Display method, display device, storage medium and vehicle

Abstract

The invention relates to the technical field of projection display, in particular to a display method, display equipment, a storage medium and a vehicle. The projection area of the HUD display equipment is at least partially overlapped on the headstock cover to realize auxiliary enhanced display, and the front environment shielded by the headstock cover is visually displayed by projecting the virtual contour line reflecting the appearance of the headstock cover on the entity of the headstock cover and the vehicle front image shot by the vehicle integrated camera. And the experience of viewing the surrounding environment of the vehicle through the vehicle head cover is provided for a driver. The auxiliary enhanced display function of the HUD display device can be enriched, a driver is helped to accurately judge the surrounding environment of the vehicle, and unnecessary scratches of the vehicle are avoided.

Description

Technical Field

[0001] The present application relates to the field of projection display technology, and in particular to a display 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 on 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. Especially with the rise of AR-HUD, the enhanced display function of HUD display devices has been strengthened, but currently most of them focus on applications such as navigation, basically displaying navigation signs on the road, etc., and the display function is relatively simple. Summary of the invention

[0003] The purpose of the present application is to provide a display method, a display device, a storage medium and a vehicle, which solve the technical problem that the HUD display device in the prior art has a single enhanced display function and cannot provide auxiliary prompts for the vehicle's surrounding environment.

[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 display method, comprising: At least a first area of ​​the HUD display device projection is displayed in close contact with the hood of the vehicle; The first area is configured to display a virtual contour line reflecting the shape of the hood and a first image reflecting a real scene obstructed by the hood. The first image is displayed in conjunction with the virtual contour line based on the relative position relationship between the real scene obstructed by the hood and the hood. The virtual contour line is the perspective structure of the hood within the first area, and the first image is the shooting content of the vehicle integrated camera corresponding to the first area.

[0006] In an optional implementation of the first aspect, the color of the virtual contour line is consistent with the color of the vehicle body.

[0007] According to the above description, an optional implementation can intuitively display the real scene blocked in front of the vehicle on the hood, and can judge the approximate distance between the blocked real scene and the front of the vehicle through the effect of viewing the perspective structure, helping the driver to make accurate driving decisions.

[0008] In an optional implementation manner of the first aspect, displaying the first image in coordination with the virtual contour line according to the relative positional relationship between the real scene blocked by the hood and the hood includes: A first distance mark is displayed between the hood represented by the virtual contour line and the real scene blocked by the hood in the first image, so as to indicate the actual distance value between the hood and the surrounding environment.

[0009] In an optional implementation of the first aspect, the actual distance data is determined by a vehicle-mounted distance sensor.

[0010] In an optional implementation of the first aspect, the actual distance data is determined by analyzing the first image.

[0011] According to the above description, an optional implementation method can use a more intuitive numerical display to assist the driver's judgment based on the intuitive display of the image of the blocked real scene. Specifically, the first distance mark will continuously update the value as the vehicle moves.

[0012] In an optional implementation manner of the first aspect, the first area is configured to display a virtual contour line reflecting the shape of the hood and a first image reflecting the real scene blocked by the hood, including: In response to the vehicle triggering a turn, the virtual contour line and the first image are projected and displayed in the first area.

[0013] In an optional implementation manner of the first aspect, the first area is configured to display a virtual contour line reflecting the shape of the hood and a first image reflecting the real scene blocked by the hood, including: In response to the driver raising his / her sight line so that the eye position reaches a predetermined height, the virtual contour line and the first image are projected and displayed in the first area.

[0014] According to the above description, the optional implementation method will only call out the virtual contour line and the first image to assist the driver in making decisions when the vehicle needs to make a complex decision, thereby reducing the information burden of the projection display on the driver and reducing the pressure on HUD processing.

[0015] In an optional implementation manner of the first aspect, the first area is configured to display a virtual contour line reflecting the shape of the hood and a first image reflecting the real scene blocked by the hood, including: In response to the vehicle being in a normal driving state, the virtual contour line and the first image are hidden and displayed, and the first area is configured to display vehicle driving state information.

[0016] According to the above description, in the optional implementation mode, the utilization rate of the projection area can be maximized, more information can be displayed by switching between different states, and conventional information can be displayed when the vehicle is normally moving straight.

[0017] In an optional implementation of the first aspect, the display method further includes: The HUD display device projects a second area, which is adjacent to the first area and located at the outer edge of the hood. The second area is configured to display a second image that reflects the environment next to the real scene blocked by the hood. The second image is the shooting content of the vehicle integrated camera corresponding to the range of the second area, and the first image and the second image form a continuous splicing.

[0018] According to the above description, an optional implementation method uses a second image to achieve a transition between a virtual image and a real object. The second image can basically overlap with the real environment within the second area, thereby improving the smoothness of the virtual and real display and improving the user's viewing experience.

[0019] In an optional implementation manner of the first aspect, the virtual contour line is a perspective structure of the hood within the first area, including: The virtual contour line includes a first virtual contour line that coincides with the upper surface of the hood and a second virtual contour line that reflects the outer shape of the front surface of the hood.

[0020] According to the above description, an optional implementation can merge the virtual contour line with the real shape of the hood and present the shape of the obstructed front surface of the hood through a perspective structure, thereby providing the user with a real feeling of being able to see through the hood.

[0021] In an optional implementation manner of the first aspect, the first image is a shot of the vehicle integrated camera corresponding to the first area, including: Acquiring an image of the front of the vehicle hood captured by the vehicle integrated camera; The image in front of the hood is converted into the first image according to the position of the first area.

[0022] According to the above description, an optional implementation manner may utilize a front camera or the like to obtain the real scene in front of the vehicle blocked by the hood, and then convert the obtained image to meet the need of framing from the first area.

[0023] In an optional implementation manner of the first aspect, displaying the first image in coordination with the virtual contour line according to the relative positional relationship between the real scene blocked by the hood and the hood includes: The matching relationship between the first image and the virtual contour line is adjusted according to the viewpoint position of the driver.

[0024] According to the above description, the optional implementation manner adapts to the parallax under different eye positions by adjusting the positional coordination relationship between the two, thereby providing the user with a more realistic viewing effect and more easily assisting the user to judge the distance ahead based on dynamic parallax.

[0025] In an optional implementation of the first aspect, the display method further includes: The HUD display device projection has a third area, and the third area is located directly above the front wheels of the vehicle; The third area is configured to display the status of the front wheels of the vehicle.

[0026] In an optional implementation of the first aspect, the vehicle front wheel is a left front wheel of the vehicle.

[0027] In an optional implementation of the first aspect, the third area is configured to display the state of the front wheels of the vehicle including: In response to the vehicle triggering a turn, the state of the front wheels of the vehicle is projected and displayed in the third area.

[0028] According to the above description, the optional implementation method can assist the driver in obtaining the actual status of the vehicle's front wheels, expand the richness of information prompts, and support on-demand display.

[0029] In an optional implementation of the first aspect, the third area is configured to display the state of the front wheels of the vehicle including: A schematic steering model of the front wheels of the vehicle and a third image of a real scene next to the front wheels of the vehicle are displayed, wherein the third image is the vicinity of the front wheels of the vehicle captured by a vehicle integrated camera.

[0030] In an optional implementation manner of the first aspect, the third image displaying the steering schematic model of the front wheels of the vehicle and the real scene beside the front wheels of the vehicle includes: A second distance mark is displayed between the turning schematic model and the real scene in the third image to indicate the actual distance value.

[0031] In an optional implementation manner of the first aspect, the third image displaying the steering schematic model of the front wheels of the vehicle and the real scene beside the front wheels of the vehicle includes: The third image is displayed in conjunction with the steering schematic model according to the relative positional relationship between the real scene beside the front wheels of the vehicle and the front wheels of the vehicle.

[0032] According to the above description, the optional implementation method can enable the driver to more intuitively understand the relative distance between the front wheels of the vehicle and surrounding objects, thereby preventing the wheels from scratching surrounding objects.

[0033] In an optional implementation of the first aspect, the display method further includes: Simulating a driving trajectory of the vehicle according to a steering angle of a front wheel of the vehicle; The HUD display device projects the driving trajectory on the road ahead.

[0034] In an optional implementation of the first aspect, the HUD display device projects the driving trajectory on the road ahead, comprising: The HUD display device projection has a fourth area, the fourth area is in a fitting relationship with the road ahead, and the driving track is configured in the fourth area.

[0035] In an optional implementation of the first aspect, the HUD display device projects the driving trajectory on the road ahead, comprising: The position of the front wheels of the vehicle after a predetermined time is marked on the driving trajectory according to the driving speed of the vehicle.

[0036] According to the above description, an optional implementation can prompt the driver of the vehicle's future path by fitting the driving trajectory projected on the road, and further mark the position where the vehicle's front wheels may pass.

[0037] In an optional implementation of the first aspect, the display method further includes: The HUD display device projection has a fifth area, and the fifth area is configured to display a reference point mark for assisted driving at a specific position on the hood.

[0038] In an optional implementation manner of the first aspect, the fifth area is configured at a specific position of the hood to display a reference point mark for assisting driving, including: The reference point mark is highlighted according to the driving intention of the vehicle.

[0039] In an optional implementation of the first aspect, the first region is the same as the fifth region.

[0040] In an optional real-time manner of the first aspect, the distance between the front of the vehicle and the specific object is displayed in the second area.

[0041] According to the above description, an optional implementation method can directly project points on the hood to assist in determining the relationship between the vehicle and the road, and guide the driver's eyes to focus on the direction of the points to observe the situation of the vehicle and the road.

[0042] 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 display method described in the first aspect when executing the computer program.

[0043] 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 display method described in the first aspect are implemented.

[0044] 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.

[0045] Compared with the prior art, the present application superimposes the projection area of ​​the HUD display device at least partially on the hood to achieve auxiliary enhanced display, and projects a virtual contour line reflecting the shape of the hood and the front image of the vehicle captured by the vehicle integrated camera on the entity of the hood, intuitively showing the front environment blocked by the hood, and providing the driver with an experience of being able to see through the hood to see the surrounding environment of the vehicle. The present application can enrich the auxiliary enhanced display function of the HUD display device, help the driver to accurately judge the surrounding environment of the vehicle, and avoid unnecessary scratches on the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] 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.

[0047] Figure 1 Schematic diagram of HUD projection display in some examples of this application.

[0048] Figure 2 Schematic diagram of the in-vehicle projection display effect in some examples of this application.

[0049] Figure 3 This is a schematic diagram of in-vehicle projection navigation information in some examples of this application.

[0050] Figure 4 Schematic diagram of the driver's line of sight in a car in some examples of this application.

[0051] Figure 5 Schematic diagram of the driver's field of view in a car in some examples of this application.

[0052] Figure 6 This is a schematic diagram of the division of the first area and the second area in some examples of the present application.

[0053] Figure 7 This is a schematic diagram of auxiliary enhanced display of the first area in some examples of the present application.

[0054] Figure 8In some examples of the present application, the first area is schematically shown relative to the windshield.

[0055] Fig. 9 This is a schematic diagram of auxiliary enhanced display of the third area in some examples of the present application.

[0056] Fig.10 This is a schematic diagram of auxiliary enhanced display of the fourth area in some examples of the present application.

[0057] Fig.11 This is a schematic diagram of the auxiliary enhanced display of the fifth area in some examples of the present application.

[0058] Fig.12 Schematic diagram of HUD display device module in some examples of this application.

[0059] Fig.13 This is a schematic diagram of the composition of the HUD display device in some examples of this application. DETAILED DESCRIPTION

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] As described above, the HUD display device can be integrated in the vehicle to display virtual image information at a front position outside the windshield, such as Figure 2 , Figure 3As shown, the HUD display device 11 can be specifically integrated into the center console 10 of the vehicle and face the driver's seat. The HUD display device 11 projects the display light onto the inner surface of the windshield 4 through the projection window for reflection, and accordingly forms a projection area 50 corresponding to the virtual image outside the vehicle windshield 4. The information to be displayed is projected within the projection area 50, and the position of the projection area 50 can also be adjusted as needed, so as to fit different positions outside the windshield. At the same time, as the design value of FOV increases, the projection area 50 can also cover more areas in front of the windshield, and the degree of freedom of enhanced display is also enhanced. Figure 2 As shown in FIG. 1 , for W-HUD (Windshield HUD), the projection area 50 mainly displays basic vehicle driving status information, such as vehicle speed, gear position, etc. Its display function is consistent with the instrument panel display function, and mainly presents conventional vehicle driving status information directly in front of the driver's field of vision, reducing the frequency of the driver lowering his head to check the information. Figure 3 As shown, for AR-HUD (Augmented Reality HUD), in addition to displaying the vehicle driving status information, the display content in the projection area 50 will also be combined with the road ahead, such as displaying specific indication signs on a specific road. Compared with traditional map navigation, navigation information is easier to understand. However, the display content in the projection area 50 of the above example emphasizes the presentation method and position of information, that is, the projected content often comes from the cockpit equipment itself, and does not establish an internal and external connection with the surrounding environment of the vehicle. It focuses on the one-way output of information, so it is difficult to assist the driver to obtain more effective information from the outside. Take the example of a vehicle making a right-angle turn in a narrow space or parking sideways on the shoulder of the road. The driver is easily blocked by the hood of the car and cannot accurately judge the relative position of the vehicle body, tires, etc. with objects outside the vehicle. Therefore, it is easy to cause a collision with the vehicle. Accordingly, it is necessary to project auxiliary information at the corresponding external position to help the driver make a judgment, and the auxiliary information needs to be established based on the actual situation of the external environment, and is not directly presented at the designated position through pre-prepared content.

[0065] In some examples, the projection function of the HUD display device can be used to assist in enhancing the display of the external environment. The auxiliary enhancement is mainly for the content that the driver cannot directly determine through his own judgment of the external environment. Further, based on the projection mechanism, the projection area of ​​the HUD display device can be set at a specific location that requires auxiliary enhancement. In this example, the auxiliary enhancement display of the hood and the surrounding area of ​​the hood can be strengthened, such as Figure 4As shown, the hood 41 is the engine cover at the front of the vehicle body, which can also be called the engine cover for a gasoline truck. Generally, the front wheels of a vehicle are directly below the hood and are in the blind spot of the cockpit. The driver cannot see the front wheels at all, and unlike the rear wheels of the vehicle, they cannot be observed through the rearview mirror. At the same time, the hood 41 will also block part of the surrounding environment of the front of the vehicle. Therefore, when the vehicle is moving forward, it is impossible to intuitively judge the relative distance between the front of the vehicle and the object in front. Correspondingly, the relationship between the line of sight of the driver's human eye 6 in the cockpit and the hood determines that most of the visible range is the real scene in front of the vehicle, and the visible area 42 of the hood can be observed by the human eye 6 through the lower part of the windshield. As shown Figure 5 As shown, when looking from the cockpit to the outside, the visible area 42 of the hood can be seen, and the other parts of the hood cannot be seen normally, and the hood just blocks the surrounding environment closest to the front of the vehicle, and the front wheels of the vehicle cannot be observed. It should be noted that the size of the visible area 42 of the hood is also related to the height of the human eye. When the driver raises the observation height of the human eye, the visible area 42 will increase accordingly. For the HUD display device integrated in the vehicle, its projection area 50 can be adjusted in front of the lower part of the windshield, so it can at least partially overlap with the visible area 42 of the hood, so the visible area 42 of the hood can be used as a background carrier for projection display, and the information displayed in the overlapping area of ​​the projection area 50 can also cooperate with the visible area 42 to achieve the effect of the hood itself, and accordingly, the overlapping area of ​​the projection area 50 can also be adjusted according to the height of the human eye. Optionally, if the projection area 50 supports the expansion of FOV or the adjustment of the projection position, auxiliary enhancement information corresponding to the display position can also be fitted on the outer edge of the visible area 42 of the hood to increase the richness of the real scene enhanced display, which will be described in detail below.

[0066] In some examples, such as Figure 6 As shown, the projection area 50 is divided into a first area 501 and a second area 502. The projection area 50 is generally a rectangular display range according to the setting of FOV, and there is no obvious display dividing line between the first area 501 and the second area 502. It is determined by the edge contour of the hood superimposed thereon, so the boundary between the first area 501 and the second area 502 is an arc. Accordingly, the division between the first area 501 and the second area 502 is determined by the projection position of the projection area 50. The first area 501 is arranged opposite to and overlaps with the hood, that is, it can be Figure 4 , Figure 5The intersection range of the visible area 42 in the projection area 50 and the second area 502 can be set opposite to the real scene outside the hood, that is, it can be the intersection range of the road in front of the vehicle and the projection area 50. Therefore, the information displayed in the first area 501 can achieve the effect of being displayed in close contact with the hood, and the information displayed in the second area 502 can achieve the effect of being displayed in close contact with the road in front. In some examples, the projection area 50 can display the first area 501 and the second area 502 as a whole. For example, the conventional vehicle driving state information is displayed in this mode, which can uniformly display the vehicle driving state information in the middle or bottom of the projection area 50, which is particularly suitable for normal driving. When auxiliary enhanced display is required, the first area 501 and the second area 502 can be displayed by function at this time, which can improve the utilization rate of the projection area 50 on the one hand, and on the other hand, the first area 501 displayed in close contact with the hood can be used to display information to assist the driver in judging the surrounding environment of the vehicle body. Optionally, the relative position relationship of the hood can be obtained by using a camera to divide the display distribution of the first area 501 and the second area 502. In some examples, the projection display can be switched between the above two states to meet different scene requirements and further improve the richness of information display in the projection area 50. In some examples, the vehicle is in a turning behavior, which can be judged specifically based on sensor information such as the steering wheel. The turning of the vehicle has a high potential risk of collision, especially in a narrow parking environment when the distance to the front vehicle is very small, triggering the projection area 50 to display the auxiliary enhanced display information in the first area 501 and the second area 502 in an independent distributed display mode. Further, when the vehicle switches from the turning behavior to the normal straight driving behavior, the projection area 50 can also be switched back to the overall distribution display mode, that is, it can be that the first area 501 and the second area 502 are not distinguished. In some examples, image recognition is performed through the front camera. If it is analyzed that there is an object close to the front and there is a risk of collision, the auxiliary enhanced display function is called up, that is, specific environmental enhancement information is displayed in the first area 501, which not only helps the driver to make accurate driving decisions, but also serves as a warning prompt to the driver. Furthermore, when the camera recognizes that there are no obstacles around that may cause a collision, the projection area 50 is switched back to the overall distribution display mode. In some examples, the driver's behavior can also be analyzed and judged by the in-car camera. When the driver raises the observation height of the human eye to a predetermined height, such as higher than the average height during normal driving, it means that the driver intends to observe the situation of the vehicle in front more clearly. At this time, auxiliary information that can reflect the surrounding environment of the hood is displayed in the first area 501, which can greatly improve the driver's driving experience and guide the driver to correctly avoid obstacles.Optionally, after determining that there is an intention to assist enhancement based on the driver's line of sight height, the corresponding auxiliary enhancement display information is triggered to be displayed in the first area 501 and maintained for a preset duration. This can ensure that the frequent switching of the display mode in the projection area 50 is reduced when the driver's height is constantly adjusted. If it is confirmed again within the preset duration that there is still an intention to assist enhancement, the refresh time will be reset to ensure that the driver can always see specific content in the first area 501 when the auxiliary enhancement display information is needed.

[0067] As described above, when the projection area 50 is divided into the first area 501 and the second area 502 for independent display distribution, the first area 501 will perform auxiliary enhanced display on the hood. Optionally, the projection area 50 can project the entire range on the visible area 42 of the hood (refer to Figure 4 , Figure 5 ), that is, the entire range of the projection area 50 may be the first area 501, which can increase the space for auxiliary enhanced display of the hood. The specific enhanced auxiliary display information includes a virtual contour line reflecting the shape of the hood and a first image reflecting the real scene blocked by the hood, such as Figure 7As shown, the virtual contour line is attached to the designated position on the hood, and the control of its position is determined according to the shape of the actual hood. The virtual contour line specifically includes a first virtual contour line 511, a second virtual contour line 521 and a third virtual contour line 531. The first virtual contour line 511, the second virtual contour line 521 and the third virtual contour line 531 together form at least a part of the three-dimensional structure of the hood. The first virtual contour line 511 coincides with the upper surface of the hood, outlining the shape of the hood visible to the outside, thereby providing the viewer with a feeling of smooth fusion of the first virtual contour line 511 and the real hood. In this example, there are three first virtual contour lines 511. The second virtual contour line 521 reflects the shape of the front surface of the hood, that is, the side of the front of the car. Due to the obstruction of the line of sight, the actual front surface cannot be seen by the viewer in the car, while the second virtual contour line 521 can reproduce the external shape of the front surface of the hood, thereby forming a perspective structure. In this example, there are also three second virtual contour lines 521. The third virtual contour line 531 is a line representing the internal space structure of the hood. Similarly, the internal space is blocked by the upper surface of the hood and cannot be seen during actual viewing. The third virtual contour line can provide the viewer with a three-dimensional vision of the internal space, and together form the perspective structure of the hood. In this example, there are five third virtual contour lines 531. Optionally, the structure composed of the first virtual contour line 511, the second virtual contour line 521 and the third virtual contour line 531 is not necessarily a cube, and can also be constructed into other shapes according to the viewing experience of the viewer, and can further be designed in shape in combination with the size of the first area 501. In this way, the opaque hood can be transformed into a visual effect of a perspective structure through the coordination of the first virtual contour line 511, the second virtual contour line 521, and the third virtual contour line 531. The viewer feels as if he can see the entire space through the upper surface of the hood, that is, the content displayed in the first area 501 and the visible area of ​​the hood achieve a virtual-real fit effect. In a preferred example, the virtual image distance of the virtual image (such as the virtual contour line) displayed on the visible area of ​​the hood should be consistent with the position of the hood, reducing the sense of harmony caused by the human eye, so that it can better reflect that the displayed perspective structure is part of the hood. Since the virtual contour line needs to correctly reflect the shape of the hood, it can be projected according to the structural data of the actual hood. For example, when the HUD display device is installed and calibrated, the model of the installed vehicle and the structural data of the corresponding model will be configured, and the virtual contour line will be generated according to the structural data and projection position of the hood, and it will be projected at a specified position in the visible area of ​​the hood, so that it can be connected with the actual shape of the hood. Optionally, in order to further improve the realism of the fusion, the color of the virtual contour line adopts the same color as the hood or a brighter color. The corresponding color can also be pre-configured according to the vehicle model.

[0068] The fitting display of the virtual contour line can provide the viewer with accurate information about the boundary of the hood, so that the relative position relationship between the hood and the surrounding environment can be judged through the perspective structure. Figure 7 In the example, the first virtual surface 541 and the second virtual surface 551 respectively formed by the virtual contour lines can simulate the situation that the hood is in a transparent state and sees through the surrounding environment. The first virtual surface 541 can represent the invisible front surface of the hood, and the second virtual surface 551 can represent the invisible bottom surface of the internal space of the hood. They are the surfaces closest to the surrounding environment. In this example, the surrounding environment images that can be seen from the front surface and bottom surface of the hood can be projected on the first virtual surface 541 and the second virtual surface 551, thereby simulating a real perspective effect. Among them, the images displayed on the first virtual surface 541 and the second virtual surface 551 can be derived from the real-time shooting content of the vehicle front camera. Specifically, the vehicle front camera will shoot the front image including the hood-blocked environment, and then determine the required first image according to the requirements displayed on the first virtual surface 541 and the second virtual surface 551. Optionally, the first image obtained by image conversion not only realizes cropping of a specific range, but also can process the corresponding light, viewing angle, etc. The converted first image is displayed on the first virtual surface 541 and the second virtual surface 551, so that the real scene blocked by the hood is reproduced, and from the perspective of the viewer, it is like the effect of seeing through the hood. As the vehicle moves, the front camera of the vehicle will continue to obtain new shooting content, and the first image displayed on the first virtual surface 541 and the second virtual surface 551 will also be updated in real time, and the viewer sees the real surrounding environment. In some examples, in order to provide a real sense of depth between the first image and the virtual contour line, it will also be dynamically adjusted according to the dynamic parallax of the relative position between the real scene blocked by the hood and the hood as the line of sight changes, that is, the overlapping position between the first image and the virtual contour line can change as the viewer's viewpoint position changes. Optionally, the first image based on the content shot by the front camera will also adjust its cropping range according to the line of sight direction of the human eye, so that the human eye can feel the front and rear distance relationship between the front of the vehicle and the blocked real scene. In order to further improve the intuitiveness of viewers in judging the front and rear distances, a distance mark can be set between the real scene of the hood obstruction in the first image and the hood represented by the virtual contour line. The distance mark can be a connecting line between the two, and the actual distance value can be accurately displayed on the connecting line. In this way, the driver as a viewer can slowly control the movement of the vehicle according to the accurate distance value, and the distance value on the connecting line will also be continuously updated in real time according to the corresponding sensor, providing the driver with real-time data reference.

[0069] like Figure 8As shown, after configuring the virtual contour line and the first image as projected above in the first area 501, the driver in the vehicle can not only see the unobstructed upper body 71 of the pedestrian above the hood, but can also see part of the lower body 72 of the pedestrian through the projected first image when observing the pedestrian in front of the vehicle. At the same time, through the coordination between the lower body 72 and the virtual contour line, such as the overlapping position change under dynamic parallax, the front and rear distance between the specific vehicle and the pedestrian can be judged to determine the possibility that the vehicle may hit the pedestrian. In some examples, a second image reflecting the environment next to the real scene obstructed by the hood can also be displayed in the second area 502, that is, the real scene above the hood that can be seen by the human eye. The second image can also be captured by the front camera of the vehicle and cropped according to the position corresponding to the second area 502, so as to be displayed on the second area 502. Refer to Figure 6-Figure 8 , the first area 501 and the second area 502 are adjacent to each other, that is, the second area 502 is facing the outer edge of the hood. Through the precise control of the projection position, the projected second image can be exactly superimposed on the real scene of the corresponding content, so the second image can be exactly integrated with the surrounding real scenes. More importantly, the second image can be continuously spliced ​​with the first image, maintaining the unity of light and perspective between the first image and the second image, forming a smooth transition between the real scene and the virtual image, that is, coherently reproducing the situation of the adjacent area of ​​the hood, reducing the interference to the driver caused by the projection incoordination, and improving the clarity and viewing experience of the driver in observing the environment where the front of the car is located.

[0070] In some examples, when the vehicle is parking sideways, it is very important for the driver to accurately judge the steering angle of the wheel and the relative position relationship with obstacles such as the surrounding road shoulders. In this example, the projection display reproduces the left and right sides of the hood of the vehicle in front of the windshield to assist the driver in observing the situation on both sides of the vehicle. Specifically, the projection area corresponding to the HUD display device also includes a third area corresponding to the position of the front wheels of the vehicle, such as Fig. 9As shown, taking the left front wheel as an example, since the left front wheel is on the lower left side of the hood, it is not in the sight direction of the viewer in the car, so it is impossible to directly reproduce the simulated wheel state through the projection on the hood. Accordingly, the third area 503 can be configured to be projected directly above the left front wheel of the vehicle, so that the driver can roughly know the position of the wheel on the road by directly judging the downward displacement. Optionally, the state of the actual wheel of the vehicle is represented by the steering schematic model 513 in the third area 503. The steering schematic model 513 can determine its displayed structural size and wheel appearance according to the vehicle model, and can maintain the same look and feel as the actual wheel. At the same time, the steering schematic model 513 will also adjust the displayed angle according to the actual steering of the vehicle, which can be specifically determined according to the control data of the vehicle steering wheel. Optionally, a guide arrow 533 is projected and displayed in the direction of the steering schematic model 513 pointing to the actual wheel, and the guide arrow 533 can assist the driver in judging the position of the actual wheel. Furthermore, in order to more intuitively display the environment around the left front wheel, a third image 523 is projected and displayed next to the steering schematic model 513. Similarly, the third image 523 can also be obtained by photographing the environment near the front wheel of the vehicle through the vehicle integrated camera, and updated in real time. Through the coordinated display, the viewer can understand the distance relationship between the actual wheel and the adjacent obstacles such as the shoulder. Optionally, the relative position relationship between the steering schematic model 513 and the obstacle in the third image 523 can also be changed according to the dynamic parallax determined by the driver's viewpoint position, thereby providing the viewer with a visual sense of real distance. Optionally, a distance mark can be directly set between the steering schematic model 513 and the obstacle in the third image 523. The distance mark can be a connecting line between the two, and the actual distance between the two is accurately displayed on the connecting line, so that when the wheel approaches the obstacle, it can be discovered by the driver in time and the distance can be accurately perceived, thereby changing the moving trajectory to avoid the scratch between the wheel and the obstacle. In some examples, the content projection in the third area 503 is not a permanent display function, because permanent display may bring unnecessary information burden to the driver. It may be triggered to display the corresponding turning schematic model 513 and the third image 523 in response to the vehicle's turning. When the vehicle is in a normal driving state such as going straight, the projected content in the third area 503 will be automatically hidden to reduce interference to the driver.

[0071] In some examples, such as Fig.10As shown, in order to further provide the driver with a multi-dimensional auxiliary enhanced display function, a driving trajectory 514 based on the vehicle's front wheel steering angle and the vehicle's current speed will also be displayed on the road in front of the vehicle. Specifically, it is displayed through the projected fourth area 504. The fourth area 504 achieves a good fit with the road at a specific distance ahead according to the configuration of the projection, that is, the virtual image distance of the focal plane where the fourth area 504 is located is consistent with the specific distance where the road is located. When the vehicle is going straight, the driving trajectory 514 is attached to the road ahead along a straight path. When the vehicle turns, the driving trajectory 514 is attached to the road ahead along a curved path. When the projection range of the fourth area 504 is large enough, its driving trajectory 514 can also extend from the edge of the hood to the front of the road, enhancing the integrity of the vehicle path prediction display. The driver can use the driving trajectory 514 to determine the position where the vehicle may pass next. If there are obstacles on the road ahead that affect the passage of the tire, the driver can also be assisted to avoid them in time. Optionally, the predicted position of the vehicle's front wheel 524 will also be marked on the driving trajectory 514. The marked vehicle's front wheel 524 may be a black shadow that matches the actual wheel cross-sectional size. The predicted position may be the position that the front wheel will pass after a predetermined time is determined based on the vehicle's front wheel steering angle and the vehicle's current speed. For example, the vehicle's front wheel 524 displayed in the fourth area 504 coincides with a specific position on the road ahead, and this coincident specific position is the position where the tire of the vehicle will pass after 3 seconds. This allows the driver to have a more accurate judgment of the position where the wheel passes.

[0072] In some examples, such as Fig.11 As shown, the projection area corresponding to the HUD display device also includes a fifth area 505 displayed on the hood. Optionally, the fifth area 505 may overlap with the first area at least partially or completely belong to the same range. Projected on the fifth area 505 are reference point marks displayed on the hood. The reference point marks are located at specific positions on the hood. These positions have aiming points for estimating the distance between the vehicle and the roadside. Drivers can use these reference point marks to find objects on the road that are in a straight line with the human eye. In more examples, the reference point marks can be displayed at five positions on the hood, including the top left side of the hood, the left third, the center, the right third, and the top right side. With these five reference point marks, drivers can more easily estimate the distance between the vehicle and the roadside, especially in complex driving scenarios such as ramp parking, right-angle turns, and side parking. The reference point marks can help drivers control the vehicle to be in an accurate target position. For example, when parking on a ramp, the vehicle can be parked 30 cm away from the roadside. Fig.11In the example, the first reference point mark 515, the second reference point mark 525 and the third reference point mark 535 are respectively configured in the fifth area 505. These reference point marks may play the role of aiming at different road positions in different driving scenarios. For example, aiming at the second reference point mark 525 can assist in estimating the position where the right front wheel has passed, so the driver can aim at different positions according to different needs. Further, the HUD display device can also highlight specific reference point marks according to different driving scenarios. For example, if it is determined that the vehicle is in a straight-ahead state and the driver has the intention to observe the right front wheel, the color of the second reference point mark 525 can be changed, which can be different from the color of the first reference point mark 515 and the third reference point mark 535. For example, the color of all reference point marks is black, and the color of the second reference point mark 525 is changed to red and highlighted by switching. Optionally, the prompt information of aiming at the reference point mark can also be displayed in the projection area, which can be displayed in the second area of ​​the above example, or directly displayed in the fifth area, such as by text display combined with an arrow pointing to the highlighted reference point mark. In some examples, the reference point marks in the fifth area 505 can also be displayed on demand, for example, only the reference point marks that need to be highlighted will be attached to the hood, while other reference point marks will not be projected, reducing the information burden on the driver. In some examples, the distance between the vehicle and the target object can also be displayed in the second area in conjunction with the highlighting of the reference point marks. Optionally, the corresponding value can be displayed above the edge of the hood to improve the aesthetics of the layout.

[0073] It should be noted that the auxiliary enhanced display information in the above multiple examples can be displayed simultaneously as needed, or can be displayed separately at a certain moment when the trigger condition is met. Accordingly, the diversity of the auxiliary enhanced display also needs to be determined according to the size of the projection area. Further, the multiple auxiliary enhanced display information in the above multiple examples can be projected on the same focal plane, or can be projected on focal planes of different virtual image distances according to the capabilities of the optical hardware and the actual fitting position distribution.

[0074] When the HUD display device implementing the display method in the above example is applied to the vehicle, it can provide auxiliary enhanced display for the hood and surrounding environment. When the driver is driving the vehicle, he can see the environmental information that cannot be directly seen, so as to make accurate driving decisions. Fig.12As 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.12 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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).

[0080] 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.

[0081] 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.

[0082] 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).

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] In some examples, such as Fig.13 As shown, the HUD display device implementing the above display 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 display method of the above example 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 display method of the above example when executed by the processor.

[0090] Reference Figure 2-Figure 5 , Figure 8-Figure 11, the vehicle can be provided with the above-mentioned HUD display device. Specifically, the HUD display device 11 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 of the HUD display device 11. The effect of the viewer observing the windshield 4 from the cockpit is that the corresponding virtual image can be directly seen. Specifically, the projection area 50 corresponding to the windshield 4 includes basic display information (vehicle speed information, gear information, etc.) and extended display information (navigation information, etc.) and other display elements. More importantly, the corresponding auxiliary enhanced display information can also be displayed on the hood, which reflects the environment around the vehicle in real time, especially the part covered by the hood, to help the driver avoid possible obstacles. In some examples, the vehicle can also distribute the program of obtaining the display method in the above example through the above-mentioned computer-readable storage medium, so that the vehicle-mounted HUD display device can be conveniently updated and upgraded. It should be noted that the above-mentioned transportation vehicles are not limited to cars as 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.

[0091] 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.

[0092] 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.

[0093] In summary, the present application superimposes the projection area of ​​the HUD display device at least partially on the hood to achieve auxiliary enhanced display, and projects a virtual contour line reflecting the shape of the hood and the front image of the vehicle captured by the vehicle integrated camera on the entity of the hood, intuitively showing the front environment blocked by the hood, and providing the driver with an experience of being able to see through the hood to view the surrounding environment of the vehicle. The present application can enrich the auxiliary enhanced display function of the HUD display device, help the driver to accurately judge the surrounding environment of the vehicle, and avoid unnecessary scratches on the vehicle.

[0094] 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.

[0095] 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 display method, characterized in that: include: At least a first area of ​​the HUD display device projection is displayed in close contact with the hood of the vehicle; The first area is configured to display a virtual contour line reflecting the shape of the hood and a first image reflecting a real scene obstructed by the hood. The first image is displayed in conjunction with the virtual contour line based on the relative position relationship between the real scene obstructed by the hood and the hood. The virtual contour line is the perspective structure of the hood within the first area, and the first image is the shooting content of the vehicle integrated camera corresponding to the first area.

2. The display method according to claim 1, characterized in that: The display method further includes: The HUD display device projects a second area, which is adjacent to the first area and located at the outer edge of the hood. The second area is configured to display a second image that reflects the environment next to the real scene blocked by the hood. The second image is the shooting content of the vehicle integrated camera corresponding to the range of the second area, and the first image and the second image form a continuous splicing.

3. The display method according to claim 1, characterized in that: The virtual contour line is a perspective structure of the hood within the first area, including: The virtual contour line includes a first virtual contour line that coincides with the upper surface of the hood and a second virtual contour line that reflects the outer shape of the front surface of the hood.

4. The display method according to claim 1, characterized in that: The first image is a photograph of the vehicle integrated camera corresponding to the first area, including: Acquiring an image of the front of the vehicle hood captured by the vehicle integrated camera; The image in front of the hood is converted into the first image according to the position of the first area.

5. The display method according to claim 1, characterized in that: The first image is displayed in coordination with the virtual contour line according to the relative position relationship between the real scene blocked by the hood and the hood, including: The matching relationship between the first image and the virtual contour line is adjusted according to the viewpoint position of the driver.

6. The display method according to claim 1, characterized in that: The display method further includes: The HUD display device projection has a third area, and the third area is located directly above the front wheels of the vehicle; The third area is configured to display the status of the front wheels of the vehicle.

7. The display method according to claim 6, characterized in that: The third area is configured to display the status of the front wheels of the vehicle including: A schematic steering model of the front wheels of the vehicle and a third image of a real scene next to the front wheels of the vehicle are displayed, wherein the third image is the vicinity of the front wheels of the vehicle captured by a vehicle integrated camera.

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 display 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 display 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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