Head-up display method and device, vehicle, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a head-up display method and device, a vehicle, electronic equipment and a storage medium. The head-up display method comprises the steps that the vehicle speed in the vehicle driving process is obtained; according to the vehicle speed, the distance between HMI elements in an HMI graph displayed by a head-up display is determined, and the HMI graph comprises a plurality of discontinuous HMI elements; and rendering and displaying the HMI graph through the head-up display according to the distance between the HMI elements.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a head-up display method, device, vehicle, electronic equipment and storage medium. Background Art

[0002] AR-HUD (augmented reality head up display) is usually located in front of the driver's line of sight and displays various driving-related information, such as vehicle speed, navigation instructions, fuel level, speed, warning information, etc., for the driver to view easily, so as to avoid the driver having to lower his head or take his eyes off the road, affecting driving safety.

[0003] In order to ensure the virtual-real fusion of AR information, the HMI element design of AR-HUD will adopt the method of fusion display with the ground. One of the HMI design methods of AR-HUD is to use multiple non-continuous ground-attached HMI elements. The ground-attached HMI elements are usually composed of multiple discrete graphics. As the vehicle moves forward, the ground-attached HMI elements will move backward relative to the vehicle. However, the spacing between the existing ground-attached HMI elements is fixed. When the vehicle passes the ground-attached HMI elements at different speeds, if the speed increases and the spacing between the ground-attached HMI elements remains unchanged, the speed of change of the ground-attached HMI element logo (such as arrow) in the field of view will become faster, making the driver feel dizzy, unable to provide a more stable and smooth visual experience feedback, and causing harm to driving safety. Summary of the invention

[0004] The purpose of the embodiments of the present disclosure is to provide a head-up display method, device, vehicle, electronic device and storage medium to solve the technical problem in the prior art that a driver may experience dizziness when viewing an AR-HUD at different vehicle speeds.

[0005] In order to solve the above technical problems, the embodiments of the present disclosure adopt the following technical solutions:

[0006] A head-up display method, comprising:

[0007] Obtain the speed of the vehicle during driving;

[0008] Determining a spacing between HMI elements in an HMI graphic displayed by a head-up display according to the vehicle speed, wherein the HMI graphic includes a plurality of non-continuous HMI elements;

[0009] The HMI graphics are rendered and displayed through the head-up display according to the spacing between the HMI elements.

[0010] In some embodiments, determining the spacing between HMI elements in the HMI graphic displayed on the head-up display according to the vehicle speed includes:

[0011] If the vehicle speed increases, the distance between adjacent HMI elements increases;

[0012] If the vehicle speed decreases, the distances between adjacent HMI elements decrease.

[0013] In some embodiments, determining the spacing between HMI elements in the HMI graphic displayed on the head-up display according to the vehicle speed includes:

[0014] Based on a preset speed-distance algorithm relationship, a distance matching the vehicle speed is determined, wherein the speed-distance algorithm relationship is:

[0015] f=kv 2 +n

[0016] Wherein, f is the distance between adjacent HMI elements, k is the proportionality factor, k>0, v is the vehicle speed, and n is the initial distance; and / or

[0017] Based on a mapping relationship between a preset speed range and a spacing amplitude, a spacing matching the vehicle speed is determined.

[0018] In some embodiments, the method further comprises:

[0019] Obtaining the field of view angle range of the head-up display;

[0020] The number of the HMI elements displayed on the head-up display is determined according to the change in the spacing between the HMI elements and the viewing angle range.

[0021] In some embodiments, the method further comprises:

[0022] Acquiring driving scene information of the vehicle, wherein the driving scene information includes at least one of a straight driving scene, a turning scene, and a lane changing scene;

[0023] The display position of each of the HMI elements and the spacing between the HMI elements are determined according to the driving scene information of the vehicle.

[0024] In some embodiments, the method further comprises:

[0025] If the HMI graphic is a constantly displayed graphic, adjusting the spacing between the HMI elements according to the change in the vehicle speed;

[0026] If the HMI graphic is a temporary display graphic, the spacing between the HMI elements is adjusted according to the first vehicle speed after the vehicle speed changes.

[0027] In some embodiments, the method further includes adjusting an HMI element displayed on the head-up display according to the vehicle speed, including:

[0028] Calculating the driver's line of sight angular velocity according to the vehicle speed and the distance between the HMI element and the driver's eyes;

[0029] Determining whether the line of sight angular velocity exceeds a preset line of sight angular velocity threshold;

[0030] If exceeded, the display of the HMI element is adjusted.

[0031] In some embodiments, if the line of sight angular velocity exceeds a preset line of sight angular velocity threshold, adjusting the display of the HMI element includes:

[0032] Hide the HMI element displayed within a first preset distance range, wherein the first preset distance range is a distance range where the distance from the driver's eyes is less than a first distance between the nearest point of the HMI element within the driver's field of view and the driver's eyes; or

[0033] Hide the HMI element displayed within a second preset distance range, wherein the second preset distance range is a distance range in which the distance from the driver's eyes is less than a second distance, and the second distance is the sum of the distance between the nearest point of the first HMI element within the driver's field of view and the driver's eyes and the distance between the first HMI element and the second HMI element; or

[0034] adding a shielding cover to the rendering picture corresponding to the HMI element displayed within a third preset distance range, wherein the third preset distance is less than or equal to the second preset distance; or

[0035] The HMI element is shielded by other fixed display graphics displayed on the head-up display within a fourth preset distance range, wherein the fourth preset distance is less than or equal to the second preset distance.

[0036] In some embodiments, the method further comprises:

[0037] Get map data;

[0038] Performing route planning for the vehicle according to the map data to obtain driving path information of the vehicle;

[0039] The HMI graphics are rendered to the head-up display according to the driving path information.

[0040] The present disclosure also provides a head-up display device, including:

[0041] An acquisition module configured to acquire the speed of the vehicle during driving;

[0042] a determination module configured to determine a spacing between HMI elements in an HMI graphic displayed by a head-up display according to the vehicle speed, wherein the HMI graphic includes a plurality of non-continuous HMI elements;

[0043] The display module is configured to render and display the HMI graphics through the head-up display according to the spacing between the HMI elements.

[0044] The disclosed embodiment also provides a vehicle, comprising the above-mentioned head-up display device.

[0045] An embodiment of the present disclosure further provides an electronic device, comprising at least a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program in the memory.

[0046] The embodiment of the present disclosure further provides a computer-readable storage medium, wherein the computer-readable medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0047] The head-up display method, device, vehicle, electronic device and storage medium provided by the embodiments of the present disclosure obtain the vehicle speed during driving; determine the spacing between each HMI element in the HMI graphic displayed by the head-up display according to the vehicle speed, wherein the HMI graphic includes a plurality of non-continuous HMI elements; and then render and display the HMI graphic through the head-up display according to the spacing between each HMI element, so that the driver can intuitively feel the acceleration and deceleration process of the vehicle through the change of the spacing of the HMI elements, thereby improving the driver's driving experience; at the same time, it can provide the driver with a more stable and smooth visual experience feedback, reduce the driver's dizziness during driving, and improve driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0049] Figure 1 is a flow chart of a head-up display method according to an embodiment of the present disclosure;

[0050] Figure 2 This is a specific implementation flow chart of the head-up display method according to an embodiment of the present disclosure;

[0051] Figure 3 A schematic diagram of displaying each HMI element in the HMI graphic of an embodiment of the present disclosure;

[0052] Figure 4 Another display schematic diagram of each HMI element in the HMI graphic of the embodiment of the present disclosure;

[0053] Figure 5 A schematic diagram of the relationship between vehicle speed and HMI element spacing according to an embodiment of the present disclosure;

[0054] Figure 6 It is a display schematic diagram of each HMI element in the steering scene of an embodiment of the present disclosure;

[0055] Figure 7 A schematic diagram of displaying various HMI elements in a lane change scenario according to an embodiment of the present disclosure;

[0056] Figure 8 Schematic diagram of calculating the line of sight angular velocity in the head-up display method according to an embodiment of the present disclosure;

[0057] Fig. 9 Schematic diagram of the structure of the head-up display device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0058] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0059] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0060] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0061] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.

[0062] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0063] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0064] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments claimed are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0065] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0066] Figure 1 and Figure 2 A flow chart of the head-up display method of an embodiment of the present disclosure is shown. Figure 1 and Figure 2 As shown, the embodiment of the present disclosure provides a head-up display method, including:

[0067] S101: Obtaining the vehicle speed during driving.

[0068] In this step, the vehicle speed sensor or other acquisition device can be used to collect the vehicle speed in real time, and the collected speed information can be sent to the vehicle controller, which then transmits the speed information to a head-up display such as an AR-HUD for image processing and display. The controller is used to implement the head-up display method disclosed in the present invention, and can be connected to the acquisition device through an input / output interface (I / O) or a vehicle bus interface (such as a CAN bus). The controller can be a vehicle controller (VCU), for example, Figure 2 As shown, the vehicle-mounted computer system can obtain the vehicle speed information sent by the vehicle speed sensor, and send the vehicle speed information to the subsequent processing device, which may include a vehicle speed processing device, an AR rendering engine, etc. The vehicle speed processing device performs calculations and processing according to the vehicle speed to obtain processing information, and sends the processing information to the AR rendering engine, and the AR rendering engine performs data calculations and graphics rendering according to the processing information. The controller can also be an independent controller (such as an AR engine) connected to the AR-HUD. The AR engine can obtain the vehicle speed information collected by the above-mentioned vehicle speed sensor through the vehicle-mounted computer system (the AR engine can also directly obtain the vehicle speed information) and perform corresponding calculations and processing according to the vehicle speed, and then perform graphics rendering, etc.

[0069] For example, in order to ensure the continuity of AR-HUD image display, the refresh rate of AR-HUD image is usually 60Hz, that is, 60 frames of image are refreshed per second, and the refresh time of each frame is 16.7 milliseconds. Therefore, in order to ensure the continuity of subsequent AR-HUD output images, in this embodiment, the sampling frequency of vehicle speed should be higher than the image refresh rate, that is, the vehicle speed signal is collected once every sampling time not greater than 16.7 milliseconds.

[0070] S102: Determine a spacing between HMI elements in an HMI graphic displayed on a head-up display according to the vehicle speed, wherein the HMI graphic includes a plurality of non-continuous HMI elements.

[0071] The non-continuous HMI elements refer to multiple HMI elements being presented in discrete manner at different locations in the HMI graphics. Figure 3 (a) and Figure 4 As shown in (c), the navigation HMI graphic 10 corresponding to the navigation guidance function is a plurality of non-continuous arrows (each arrow represents an HMI navigation element 20). Figure 3 (b) and Figure 4 As shown in (d), the navigation HMI graphic 10 is a plurality of discontinuous dots (each dot represents an HMI navigation element 20). Compared with a single HMI element, a plurality of discontinuous HMI elements are easier for the driver to identify and are not easily confused with other functional graphics; compared with an HMI graphic formed by a plurality of continuous HMI elements, it can provide a better visual experience by preventing visual fatigue of the user caused by long-term display.

[0072] After the controller obtains the vehicle speed, it can perform data processing and algorithm calculation to determine the spacing between each HMI element. For example, the spacing corresponding to the vehicle speed range can be determined based on the vehicle speed range and the mapping relationship between the preset speed interval and the spacing, thereby determining the spacing between each HMI element.

[0073] The spacing between each HMI element can be determined uniformly or individually. When there is a certain correlation between the spacings between the HMI elements, the spacings between the different HMI elements can be uniformly determined based on the correlation. For example, the spacing between the first HMI element and the second HMI element is the first spacing, and the spacing between the second HMI element and the third HMI element is 1.5 times the first spacing, that is, the different spacings are in a certain proportion. In order to make the spacing between the HMI elements more compatible with the changes of the HMI elements, the spacing between the HMI elements can be determined separately. For example, the spacing between the first HMI element and the second HMI element is determined to be the first spacing based on the size change of the first HMI element and the second HMI element, the imaging distance (or virtual image distance, vid) change, etc., and the spacing between the second HMI element and the third HMI element is determined to be the second spacing based on the size change of the second HMI element and the third HMI element, the imaging distance change, etc.

[0074] In this embodiment, the spacing between each HMI element is the size between any two HMI elements. Exemplarily, the spacing between adjacent HMI elements can be determined in sequence, or the spacing between other HMI elements and a certain HMI element can be determined based on the HMI element. For example, based on the first HMI element, the spacing between the second HMI element and the first HMI element is determined to be the first spacing, and the spacing between the third HMI element and the first HMI element is determined to be the second spacing.

[0075] The above step S102 of determining the spacing between the HMI elements belongs to the user interface design and interaction step (for example, Figure 2 The steps for designing HMI navigation elements shown in FIG. 1 can be used to visually design functional elements such as HMI navigation guidance and point of interest (POI) markings to obtain HMI graphics.

[0076] S103: Rendering and displaying the HMI graphics through the head-up display according to the spacing between the HMI elements.

[0077] like Figure 2As shown, after determining the spacing between each HMI element, the HMI element can be rendered to the head-up display using an AR engine (augmented reality engine) and rendering technology according to the display position of each HMI element and the spacing between each HMI element to obtain a rendered image, and then the HUD is displayed on the front windshield of the car through an appropriate optical system and projection technology to provide the driver with a more intuitive and immersive navigation experience. Specifically, you can choose to use an existing AR development toolkit (such as ARKit, ARCore) or a customized AR engine to generate the corresponding HUD display effect. The AR engine can also process the above-collected vehicle speed information and calculate the spacing between each HMI element (execute the above step S102).

[0078] The AR engine can combine the real-time speed data of the vehicle with the real driving environment information to calculate and determine the display position and size of the HMI elements to be displayed on the AR-HUD, as well as the spacing between the HMI elements, and render the HMI elements to the AR-HUD. Figure 2 As shown, the vehicle-mounted AR rendering engine can combine map information and / or navigation information to render multiple HMI navigation arrow elements after determining the spacing onto the AR-HUD to obtain a rendering screen (AR image) containing HMI graphics. In this embodiment, after the vehicle turns on navigation, satellite positioning data can be obtained through a geographic information system (GIS), accurate map data can be obtained through a map API or a high-precision map, and the route planning algorithm of the navigation system can be used to perform route planning based on the satellite positioning data and map data to obtain the best navigation path, etc. The vehicle-mounted AR rendering engine renders the HMI elements onto the AR-HUD based on the planned navigation path and the spacing between the HMI elements determined in step S102.

[0079] In other embodiments, Figure 2 As shown, the in-vehicle AR rendering engine can also process the pre-designed HMI navigation elements according to the acquired vehicle speed information, determine the spacing between each HMI element, and then render it in combination with the navigation information of the navigation plan. During the rendering process, the rendering technology provided by the AR engine, such as 3D model projection, lighting effects, and transparency adjustment, can be used to integrate the HMI navigation elements on the HUD with the real road scene. In this way, the driver can see real-time navigation instructions on the HUD while still being able to clearly see the road and surrounding environment.

[0080] Through the AR engine and corresponding rendering technology, HMI elements can be updated in real time according to the vehicle's position and direction to ensure accurate and timely navigation instructions, and can build an intuitive and immersive navigation experience, providing drivers with accurate and real-time navigation instructions, and seamlessly integrating with real road scenes. In addition, custom settings can be made according to the driver's preferences, such as display language, navigation mode, etc. In this embodiment, the real-time navigation guidance elements can be combined with the actual road and the vehicle speed to provide the driver with more intuitive and accurate navigation information, and the navigation information with changing spacing can be used to enable the driver to intuitively feel the acceleration and deceleration process of the vehicle, thereby providing the driver with a good driving perception experience and improving driving safety based on the navigation with changing spacing. For example, when the imaging distance between the vehicle and the navigation arrow is close, the display size of the navigation arrow is larger. If the spacing is not adjusted, the spacing between the two navigation arrows with larger display sizes is too small and they may be visually connected together. Alternatively, as the vehicle speed changes, there is a sudden change in the spacing between different navigation arrows, which causes visual confusion and easily makes the driver feel dizzy, affecting driving safety. At this time, the spacing can be adjusted to reduce the driver's dizziness. For another example, the driver can be made to perceive whether the vehicle's speed is too fast based on the spacing change, so that when an obstacle is detected in front of the vehicle, the speed can be reduced in time.

[0081] After the HMI elements are rendered using the AR engine and corresponding rendering technology to obtain a rendered image, the rendered image can be projected into the driver's field of vision through laser projection, optical perspective or other related technologies, so that the driver can intuitively view vehicle driving-related information through the windshield, thereby improving driving experience and driving safety.

[0082] The optical system may be an independent optical element installed on the optical path between the image source and the windshield. For example, it may be an optical system composed of a reflector and a transmission mirror. The image source (head-up display) may emit imaging light to the windshield. The imaging light is processed by the optical system and is reflected by the windshield and then propagated to the eye box area, so that the user can see the projected and imaged rendering picture through the windshield. The eye box area refers to the area where the eyes of the user (such as the driver, passenger and / or other user observing the windshield) are located and the image (such as an AR image) formed by the head-up display can be observed. The user's eyes can see the formed image at different positions in the eye box area. The optical system may also be an optical element arranged on the windshield or the image source (head-up display). For example, an anti-reflection film may be installed on the windshield to reduce the transmittance of the external ambient light on the windshield, so as to improve the imaging contrast of the head-up display and the imaging effect of the imaging picture.

[0083] Furthermore, in order to ensure the virtual-real fusion of HMI elements in AR-HUD, each HMI element remains still in the rendered image, fitting closely with the actual road surface, ensuring the stability and clarity of the HMI elements, providing users with stable visual experience feedback, and preventing users from feeling dizzy.

[0084] The head-up display method provided by the embodiment of the present disclosure obtains the vehicle speed during driving of the vehicle; determines the spacing between each HMI element in the HMI graphic displayed by the head-up display according to the vehicle speed, wherein the HMI graphic includes a plurality of non-continuous HMI elements; and then renders and displays the HMI graphic through the head-up display according to the spacing between each HMI element, so that the driver can intuitively feel the acceleration and deceleration process of the vehicle through the spacing change of the HMI elements, thereby improving the driver's driving experience; at the same time, it can provide the driver with a more stable and smooth visual experience feedback, reduce the driver's dizziness during driving, and improve driving safety.

[0085] In addition, by adjusting the spacing of HMI elements in the HMI graphics according to vehicle speed, better user experience and human-computer interaction performance can be achieved. This intelligent layout design can be optimized according to actual driving conditions to provide drivers with an interface display effect that better meets their needs.

[0086] In some embodiments, in step S102, determining the spacing between HMI elements in the HMI graphic displayed by the head-up display according to the vehicle speed includes:

[0087] If the vehicle speed increases, the distance between adjacent HMI elements increases;

[0088] If the vehicle speed decreases, the distances between adjacent HMI elements decrease.

[0089] In this embodiment, the spacing between adjacent HMI elements is positively correlated with the vehicle speed, so that the acceleration or deceleration of the vehicle can be intuitively perceived by observing the changes in the spacing between adjacent HMI elements. At the same time, as the vehicle speed increases, the spacing between adjacent HMI elements increases, so that each HMI navigation element in the screen can be easily seen, and the spacing is too small to be seen clearly. For example, when the vehicle turns, the HMI navigation elements include both a straight first HMI navigation element and a curved second HMI navigation element. If the first navigation HMI element and the second HMI navigation element are adjacent, and the spacing between the first HMI navigation element and the second HMI navigation element remains unchanged, at this time, the user cannot effectively distinguish the first HMI navigation element from the second HMI navigation element visually, and cannot correctly understand where to turn. Moreover, due to the excessive speed of the vehicle, a collision may occur at the turn. Therefore, when the vehicle speed is too fast, the spacing between the adjacent HMI elements is increased to facilitate the driver to accurately distinguish and view different HMI navigation elements, so that the vehicle can accurately drive according to the navigation information, and improve driving safety.

[0090] Furthermore, in step S102, determining the spacing between HMI elements in the HMI graphic displayed on the head-up display according to the vehicle speed includes:

[0091] S1021: Determine a distance matching the vehicle speed based on a preset speed-distance algorithm relationship, wherein the speed-distance algorithm relationship is:

[0092] f=kv 2 +n

[0093] Wherein, f is the spacing between adjacent HMI elements, k is the proportional coefficient, k>0, v is the vehicle speed, and n is the initial spacing.

[0094] In this embodiment, the distance between adjacent HMI elements is nonlinearly positively correlated with the vehicle speed, such as Figure 5As shown, in the spacing-vehicle speed curve drawn according to the above relationship, when the vehicle is traveling at a low speed, as the vehicle speed increases, the spacing between adjacent HMI elements does not change much, and when the vehicle speed reaches a certain speed node (for example, reaching 60km / h), as the vehicle speed continues to increase, the spacing between adjacent HMI elements changes greatly. That is, when the vehicle is traveling at a low speed, due to the low speed, it is not necessary to adjust the spacing between the HMI elements to facilitate the user to see clearly and avoid the user from feeling dizzy; and when the vehicle speed exceeds a certain speed node, it is necessary to adjust the spacing between the HMI elements to facilitate the user to feel the high-speed driving of the vehicle and avoid the user from feeling dizzy. Similarly, when the vehicle slows down or stops, the spacing between adjacent HMI elements changes with the above spacing-vehicle speed curve. Before decelerating to the speed node, the spacing between adjacent HMI elements changes greatly, and when the vehicle continues to decelerate from the speed node, the spacing between adjacent HMI elements does not change much.

[0095] Through the above-mentioned continuous spacing-vehicle speed curve, the spacing between adjacent HMI elements is adjusted for the driver to observe, which not only enables the driver to intuitively feel the acceleration and deceleration process of the vehicle, but also provides the driver with stable and smooth visual experience feedback, ensures the perceptual consistency of the spacing of HMI elements at different vehicle speeds, and avoids flashing due to sudden changes in spacing, which affects the driver's visual experience.

[0096] The above speed-distance algorithm relationship can be obtained by training the HMI elements observed during vehicle driving through a machine learning algorithm. For example, according to the training results, k can be determined to be 0.002 and n can be determined to be 3.

[0097] For example, in other implementations, the speed-distance algorithm relationship may also be other relationships, such as: f=kv 2 +mv+n, or a cubic curve equation, etc. The relationship between the distance between two adjacent HMI elements and the speed may also be non-positively correlated. For example, the curve corresponding to the speed-distance algorithm relationship may be a parabola. When the vehicle speed is low, as the vehicle speed increases, the distance between adjacent HMI elements gradually decreases, so that when the vehicle accelerates at a low speed, more HMI elements can be displayed for navigation; when the vehicle speed reaches a certain speed node, as the vehicle speed continues to increase, the distance between adjacent HMI elements gradually increases, and different HMI elements are displayed separately.

[0098] In this embodiment, the calculated spacing values ​​between HMI elements can be applied to each HMI navigation element that appears in the field of view, so that the user can maintain the consistency of perception. AR-HUD can render the calculated HMI navigation element spacing in real time and keep it synchronized with the vehicle speed change to ensure the accurate display of HMI elements, provide users with clear and stable navigation information, and improve driving safety and comfort.

[0099] In some other embodiments, in step S102, determining the spacing between HMI elements in the HMI graphic displayed on the head-up display according to the vehicle speed includes:

[0100] S1022: Determine a spacing that matches the vehicle speed based on a mapping relationship between a preset speed range and a spacing amplitude.

[0101] In the above embodiment, the spacing between HMI elements and the vehicle speed are in a nonlinear curve relationship. In this step, the spacing between HMI elements and the vehicle speed may also be in a discrete relationship, that is, different spacing amplitudes may be configured for different speeds.

[0102] For example, when the vehicle speed is within the range of 0 to 20 km / h, the spacing between adjacent HMI elements is determined to be 5m; when the vehicle speed is within the range of 20 to 60 km / h, the spacing between adjacent HMI elements is determined to be 10m; when the vehicle speed is within the range of 60 to 100 km / h, the spacing between adjacent HMI elements is determined to be 15m; when the vehicle speed is above 100 km / h, the spacing between adjacent HMI elements is determined to be 20m. In this embodiment, the spacing of each speed interval is a fixed value. In other embodiments, the spacing of each speed interval may also have a certain linear or nonlinear relationship. For example, when the vehicle speed is within the range of 60 to 100 km / h, the speed-spacing algorithm relationship within the speed interval is f=kv 2 In this embodiment, the corresponding spacing determination method can be selected according to the driving scene (day or night, flat road or rugged road), and the spacing between HMI elements can be dynamically adjusted according to the vehicle speed to provide an AR image display effect that is more suitable for the current driving scene.

[0103] In some embodiments, the method further comprises:

[0104] S201: Acquire the field of view angle range of the head-up display;

[0105] S202: Determine the number of the HMI elements displayed on the head-up display according to the change in the spacing between the HMI elements and the field of view angle range.

[0106] The field of view (FOV) range of the head-up display defines the effective display area that the driver can see. In this embodiment, the closest distance and the farthest distance at which the HMI element can be displayed can be determined according to the field of view range, and then the number of HMI elements that can be displayed on the head-up display can be determined according to the change in the spacing between the HMI elements.

[0107] In the case of a limited field of view, if the spacing between HMI elements is large, then a smaller number of HMI elements can be displayed on the head-up display, so that key information can be understood by using a smaller number of HMI elements, avoiding information loss, etc. On the contrary, if the spacing between HMI elements is small, then a larger number of HMI elements can be displayed on the head-up display, so that a larger number of HMI elements can be used for accurate navigation or convenient user observation, etc. For example, when the spacing between HMI elements is a first spacing, six HMI elements are displayed within the field of view; when the spacing between HMI elements increases to a second spacing, two HMI elements that are not fully displayed near the edge of the field of view can be removed, and the remaining four HMI elements can be displayed within the field of view. The four HMI elements can be displayed clearly and completely, providing users with accurate navigation; in other embodiments, an HMI element that is not fully displayed on one side edge can also be removed, and after adjusting the display position of the remaining HMI elements, an HMI element that is not fully displayed on the other edge can be fully displayed. At this time, five HMI elements can be displayed within the field of view.

[0108] In steps S201 to S202, by adjusting the display quantity, the clarity and readability of the HMI elements displayed on the head-up display can be ensured, and the HMI elements will not be too crowded or too sparse, thereby ensuring that the driver can clearly and accurately obtain important prompt information such as navigation information and vehicle status, and improving the driver's visual experience; at the same time, it can also improve the driver's concentration and reaction speed, further enhancing driving safety.

[0109] In some embodiments, the method further comprises:

[0110] S301: Acquire driving scene information of the vehicle, wherein the driving scene information includes at least one of a straight driving scene, a turning scene, and a lane changing scene;

[0111] S302: Determine the display position of each HMI element and the distance between each HMI element according to the driving scene information of the vehicle.

[0112] In AR-HUD, in addition to calculating the distance between HMI elements based on vehicle speed, the vehicle's driving scene information can also be obtained to determine the display position of each HMI element and the distance between each HMI element. Figure 3 As shown, when the vehicle is traveling on a straight road, the AR-HUD will calculate the display position of the HMI element (for example, display it in a straight road at a certain distance in front of the vehicle) and the spacing between the HMI elements according to the vehicle speed. For example, in this embodiment, the spacing between the HMI navigation elements is the same fixed value. As the vehicle speed increases, the spacing between the newly rendered HMI elements will also increase accordingly to reflect the degree of acceleration or deceleration of the vehicle. This dynamically adjusted spacing can help the driver feel the acceleration or deceleration process of the vehicle more intuitively, help the driver better perceive the driving status of the vehicle, and improve driving comfort and safety.

[0113] Among them, in the scenario of navigating straight driving, the spacing between HMI elements in AR-HUD refers to the distance in the vertical direction.

[0114] like Figure 4 and Figure 6 As shown, in the turning scene, the arrangement of the HMI navigation elements 20 in the AR-HUD is different from that in straight driving. The spacing between the HMI navigation elements 20 will gradually change with the inclination of the curve, but the spacing in the inclination direction remains unchanged, that is, the spacing between two adjacent HMI navigation elements 20 in the inclination direction is the same as the spacing between two adjacent HMI navigation elements 20 in the straight direction. When the driver enters the curve, the AR-HUD will calculate the display position of the HMI navigation element 20 according to the vehicle speed and the preset algorithm and parameters (for example, the starting and starting positions of the turn and the turn will each display an HMI navigation element 20) and calculate the spacing between the corresponding HMI elements, and then render them in real time on the AR-HUD, providing users with clear steering information, helping users to intuitively perceive the change in the turning direction during the vehicle turning process, and improving driving comfort and safety.

[0115] like Figure 7 As shown, in the lane changing scenario, the AR-HUD will also calculate the lane changing starting position and lane changing angle according to the vehicle speed and preset algorithms and parameters, thereby determining the display position of the HMI navigation element 20, and calculating the spacing between the corresponding HMI navigation elements 20, and then rendering them to the AR-HUD in real time, to help the user intuitively perceive the changes in lane changing position and direction during the vehicle's lane changing process.

[0116] When changing lanes, the distance between two HMI navigation elements 20 in different lanes can be increased to perform lane change navigation, so that the driver can change lanes in a large angle range, etc. The distance between the two HMI navigation elements 20 in the original lane remains unchanged.

[0117] The above steps S301 and S302 can also be applied to scenarios of multi-angle steering and lane change, accurately calculating the distance between HMI elements integrated with the real scene in complex driving scenarios, and ensuring the perceived consistency of the distance between HMI elements in different situations, so as to provide users with a better AR visual experience.

[0118] Optionally, in this embodiment, in driving scenarios such as turning and changing lanes, since the vehicle speed is relatively low at this time, the spacing between HMI elements can be determined directly according to the driving scenario without considering the vehicle speed, so as to improve the data processing efficiency of the head-up display and improve the screen refresh efficiency of the head-up display.

[0119] In addition, in this embodiment, different layout strategies can be used according to different driving scenarios to ensure that the display position of the HMI elements is reasonable and matches it with the current driving state of the vehicle. For example, in a straight-ahead scenario, a navigation indication graphic (a graphic composed of various HMI navigation elements 20) may be displayed in the center of the head-up display to guide the driver to drive in a straight line. In a turning scenario, the navigation indication graphic can be displayed on the left or right side of the head-up display to prompt the driver to turn left or right. In a lane change scenario, the navigation indication graphic can be displayed at a relatively free position in the lane to prompt the driver that it is safe to change lanes along this position.

[0120] In some embodiments, the method further comprises:

[0121] S401: If the HMI graphic is a constantly displayed graphic, adjusting the spacing between the HMI elements according to the change in the vehicle speed;

[0122] S402: If the HMI graphic is a temporary display graphic, adjust the spacing between the HMI elements according to the first vehicle speed after the vehicle speed changes.

[0123] Specifically, if the HMI graphic is a permanent graphic displayed on the head-up display for a long time, the AR-HUD controller will adjust the spacing between each HMI element in real time according to the change in vehicle speed. For example, when the current vehicle speed is determined to be a certain speed, the spacing between each HMI element that appears next within the field of view angle is calculated according to the first speed. When the vehicle speed changes to another speed, the spacing between each HMI element that appears next within the field of view angle is adjusted according to the changed speed. By analogy, accurate navigation can be provided in advance for the vehicle's driving according to the real-time vehicle speed.

[0124] If the HMI graphics are displayed temporarily, it means that they only appear temporarily in certain specific circumstances, such as after the navigation is turned on, or when turning or changing lanes. In this case, AR-HUD will adjust the spacing between the various HMI elements according to the first vehicle speed after the vehicle speed changes. The first vehicle speed refers to the first speed that changes after the HMI graphic appears. For example, when the vehicle has been driving in the range of 60 to 80 km / h, the navigation is turned on, and the HMI elements in the navigation HMI graphics are displayed on the head-up display at the first spacing. When the speed exceeds 80 km / h, the controller of the AR-HUD can adjust the spacing of the HMI elements from the first spacing to the second spacing according to the speed after the change exceeding 80 km / h, and ensure that the user is provided with consistent perception and visual effects after the speed changes. The precisely adjusted spacing improves the user's visual experience and effectively prevents the driver from feeling dizzy.

[0125] In some embodiments, the method further includes adjusting the HMI elements displayed on the head-up display according to the vehicle speed, specifically including:

[0126] S501: Calculating the driver's line of sight angular velocity according to the vehicle speed and the distance between the HMI element and the driver's eyes;

[0127] S502: Determine whether the sight line angular velocity exceeds a preset sight line angular velocity threshold;

[0128] S503: If exceeded, adjust the display of the HMI element.

[0129] The driver's perception of the speed of an object's movement is determined by the size of the eyeball's visual angle per unit time (angular velocity of sight). When we turn or scan our eyes, our eyes will quickly move from one position to another (optical nystagmus), which produces an angular velocity of sight. The angular velocity of sight is usually measured in degrees per second (° / s). This means that when the human eye follows a UI, quickly turning or scanning the eyes will cause eye muscle tension and fatigue, which may cause eye discomfort and headaches, thereby increasing the feeling of dizziness. That is, when the angular velocity of sight is too large, it indicates that the driver is moving his eyes frequently, which is more likely to cause visual fatigue and even dizziness, seriously affecting driving safety. For example, when the icon moves to a place close to the driver's eyes, it will cause the driver to feel dizzy. Non-continuous ground-contact elements This AR-HUD HMI design, when the UI that fits the real world passes very close to the car, the angular velocity of sight is too large, which is easy to cause dizziness. Therefore, in this embodiment, the line of sight angular velocity is used as a judgment criterion, and the display of HMI elements is adjusted according to the line of sight angular velocity when necessary to reduce the driver's dizziness.

[0130] like Figure 8As shown, in this embodiment, the driver's line of sight angular velocity can be calculated according to the vehicle speed and the distance between the HMI element and the driver's eyes. The calculation formula of the line of sight angular velocity ω is as follows:

[0131]

[0132] Among them, d1 and d2 can be any fixed reference values ​​within the current field of view angle and the visible range of the lower viewing angle. For example, d2 is the distance of the lowest point A of the HMI element within the field of view angle range, d1 is the sum of d2 and the distance between two HMI elements, the height of the eye box range (such as the center of the eye box range) is h, and the vehicle speed is v.

[0133] After the angular velocity of the sight line when viewing the HMI element is calculated by the above formula, it is determined whether the calculated angular velocity of the sight line exceeds the preset angular velocity threshold value ω0 of the sight line, and this threshold value can be determined in advance based on the research of ergonomics and human eye tracking. If the angular velocity of the sight line exceeds the preset angular velocity threshold value ω0 of the sight line, it is determined that the driver may experience dizziness. At this time, the display of the HMI element needs to be adjusted, which can reduce the visibility of the HMI element closer to the car and reduce the dizziness of the driver; if the angular velocity of the sight line does not exceed the preset angular velocity threshold value ω0 of the sight line, it will not affect the user's driving, and the display of the HMI element will not be processed, and the HMI element can be displayed normally according to the corresponding spacing.

[0134] In some embodiments, in step S503, if the line of sight angular velocity exceeds a preset line of sight angular velocity threshold, adjusting the display of the HMI element includes:

[0135] Hide the HMI element displayed within a first preset distance range, wherein the first preset distance range is a distance range where the distance from the driver's eyes is less than a first distance between the nearest point of the HMI element within the driver's field of view and the driver's eyes; or

[0136] Hide the HMI element displayed within a second preset distance range, wherein the second preset distance range is a distance range in which the distance from the driver's eyes is less than a second distance, and the second distance is the sum of the distance between the nearest point of the first HMI element within the driver's field of view and the driver's eyes and the distance between the first HMI element and the second HMI element; or

[0137] adding a shielding cover to the rendering picture corresponding to the HMI element displayed within a third preset distance range, wherein the third preset distance is less than or equal to the second preset distance; or

[0138] The HMI element is shielded by other fixed display graphics displayed on the head-up display within a fourth preset distance range, wherein the fourth preset distance is less than or equal to the second preset distance.

[0139] like Figure 8 As shown, the closest point of the HMI element within the driver's field of view is the lowest point A within the field of view, and the first distance is d2. The first preset distance range is a horizontal distance range less than d2 (within the range of 0 to d2), and the HMI elements within the first preset distance range are hidden, so that the HMI elements closer to the car are invisible, reducing the driver's dizziness.

[0140] In some other embodiments, the distance between the two HMI elements can be increased based on the first distance d2, and the second distance d1 is used as the distance threshold to hide the HMI elements within the second preset distance range (range 0 to d1) to ensure that the HMI elements closer to the vehicle are not visible. The distance between the two HMI elements can be the distance determined according to the vehicle speed and / or driving scene as described above, or it can be a distance determined in advance by other means, which is not specifically limited in the present disclosure.

[0141] In some other embodiments, a mask may be directly added to the rendering screen corresponding to the HMI element within the third preset distance range to block the UI logo (e.g., a navigation UI logo) corresponding to the HMI graphic, thereby preventing the UI logo corresponding to the HMI graphic from being visible when the vehicle is very close, thereby reducing the driver's dizziness; or an optical film may be added to the imaging area corresponding to the UI logo on the windshield to reduce the imaging of the HMI graphic, etc.

[0142] In some other embodiments, other fixed display graphics in the head-up display may be used to block the UI logo corresponding to the HMI graphic, so that the HMI elements in the HMI graphic that are likely to cause dizziness are not visible.

[0143] Exemplarily, HMI elements that are prone to cause dizziness are located in the first virtual image projected by the head-up display, and other fixed display graphics are located in the second virtual image projected by the head-up display. The imaging distance of the first virtual image is greater than or equal to the imaging distance of the second virtual image, that is, the first virtual image is an AR-UI (visually seen as a constantly moving graphic) that integrates the real scene and is displayed in a distant layer, and the second virtual image is a non-AR-UI (fixed graphic) that is not integrated with the real scene and is displayed in a near layer. In this embodiment, the non-AR-UI displayed in the near layer can be used to block the AR-UI that moves backward relative to the vehicle as the vehicle moves forward within the fourth distance range, thereby reducing the perception of relative motion between the graphic and the vehicle and alleviating the driver's dizziness.

[0144] In some embodiments, the method further comprises:

[0145] S601: Acquire map data;

[0146] S602: performing route planning for the vehicle according to the map data to obtain driving path information of the vehicle;

[0147] S603: Rendering the HMI graphics to the head-up display according to the driving path information.

[0148] In order to ensure that the HMI navigation elements that fit the ground and have a sense of virtual and real integration are displayed, accurate map data must be obtained. For example, map data can be obtained through a navigation system connected to the vehicle or a cloud map service. Map data includes information such as road networks, traffic signs, POIs (points of interest), etc., which are used to assist route planning and driving path display. Figure 2 As shown, the route planning is performed using the acquired map data and the current vehicle position information, and the algorithm can be used to calculate the best driving path based on the current vehicle position, destination and other possible restrictions. Route planning can take into account factors such as road type, traffic flow, speed limit, turning requirements, etc. to provide safe and efficient navigation guidance. According to the route planning results, the generated driving path information is transmitted to relevant components for subsequent processing and rendering. The driving path information includes data such as route coordinates, turn instructions, and road names, which help drivers understand and follow navigation instructions. The on-board AR rendering engine renders the HMI graphics based on the driving path information and the HMI element design information such as the spacing between each HMI element determined according to the vehicle speed, and projects it on the vehicle's head-up display for display. These HMI graphics may include navigation arrows, intersection turn or lane change prompts, distance prompts, etc., aiming to provide drivers with intuitive and easy-to-understand navigation information.

[0149] By rendering HMI graphics to the head-up display, the driver can keep his eyes on the road ahead while still being able to obtain navigation-related information, reducing distraction and cognitive load, and improving driving safety. This display method provides the driver with a head-lifting transparent display, integrating navigation information with the road scene, achieving a more seamless and intuitive navigation experience.

[0150] Fig. 9 FIG. 2 shows a schematic diagram of the structure of a head-up display device according to an embodiment of the present disclosure. Fig. 9 As shown, based on the above head-up display method, the embodiment of the present disclosure further provides a head-up display device, including:

[0151] An acquisition module 100 is configured to acquire the vehicle speed during the driving process;

[0152] A determination module 200 is configured to determine a spacing between HMI elements in an HMI graphic displayed by a head-up display according to the vehicle speed, wherein the HMI graphic includes a plurality of non-continuous HMI elements;

[0153] The display module 300 is configured to render and display the HMI graphics through the head-up display according to the spacing between the HMI elements.

[0154] In some embodiments, the determination module 200 is further configured to:

[0155] If the vehicle speed increases, the distance between adjacent HMI elements increases;

[0156] If the vehicle speed decreases, the distances between adjacent HMI elements decrease.

[0157] In some embodiments, the determination module 200 includes:

[0158] The first determination unit is configured to determine a spacing matching the vehicle speed based on a preset speed-spacing algorithm relationship, wherein the speed-spacing algorithm relationship is:

[0159] f=kv 2 +n

[0160] Wherein, f is the distance between adjacent HMI elements, k is the proportionality factor, k>0, v is the vehicle speed, and n is the initial distance; and / or

[0161] The second determination unit is configured to determine the interval matching the vehicle speed based on a mapping relationship between a preset speed interval and an interval amplitude.

[0162] In some embodiments, the determination module 200 is further configured to:

[0163] Obtaining the field of view angle range of the head-up display;

[0164] The number of the HMI elements displayed on the head-up display is determined according to the change in the spacing between the HMI elements and the viewing angle range.

[0165] In some embodiments, the determination module 200 is further configured to:

[0166] Acquiring driving scene information of the vehicle, wherein the driving scene information includes at least one of a straight driving scene, a turning scene, and a lane changing scene;

[0167] The display position of each of the HMI elements and the spacing between the HMI elements are determined according to the driving scene information of the vehicle.

[0168] In some embodiments, the determination module 200 is further configured to:

[0169] If the HMI graphic is a constantly displayed graphic, adjusting the spacing between the HMI elements according to the change in the vehicle speed;

[0170] If the HMI graphic is a temporary display graphic, the spacing between the HMI elements is adjusted according to the first vehicle speed after the vehicle speed changes.

[0171] In some embodiments, the head-up display device further includes an adjustment module configured to adjust the HMI elements displayed on the head-up display according to the vehicle speed, and the adjustment module specifically includes:

[0172] a calculation unit configured to calculate the driver's line of sight angular velocity according to the vehicle speed and the distance between the HMI element and the driver's eyes;

[0173] a judging unit, configured to judge whether the sight line angular velocity exceeds a preset sight line angular velocity threshold;

[0174] The adjustment unit is configured to adjust the display of the HMI element if the value is exceeded.

[0175] In some embodiments, if the line of sight angular velocity exceeds a preset line of sight angular velocity threshold, the adjustment unit is further configured to:

[0176] Hide the HMI element displayed within a first preset distance range, wherein the first preset distance range is a distance range where the distance from the driver's eyes is less than a first distance between the nearest point of the HMI element within the driver's field of view and the driver's eyes; or

[0177] Hide the HMI element displayed within a second preset distance range, wherein the second preset distance range is a distance range in which the distance from the driver's eyes is less than a second distance, and the second distance is the sum of the distance between the nearest point of the first HMI element within the driver's field of view and the driver's eyes and the distance between the first HMI element and the second HMI element; or

[0178] adding a shielding cover to the rendering picture corresponding to the HMI element displayed within a third preset distance range, wherein the third preset distance is less than or equal to the second preset distance; or

[0179] The HMI element is shielded by other fixed display graphics displayed on the head-up display within a fourth preset distance range, wherein the fourth preset distance is less than or equal to the second preset distance.

[0180] In some embodiments, the head-up display device further includes a rendering module configured to:

[0181] Get map data;

[0182] Performing route planning for the vehicle according to the map data to obtain driving path information of the vehicle;

[0183] The HMI graphics are rendered to the head-up display according to the driving path information.

[0184] It should be noted that the head-up display device provided in the embodiment of the present disclosure corresponds to the head-up display method in the above-mentioned embodiment. Based on the above-mentioned head-up display method, technicians in this field can understand the specific implementation methods of the head-up display device in the embodiment of the present disclosure and its various variations. Any optional items in the head-up display method embodiment are also applicable to the head-up display device, which will not be repeated here.

[0185] The disclosed embodiment also provides a vehicle, comprising the above-mentioned display device.

[0186] An embodiment of the present disclosure further provides an electronic device, comprising at least a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program in the memory.

[0187] In some embodiments, the processor executing the computer program may be a processing device including one or more general-purpose processing devices, such as a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), etc. More specifically, the processor may be a complex instruction set computing (CISC) microprocessor, a reduced instruction set computing (RISC) microprocessor, a very long instruction word (VLIW) microprocessor, a processor running other instruction sets, or a processor running a combination of instruction sets. The processor may also be one or more special-purpose processing devices, such as an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), a system on a chip (SoC), etc.

[0188] The memory may be a read-only memory (ROM), a random access memory (RAM), a phase-change random access memory (PRAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), an electrically erasable programmable read-only memory (EEPROM), other types of random access memory (RAM), a flash disk or other form of flash memory, a cache, a register, a static memory, a compact disk read-only memory (CD-ROM), a digital versatile disk (DVD) or other optical storage, a cassette or other magnetic storage device, or any other possible non-temporary medium used to store information or instructions that can be accessed by a computer device.

[0189] The electronic devices of the embodiments of the present disclosure may include but are not limited to fixed terminal devices such as servers, desktop computers, digital TVs, etc., and mobile terminal devices such as vehicle-mounted devices (such as head-up display devices), handheld devices (such as mobile phones, tablet computers, etc.), wearable devices (such as smart watches, smart bracelets, etc.), etc.

[0190] The embodiment of the present disclosure further provides a computer-readable storage medium, wherein the computer-readable medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0191] The computer-readable storage medium of the embodiments of the present disclosure may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. In the embodiments of the present disclosure, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device, for example, the memory described above.

[0192] The computer programs of the embodiments of the present disclosure may be organized into one or more computer executable components or modules. Any number and combination of such components or modules may be used to implement the various aspects of the present disclosure. For example, the various aspects of the present disclosure are not limited to the specific computer executable instructions or specific components or modules shown in the drawings and described herein. Other embodiments may include different computer executable instructions or components with more or less functions than those shown and described herein.

[0193] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

Claims

1. A head-up display method, characterized in that: include: Obtain the speed of the vehicle during driving; Determining a spacing between HMI elements in an HMI graphic displayed by a head-up display according to the vehicle speed, wherein the HMI graphic includes a plurality of non-continuous HMI elements; The HMI graphics are rendered and displayed through the head-up display according to the spacing between the HMI elements.

2. The method according to claim 1, characterized in that Determining the spacing between HMI elements in the HMI graphic displayed on the head-up display according to the vehicle speed includes: If the vehicle speed increases, the distance between adjacent HMI elements increases; If the vehicle speed decreases, the distances between adjacent HMI elements decrease.

3. The method according to claim 2, characterized in that Determining the spacing between HMI elements in the HMI graphic displayed on the head-up display according to the vehicle speed includes: Based on a preset speed-distance algorithm relationship, a distance matching the vehicle speed is determined, wherein the speed-distance algorithm relationship is: f=kv 2 +n Wherein, f is the distance between adjacent HMI elements, k is the proportionality factor, k>0, v is the vehicle speed, and n is the initial distance; and / or Based on a mapping relationship between a preset speed range and a spacing amplitude, a spacing matching the vehicle speed is determined.

4. The method according to claim 1, characterized in that: The method further comprises: Obtaining the field of view angle range of the head-up display; The number of the HMI elements displayed on the head-up display is determined according to the change in the spacing between the HMI elements and the viewing angle range.

5. The method according to claim 1, characterized in that The method further comprises: Acquiring driving scene information of the vehicle, wherein the driving scene information includes at least one of a straight driving scene, a turning scene, and a lane changing scene; The display position of each of the HMI elements and the spacing between the HMI elements are determined according to the driving scene information of the vehicle.

6. The method according to claim 1, characterized in that The method further comprises: If the HMI graphic is a constantly displayed graphic, adjusting the spacing between the HMI elements according to the change in the vehicle speed; If the HMI graphic is a temporary display graphic, the spacing between the HMI elements is adjusted according to the first vehicle speed after the vehicle speed changes.

7. The method according to claim 1, characterized in that The method further includes adjusting an HMI element displayed on the head-up display according to the vehicle speed, including: Calculating the driver's line of sight angular velocity according to the vehicle speed and the distance between the HMI element and the driver's eyes; Determining whether the line of sight angular velocity exceeds a preset line of sight angular velocity threshold; If exceeded, the display of the HMI element is adjusted.

8. The method according to claim 7, characterized in that If the line of sight angular velocity exceeds a preset line of sight angular velocity threshold, adjusting the display of the HMI element includes: Hide the HMI element displayed within a first preset distance range, wherein the first preset distance range is a distance range where the distance from the driver's eyes is less than a first distance between the nearest point of the HMI element within the driver's field of view and the driver's eyes; or Hide the HMI element displayed within a second preset distance range, wherein the second preset distance range is a distance range in which the distance from the driver's eyes is less than a second distance, and the second distance is the sum of the distance between the nearest point of the first HMI element within the driver's field of view and the driver's eyes and the distance between the first HMI element and the second HMI element; or adding a shielding cover to the rendering picture corresponding to the HMI element displayed within a third preset distance range, wherein the third preset distance is less than or equal to the second preset distance; or The HMI element is shielded by other fixed display graphics displayed on the head-up display within a fourth preset distance range, wherein the fourth preset distance is less than or equal to the second preset distance.

9. The method according to claim 1, characterized in that: The method further comprises: Get map data; Performing route planning for the vehicle according to the map data to obtain driving path information of the vehicle; The HMI graphics are rendered to the head-up display according to the driving path information.

10. A head-up display device, characterized in that: include: An acquisition module configured to acquire the speed of the vehicle during driving; a determination module configured to determine a spacing between HMI elements in an HMI graphic displayed by a head-up display according to the vehicle speed, wherein the HMI graphic includes a plurality of non-continuous HMI elements; The display module is configured to render and display the HMI graphics through the head-up display according to the spacing between the HMI elements.

11. A vehicle, characterized in that: It comprises the head-up display device as claimed in claim 10.

12. An electronic device, characterized in that: The method comprises at least a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to any one of claims 1 to 9 when executing the computer program on the memory.

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

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