] Coordinate system module 101 is used for:

[0125] Overlap the coordinate system corresponding to the target HUD optical path information with the coordinate system of the HUD system to be tested to determine a unified coordinate system; wherein the HUD system to be tested includes a windshield, an optical machine, and a binocular camera;

[0126] The calibration module 102 is used for:

[0127] Determine the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates in the unified coordinate system according to the target HUD optical path information;

[0128] Calibrate the HUD system to be tested using the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates;

[0129] The automated testing module 103 is used to:

[0130] The calibrated HUD system to be tested is subjected to brightness contrast test, brightness uniformity test, tilt angle test and distortion test.

[0131] As a preferred solution, the calibration module 102 is used to calibrate the HUD system to be tested using the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates, specifically including:

[0132] Obtain the windshield angle value, optical-mechanical space absolute position coordinates, and binocular camera space absolute position coordinates of the HUD system to be tested in the unified coordinate system;

[0133] Calculating the angle value of the windshield to be rotated according to the windshield angle value and the target windshield angle value;

[0134] Calculating the optical machine's position to be moved according to the optical machine's spatial absolute position coordinates and the target optical machine's spatial absolute position coordinates;

[0135] The position of the binocular camera to be moved is calculated according to the binocular camera space absolute position coordinates and the target binocular camera space absolute position coordinates;

[0136] The HUD system to be tested is calibrated according to the angle value of the windshield to be rotated, the position of the optical machine to be moved, and the position of the binocular camera to be moved.

[0137] As a preferred solution, the calibration module 102 is used to calculate the windshield to be rotated angle value according to the windshield angle value and the target windshield angle value, specifically including:

[0138] According to the first angle value in the x-axis direction and the second angle value in the y-axis direction of the windshield angle value and the first target angle value in the x-axis direction and the second target angle value in the y-axis direction of the target windshield angle value, the first angle value to be rotated in the z-axis direction is calculated by the following expression:

[0139] rx1=cosγ·rx2-sinγ·ry2;

[0140] ry1=sinγ·rx2+cosγ·ry2;

[0141] According to the third angle value in the z-axis direction of the windshield angle value, the first angle value, the third target angle value in the z-axis direction of the target windshield angle value, and the first target angle value, the second angle value to be rotated in the y-axis direction is calculated by the following expression:

[0142] rx1=cosβ·rx2+sinβ·rz2;

[0143] rz1=-sinβ·rx2+cosβ·rz2;

[0144] According to the second angle value, the third angle value, the second target angle value and the third target angle value, the third angle value to be rotated in the x-axis direction is calculated by the following expression:

[0145] ry1=cosα·ry2-sinα·rz2;

[0146] rz1=sinα·ry2+sinα·rz2;

[0147] Determining the angle value of the windshield to be rotated according to the first angle value to be rotated, the second angle value to be rotated and the third angle value to be rotated;

[0148] Among them, rx1 represents the first target angle value; ry1 represents the second target angle value; rz1 represents the third target angle value; rx2 represents the first angle value; ry2 represents the second angle value; rz2 represents the third angle value; γ represents the first angle value to be rotated; β represents the second angle value to be rotated; α represents the third angle value to be rotated.

[0149] As a preferred solution, the automated testing module 103 is used to perform a brightness contrast test on the calibrated HUD system to be tested, specifically including:

[0150] In a lighting environment where the ambient light illuminance is less than 50lx, the calibrated optical engine is controlled to project a white image on the calibrated windshield;

[0151] Controlling the calibrated binocular camera to measure a first brightness value of the white screen;

[0152] Controlling the calibrated optical machine to project a black image on the calibrated windshield;

[0153] Controlling the calibrated binocular camera to measure a second brightness value of the black screen;

[0154] According to the ratio between the first brightness value and the second brightness value, a brightness contrast corresponding to the calibrated HUD system to be tested is obtained.

[0155] As a preferred solution, the automated testing module 103 is used to perform a brightness uniformity test on the calibrated HUD system to be tested, specifically including:

[0156] In a lighting environment where the ambient light illuminance is less than 50 lx, controlling the calibrated optical machine to project a nine-point diagram on the calibrated windshield; wherein the nine-point diagram is a dot matrix diagram with a 3×3 distribution;

[0157] Controlling the calibrated binocular camera to measure the brightness value of each point in the nine-point image;

[0158] According to the maximum brightness value and the minimum brightness value among the brightness values ​​of each point, the brightness uniformity corresponding to the calibrated HUD system to be tested is obtained.

[0159] As a preferred solution, the automated testing module 103 is used to perform a tilt angle test on the calibrated HUD system to be tested, specifically including:

[0160] In a lighting environment where the ambient light illuminance is less than 50 lx, controlling the calibrated optical machine to project a nine-point diagram on the calibrated windshield; wherein the nine-point diagram is a dot matrix diagram with a 3×3 distribution;

[0161] Determining a first virtual image point and a second virtual image point on a calibration panel located in front of the calibrated windshield; wherein the first virtual image point and the second virtual image point correspond to the first point and the last point of any row in the nine-point diagram, respectively;

[0162] According to the horizontal distance and the vertical distance between the first virtual image point and the second virtual image point, the tilt angle corresponding to the calibrated HUD system to be tested is calculated.

[0163] As a preferred solution, the automated testing module 103 is used to perform a distortion test on the calibrated HUD system to be tested, specifically including:

[0164] In a lighting environment where the ambient light illuminance is less than 50 lx, controlling the calibrated optical machine to project a nine-point diagram on the calibrated windshield; wherein the nine-point diagram is a dot matrix diagram with a 3×3 distribution;

[0165] Determining, on a calibration panel located in front of the calibrated windshield, a first virtual image point, a second virtual image point, a third virtual image point, a fourth virtual image point, a fifth virtual image point, a sixth virtual image point, a seventh virtual image point, an eighth virtual image point, and a ninth virtual image point corresponding to each point in the nine-point diagram, respectively;

[0166] Acquire a first distance from the fourth virtual image point to a line segment between the first virtual image point and the seventh virtual image point, a second distance from the fifth virtual image point to a line segment between the second virtual image point and the eighth virtual image point, and a third distance from the sixth virtual image point to a line segment between the third virtual image point and the ninth virtual image point;

[0167] Calculating, according to the first distance, the second distance, and the third distance, the horizontal average distortion and the maximum horizontal distortion corresponding to the calibrated HUD system to be tested;

[0168] Acquire a fourth distance from the second virtual image point to a line segment between the first virtual image point and the third virtual image point, a fifth distance from the fifth virtual image point to a line segment between the fourth virtual image point and the sixth virtual image point, and a sixth distance from the eighth virtual image point to a line segment between the seventh virtual image point and the ninth virtual image point;

[0169] Calculating an average vertical distortion and a maximum vertical distortion corresponding to the calibrated HUD system to be tested according to the fourth distance, the fifth distance, and the sixth distance;

[0170] Among them, the first virtual image point, the second virtual image point, and the third virtual image point correspond to the first point, the second point, and the third point in the first row of the nine-point diagram respectively; the fourth virtual image point, the fifth virtual image point, and the sixth virtual image point correspond to the first point, the second point, and the third point in the second row of the nine-point diagram respectively; the seventh virtual image point, the eighth virtual image point, and the ninth virtual image point correspond to the first point, the second point, and the third point in the third row of the nine-point diagram respectively.

[0171] The HUD automatic testing device provided in the embodiment of the present invention can determine the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates in the unified coordinate system based on the target HUD optical path information by unifying the coordinate system corresponding to the target HUD optical path information and the coordinate system of the HUD system to be tested, and further automatically calibrate the HUD system to be tested, thereby eliminating the need for manual calibration and significantly improving the calibration efficiency and calibration accuracy.

[0172] A third aspect of an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the HUD automated testing method described in any embodiment of the first aspect is implemented.

[0173] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0174] The electronic device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that the schematic diagram is merely an example of an electronic device and does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the diagram, or may combine certain components, or different components, for example, the electronic device may also include an input / output device, a network access device, a bus, etc.

[0175] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device.

[0176] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the electronic device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0177] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the HUD automated testing method as described in any embodiment of the first aspect.

[0178] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus a necessary hardware platform, and of course can also be implemented entirely by hardware. Based on such an understanding, all or part of the contribution of the technical solution of the present invention to the background technology can be embodied in the form of a software product, and the computer software product can be stored in a storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention or certain parts of the embodiments.

[0179] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A HUD automated testing method, characterized in that: The steps include: Overlap the coordinate system corresponding to the target HUD optical path information with the coordinate system of the HUD system to be tested to determine a unified coordinate system; wherein the HUD system to be tested includes a windshield, an optical machine, and a binocular camera; Determine the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates in the unified coordinate system according to the target HUD optical path information; Calibrate the HUD system to be tested using the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates; The calibrated HUD system to be tested is subjected to brightness contrast test, brightness uniformity test, tilt angle test and distortion test.

2. The HUD automated testing method according to claim 1, characterized in that: The calibrating the HUD system to be tested by using the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates specifically includes: Obtain the windshield angle value, optical-mechanical space absolute position coordinates, and binocular camera space absolute position coordinates of the HUD system to be tested in the unified coordinate system; Calculating the angle value of the windshield to be rotated according to the windshield angle value and the target windshield angle value; Calculating the optical machine's position to be moved according to the optical machine's spatial absolute position coordinates and the target optical machine's spatial absolute position coordinates; The position of the binocular camera to be moved is calculated according to the binocular camera space absolute position coordinates and the target binocular camera space absolute position coordinates; The HUD system to be tested is calibrated according to the angle value of the windshield to be rotated, the position of the optical machine to be moved, and the position of the binocular camera to be moved.

3. The HUD automated testing method according to claim 2, characterized in that: The calculating the windshield rotation angle value according to the windshield angle value and the target windshield angle value specifically includes: According to the first angle value in the x-axis direction and the second angle value in the y-axis direction of the windshield angle value and the first target angle value in the x-axis direction and the second target angle value in the y-axis direction of the target windshield angle value, the first angle value to be rotated in the z-axis direction is calculated by the following expression: rx1=cosγ·rx2-sinγ·ry2; ry1=sinγ·rx2+cosγ·ry2; According to the third angle value in the z-axis direction of the windshield angle value, the first angle value, the third target angle value in the z-axis direction of the target windshield angle value, and the first target angle value, the second angle value to be rotated in the y-axis direction is calculated by the following expression: rx1=cosβ·rx2+sinβ·rz2; rz1=-sinβ·rx2+cosβ·rz2; According to the second angle value, the third angle value, the second target angle value and the third target angle value, the third angle value to be rotated in the x-axis direction is calculated by the following expression: ry1=cosα·ry2-sinα·rz2; rz1=sinα·ry2+sinα·rz2; Determining the angle value of the windshield to be rotated according to the first angle value to be rotated, the second angle value to be rotated and the third angle value to be rotated; Among them, rx1 represents the first target angle value; ry1 represents the second target angle value; rz1 represents the third target angle value; rx2 represents the first angle value; ry2 represents the second angle value; rz2 represents the third angle value; γ represents the first angle value to be rotated; β represents the second angle value to be rotated; α represents the third angle value to be rotated.

4. The HUD automated testing method according to claim 1, wherein: The method specifically performs a brightness contrast test on the calibrated HUD system to be tested by the following steps: In a lighting environment where the ambient light illuminance is less than 50lx, the calibrated optical engine is controlled to project a white image on the calibrated windshield; Controlling the calibrated binocular camera to measure a first brightness value of the white screen; Controlling the calibrated optical machine to project a black image on the calibrated windshield; Controlling the calibrated binocular camera to measure a second brightness value of the black screen; According to the ratio between the first brightness value and the second brightness value, a brightness contrast corresponding to the calibrated HUD system to be tested is obtained.

5. The HUD automated testing method according to claim 1, wherein: The method specifically performs a brightness uniformity test on the calibrated HUD system to be tested through the following steps: In a lighting environment where the ambient light illuminance is less than 50 lx, controlling the calibrated optical machine to project a nine-point diagram on the calibrated windshield; wherein the nine-point diagram is a dot matrix diagram with a 3×3 distribution; Controlling the calibrated binocular camera to measure the brightness value of each point in the nine-point image; According to the maximum brightness value and the minimum brightness value among the brightness values ​​of each point, the brightness uniformity corresponding to the calibrated HUD system to be tested is obtained.

6. The HUD automated testing method according to claim 1, wherein: The method specifically performs a tilt angle test on the calibrated HUD system to be tested by the following steps: In a lighting environment where the ambient light illuminance is less than 50 lx, controlling the calibrated optical machine to project a nine-point diagram on the calibrated windshield; wherein the nine-point diagram is a dot matrix diagram with a 3×3 distribution; Determining a first virtual image point and a second virtual image point on a calibration panel located in front of the calibrated windshield; wherein the first virtual image point and the second virtual image point correspond to the first point and the last point of any row in the nine-point diagram, respectively; According to the horizontal distance and the vertical distance between the first virtual image point and the second virtual image point, the tilt angle corresponding to the calibrated HUD system to be tested is calculated.

7. The HUD automated testing method according to claim 1, wherein: The method specifically performs a distortion test on the calibrated HUD system to be tested by the following steps: In a lighting environment where the ambient light illuminance is less than 50 lx, controlling the calibrated optical machine to project a nine-point diagram on the calibrated windshield; wherein the nine-point diagram is a dot matrix diagram with a 3×3 distribution; Determining, on a calibration panel located in front of the calibrated windshield, a first virtual image point, a second virtual image point, a third virtual image point, a fourth virtual image point, a fifth virtual image point, a sixth virtual image point, a seventh virtual image point, an eighth virtual image point, and a ninth virtual image point corresponding to each point in the nine-point diagram, respectively; Acquire a first distance from the fourth virtual image point to a line segment between the first virtual image point and the seventh virtual image point, a second distance from the fifth virtual image point to a line segment between the second virtual image point and the eighth virtual image point, and a third distance from the sixth virtual image point to a line segment between the third virtual image point and the ninth virtual image point; Calculating, according to the first distance, the second distance, and the third distance, the horizontal average distortion and the maximum horizontal distortion corresponding to the calibrated HUD system to be tested; Acquire a fourth distance from the second virtual image point to a line segment between the first virtual image point and the third virtual image point, a fifth distance from the fifth virtual image point to a line segment between the fourth virtual image point and the sixth virtual image point, and a sixth distance from the eighth virtual image point to a line segment between the seventh virtual image point and the ninth virtual image point; Calculating an average vertical distortion and a maximum vertical distortion corresponding to the calibrated HUD system to be tested according to the fourth distance, the fifth distance, and the sixth distance; Among them, the first virtual image point, the second virtual image point, and the third virtual image point correspond to the first point, the second point, and the third point in the first row of the nine-point diagram respectively; the fourth virtual image point, the fifth virtual image point, and the sixth virtual image point correspond to the first point, the second point, and the third point in the second row of the nine-point diagram respectively; the seventh virtual image point, the eighth virtual image point, and the ninth virtual image point correspond to the first point, the second point, and the third point in the third row of the nine-point diagram respectively.

8. A HUD automated testing device, characterized in that: include: Coordinate System 1 module, used for: Overlap the coordinate system corresponding to the target HUD optical path information with the coordinate system of the HUD system to be tested to determine a unified coordinate system; wherein the HUD system to be tested includes a windshield, an optical machine, and a binocular camera; Calibration module for: Determine the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates in the unified coordinate system according to the target HUD optical path information; Calibrate the HUD system to be tested using the target windshield angle value, the target optical-mechanical space absolute position coordinates, and the target binocular camera space absolute position coordinates; Automated testing modules for: The calibrated HUD system to be tested is subjected to brightness contrast test, brightness uniformity test, tilt angle test and distortion test.

9. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the HUD automated testing method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the HUD automatic testing method according to any one of claims 1 to 7.

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