Vehicle, distortion correction data determination method and terminal equipment

Abstract

The invention discloses a vehicle, a distortion correction data determination method and terminal equipment, and belongs to the technical field of optics. The method comprises the following steps: controlling a camera to move to a target eye box position; sending a correction forbidding instruction and a to-be-displayed first image to the HUD; obtaining a second image collected by the camera, wherein the second image is obtained by shooting the first image displayed by the HUD by the camera; generating distortion correction data based on the first image and the second image; determining a distortion rate corresponding to the distortion correction data; if the distortion rate of the distortion correction data is smaller than the distortion rate threshold value, indicating the HUD to store the corresponding relation between the target eye box position and the distortion correction data. According to the method for determining the distortion correction data, the driver can conveniently select the distortion correction data of the corresponding position according to the driving habit of the driver, so that the HUD can complete image correction more efficiently, and higher-quality image display and a more humanized driving assistance function are provided.

Description

Technical Field

[0001] The present application relates to the field of optical technology, and in particular to a vehicle, a method for determining distortion correction data, and a terminal device. Background Art

[0002] At present, many vehicles are equipped with HUD (Head Up Display), which can project driving information such as vehicle speed and navigation information onto the vehicle's front windshield, allowing the driver to obtain key driving information without lowering his head, thereby improving driving safety and convenience.

[0003] However, due to design limitations or manufacturing differences in the optical elements in the HUD, as well as the uneven curvature of the windshield surface, the image projected by the HUD onto the front windshield is prone to distortion, and the virtual image seen by the driver will also produce different distortions as the driver's eye position changes dynamically. Summary of the invention

[0004] The present application provides a vehicle, a method for determining distortion correction data and a terminal device, which can solve the image distortion problem of the related art. The technical solution is as follows:

[0005] In one aspect, a vehicle is provided, the vehicle comprising a vehicle controller and a head-up display HUD;

[0006] The vehicle controller is used to send an image source to be displayed to the HUD;

[0007] The HUD is used to perform distortion correction on the image source based on the distortion correction data corresponding to the target eye box position, and project the distortion-corrected image source onto the front windshield of the vehicle for display;

[0008] Among them, the distortion correction data corresponding to the target eye box position is determined by the terminal device in the HUD debugging system based on the first image and the second image, the first image is sent by the terminal device to the HUD, and the second image is obtained by shooting the first image displayed by the HUD by a camera in the HUD debugging system, the first image displayed by the HUD has not been distortion corrected, and the distortion rate corresponding to the distortion correction data is less than the distortion rate threshold.

[0009] Optionally, the target eye box position is any one of a plurality of eye box positions, the HUD stores distortion correction data corresponding to each of the plurality of eye box positions, and the vehicle further includes a central control display screen;

[0010] The central control display screen is used to display position indication information of the multiple eye box positions;

[0011] The central control display screen is also used to indicate the eye box position selected by the position selection operation to the HUD in response to the position selection operation;

[0012] The HUD is also used to perform distortion correction on the image source based on the distortion correction data corresponding to the eye box position indicated by the central control display screen, and then project the image source onto the front windshield for display;

[0013] The central control display screen is also used to respond to a position determination operation, and use the eye box position indicated by the position determination operation as the target eye box position and indicate it to the HUD.

[0014] Optionally, the target eye box position is the eye box position of the multiple eye box positions that can achieve the best display effect observed from the current position of the driver's eyes after the image source is corrected by corresponding distortion correction data.

[0015] Optionally, the HUD is further used to receive a second command sent by the terminal device after storing the correspondence between the multiple eye box positions and the corresponding distortion correction data, and in response to the second command, turn off the debugging mode and enter the user mode.

[0016] On the other hand, a method for determining distortion correction data is provided, the method comprising:

[0017] Controlling the camera to move to a target eye box position, wherein the target eye box position is any one of a plurality of eye box positions, wherein the plurality of eye box positions are a plurality of positions where the driver's eyes may be located;

[0018] sending a correction prohibition instruction and a first image to be displayed to the HUD, wherein the correction prohibition instruction instructs the HUD to prohibit a distortion correction function;

[0019] Acquire a second image captured by the camera, where the second image is obtained by photographing the first image displayed by the HUD by the camera, and the first image displayed by the HUD has not been subjected to distortion correction;

[0020] generating distortion correction data based on the first image and the second image;

[0021] Determining a distortion rate corresponding to the distortion correction data;

[0022] If the distortion rate is less than the distortion rate threshold, the HUD is instructed to store the corresponding relationship between the target eye box position and the distortion correction data.

[0023] Optionally, determining a distortion rate corresponding to the distortion correction data includes:

[0024] Sending the distortion correction data to the HUD;

[0025] receiving a storage location of the distortion correction data sent by the HUD;

[0026] sending a start correction instruction, a third image to be displayed, and a storage location of the distortion correction data to the HUD, wherein the start correction instruction instructs the HUD to enable a distortion correction function;

[0027] Acquire a fourth image captured by the camera, where the fourth image is obtained by photographing the third image displayed by the HUD by the camera, and the third image displayed by the HUD has been corrected by the distortion correction data;

[0028] The distortion rate is determined based on the third image and the fourth image.

[0029] Optionally, the method further comprises:

[0030] If the distortion rate is greater than or equal to the distortion rate threshold, re-determine the distortion correction data, and count the number of times the distortion correction data is determined;

[0031] If the determination times reaches the times threshold, the HUD is instructed to store the correspondence between the target eye box position and the distortion correction data with the smallest distortion rate among the currently determined distortion correction data.

[0032] Optionally, before controlling the camera to move to the target eye box position, the method further includes:

[0033] A first command is sent to the HUD to instruct the HUD to enter a debugging mode.

[0034] Optionally, the method further comprises:

[0035] After instructing the HUD to store the correspondence between the multiple eye box positions and the corresponding distortion correction data, a second command is sent to the HUD to instruct the HUD to close the debugging mode and enter the user mode.

[0036] In another aspect, a device for determining distortion correction data is provided, the device comprising:

[0037] A camera control module, used for controlling the camera to move to a target eye box position, wherein the target eye box position is any one of a plurality of eye box positions, wherein the plurality of eye box positions are a plurality of positions where the driver's eyes may be located;

[0038] A first sending module, configured to send a correction prohibition instruction and a first image to be displayed to the HUD, wherein the correction prohibition instruction instructs the HUD to prohibit a distortion correction function;

[0039] an acquisition module, used to acquire a second image captured by the camera, where the second image is obtained by photographing the first image displayed by the HUD by the camera, and the first image displayed by the HUD has not been subjected to distortion correction;

[0040] A generating module, configured to generate distortion correction data based on the first image and the second image;

[0041] A first determination module, used to determine a distortion rate corresponding to the distortion correction data;

[0042] The first storage module is used to instruct the HUD to store the corresponding relationship between the target eye box position and the distortion correction data if the distortion rate is less than the distortion rate threshold.

[0043] Optionally, the first determining module is specifically configured to:

[0044] Sending the distortion correction data to the HUD;

[0045] receiving a storage location of the distortion correction data sent by the HUD;

[0046] sending a start correction instruction, a third image to be displayed, and a storage location of the distortion correction data to the HUD, wherein the start correction instruction instructs the HUD to enable a distortion correction function;

[0047] Acquire a fourth image captured by the camera, where the fourth image is obtained by photographing the third image displayed by the HUD by the camera, and the third image displayed by the HUD has been corrected by the distortion correction data;

[0048] The distortion rate is determined based on the third image and the fourth image.

[0049] Optionally, the device further comprises:

[0050] a second determination module, configured to re-determine the distortion correction data if the distortion rate is greater than or equal to the distortion rate threshold, and count the number of times the distortion correction data is determined;

[0051] The second storage module is used to instruct the HUD to store the corresponding relationship between the target eye box position and the distortion correction data with the smallest distortion rate in the currently determined distortion correction data if the number of determinations reaches a number threshold.

[0052] Optionally, before controlling the camera to move to the target eye box position, the device further includes:

[0053] The second sending module is used to send a first command to the HUD to instruct the HUD to enter a debugging mode.

[0054] Optionally, the device further comprises:

[0055] The third sending module is used to send a second command to the HUD after instructing the HUD to store the corresponding relationship between the multiple eye box positions and the corresponding distortion correction data, so as to instruct the HUD to close the debugging mode and enter the user mode.

[0056] On the other hand, a terminal device is provided, which includes a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of the method for determining the distortion correction data described above.

[0057] The technical solution provided by this application can at least bring the following beneficial effects:

[0058] The present application proposes a method for determining distortion correction data, which simulates the driver's eye position through a camera, controls the camera to move to the target eye box position through a terminal device, and sends the image to be displayed to the HUD. After the HUD displays two images before and after the distortion correction, the camera captures the two images and sends them to the terminal device, and the terminal device determines the distortion correction data through the above two images. When the distortion rate of the distortion correction data meets the requirements, the correspondence between the target eye box position and the distortion correction data is stored. This method can accurately determine the distortion correction data corresponding to multiple eye box positions, so that the driver can select the distortion correction data of the corresponding position according to his driving habits, so that the HUD can complete the image correction more efficiently, provide higher quality image display and more humanized driving assistance functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0060] Figure 1 It is a schematic diagram of an implementation environment provided by an embodiment of the present application;

[0061] Figure 2 is a flow chart of a method for determining distortion correction data provided by an embodiment of the present application;

[0062] Figure 3 is a schematic diagram of multiple eye box positions provided in an embodiment of the present application;

[0063] Figure 4 It is a schematic diagram of the internal structure of a HUD and a terminal device provided in an embodiment of the present application;

[0064] Figure 5 It is a schematic diagram of an MCU operation logic provided in an embodiment of the present application;

[0065] Figure 6 is a schematic diagram of another HUD and the internal structure of a terminal device provided in an embodiment of the present application;

[0066] Figure 7 It is a schematic diagram of the operating principle of a debugging mode provided in an embodiment of the present application;

[0067] Figure 8 This is a flow chart of the operation principle of a terminal device provided in an embodiment of the present application;

[0068] Fig. 9 It is a structural diagram of a HUD debugging system provided in an embodiment of the present application;

[0069] Fig.10 is a structural schematic diagram of a device for determining distortion correction data provided in an embodiment of the present application;

[0070] Fig.11 It is a structural diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0072] Before explaining in detail the method for determining the distortion correction data provided in the embodiment of the present application, the implementation environment involved in the embodiment of the present application is first introduced.

[0073] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of an implementation environment of a HUD debugging system provided in an embodiment of the present application. The implementation environment includes a terminal device 101, a camera 102, and a HUD 103. The camera 102 is located in a position where the driver's eyes are usually located in the vehicle, and the HUD 103 is deployed in the vehicle. Among them, the terminal device 101 can be connected to the camera 102 and the HUD 103 through a certain communication medium for communication.

[0074] For example, the terminal device 101 is connected to the camera 102 and the HUD 103 respectively via a CAN (Controller Area Network) bus. The CAN bus provides a reliable data transmission channel, which can transmit instructions or data between the terminal device 101 and the camera 102, and between the terminal device 101 and the HUD 103. Of course, in some other embodiments, the communication connection between the terminal device 101 and the camera 102 and the HUD 103 can also be achieved in other ways.

[0075] When debugging HUD103, the terminal device 101 is used to control the position of the camera 102 to move to a certain eye box position among multiple eye box positions. After the camera 102 reaches the eye box position, the terminal device 101 controls the HUD103 to disable the distortion correction function and sends the first image to be displayed to the HUD103. After receiving the first image, the HUD103 does not perform distortion correction on the first image, but directly projects and displays the first image, and uses the image captured and displayed by the camera 102 as the second image, and the camera 102 transmits the second image to the terminal device 101. Based on the first image and the second image, the terminal device 101 determines the distortion correction data corresponding to the eye box position, and then determines the distortion rate corresponding to the distortion correction data. If the distortion rate corresponding to the distortion correction data is less than the distortion rate threshold, the HUD103 is instructed to store the corresponding relationship between the eye box position and the distortion correction data. Then, the camera 102 is controlled to move to the next eye box position, and the above operation is repeated to determine the distortion correction data corresponding to the next eye box position. In this way, the HUD 103 can store the distortion correction data corresponding to each of the multiple eye box positions, thereby completing the debugging of the HUD.

[0076] It should be noted that the implementation environment may further include an imaging board 104, so that after the HUD 103 projects the image to be displayed, a virtual image of the image may be displayed on the imaging board 104. Of course, in practical applications, the implementation environment may also not include the imaging board 104. In this case, the HUD debugging system may be placed in a dark room, so that the virtual image of the image is displayed using the wall in the dark room.

[0077] The executor of the method for determining the distortion correction data provided in the embodiment of the present application is the above-mentioned terminal device 101, such as a PC (Personal Computer), a mobile phone, a smart phone, a PDA (Personal Digital Assistant), a wearable device, a handheld computer PPC (Pocket PC), a tablet computer, a smart car machine, etc.

[0078] Those skilled in the art should understand that the above-mentioned terminal devices are only examples, and other existing or future terminal devices, if applicable to the embodiments of the present application, should also be included in the protection scope of the embodiments of the present application and are included here by reference.

[0079] It should be noted that the implementation environment described in the embodiments of the present application is for more clearly illustrating the technical solutions of the embodiments of the present application, and does not constitute a limitation on the technical solutions provided in the embodiments of the present application. A person of ordinary skill in the art can know that with the evolution of the implementation environment, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0080] Next, the method for determining the distortion correction data provided in the embodiment of the present application is explained in detail.

[0081] Figure 2 This is a flowchart of a method for determining distortion correction data provided by an embodiment of the present application, and the method is applied to the above-mentioned terminal device. Figure 2 , the method comprises the following steps.

[0082] Step 201: Control the camera to move to a target eye box position, where the target eye box position is any one of a plurality of eye box positions, where the plurality of eye box positions are a plurality of positions where the driver's eyes may be located.

[0083] In some embodiments, the terminal device sends a position movement instruction to the camera, and the position movement instruction carries a position offset, which indicates the offset between the current position of the camera and the target eye box position. After receiving the position movement instruction, the camera moves its own position according to the position offset to reach the target eye box position.

[0084] The above method is only an example. In actual applications, the terminal device can also control the camera to move to the target eye box position in other ways, and the embodiments of the present application are not limited to this.

[0085] Since the degree of distortion of the image projected by the HUD onto the front windshield observed by the driver at different sight positions is different, the distortion correction data required at different sight positions are different. Therefore, it is necessary to simulate the possible sight positions of the driver to set multiple eye box positions, and then determine the distortion correction data corresponding to each eye box position. Therefore, in the embodiment of the present application, the terminal device can control the camera to move to any one of the multiple eye box positions.

[0086] Since the method for determining the distortion correction data corresponding to each eye box position is the same, the embodiment of the present application takes the target eye box position among the multiple eye box positions as an example for introduction.

[0087] For example, please refer to Figure 3 , Figure 3 It is a schematic diagram of multiple eye box positions provided in an embodiment of the present application. Figure 3 There are three rows and three columns with a total of nine eye box positions (i.e. positions numbered 1-9). Assume that the target eye box position is Figure 3 The terminal device determines the displacement between the current position of the camera and the target eye box position, and then sends a position movement instruction to the camera, thereby controlling the camera to move from the current position to Figure 3 Position numbered 5 in the .

[0088] By setting multiple eye box positions, the sight lines of different drivers can be simulated. In this way, after the distortion correction data corresponding to the multiple eye box positions are determined, the HUD is applied to a real vehicle, allowing the driver to select the eye box position that best suits him or her from the multiple eye box positions according to his or her driving habits, thereby improving the display effect of the HUD and allowing the HUD to be flexibly applied to the sight lines of different drivers.

[0089] Step 202: Sending a correction prohibition instruction and a first image to be displayed to the HUD, wherein the correction prohibition instruction instructs the HUD to prohibit the distortion correction function.

[0090] Since the target eye box position is the eye box position for which the distortion correction data currently needs to be determined, the HUD does not store the distortion correction data corresponding to the target eye box position. Therefore, it is necessary to send a correction prohibition instruction to the HUD to turn off the HUD's distortion correction function for the image. In this way, after the HUD receives the first image to be displayed, it does not perform distortion correction on the first image, but directly displays the first image.

[0091] In some embodiments, the correction prohibition instruction may include a correction flag, and the value of the correction flag is a first numerical value, and the first numerical value indicates that the distortion correction function of the HUD needs to be turned off. For example, the value of the first numerical value is 0. In some other embodiments, the correction prohibition instruction may also include a correction control field, and the value of the correction control field is prohibited, to indicate that the distortion correction function of the HUD needs to be turned off. In other words, the correction prohibition instruction can be expressed in different ways, depending on the system design and communication interface of the HUD, and the embodiments of the present application are not limited to this.

[0092] The first image is any image in the debugging image library of the terminal device. For example, the first image may be a dot matrix image or a grid image.

[0093] When an image is projected, image distortion may occur due to the projection angle and the nonlinear characteristics of optical elements. Selecting a dot matrix or grid image can reflect the shape or geometric features of each site in the image. The interval between each pixel of this image is uniform and fixed. This uniform interval feature makes it easy to use a distortion correction model or distortion correction algorithm to correct the image distortion, which helps to determine accurate distortion correction data.

[0094] As an example, see Figure 4 , the terminal device includes a CPU (Central Processing Unit), and the HUD includes an MCU (Micro Controller Unit), an FPD-Link (Flat Panel Display-Link) and a PGU (Picture Generation Unit); wherein the MCU is used to receive various instructions sent by the CPU of the terminal device and control the HUD to execute the requirements of various instructions; FPD-Link is a serial interface technology for image or video data transmission, connecting the CPU of the terminal device and the MCU of the HUD, and is used to decode the image or video data provided by the terminal device and transmit it to the MCU of the HUD. This process achieves high-quality image and data transmission; the PGU is used to generate the image transmitted by the MCU. In other words, the CPU of the terminal device can send a correction prohibition instruction to the MCU of the HUD, and the MCU responds to the correction prohibition instruction to turn off the distortion correction function of the HUD. The CPU of the terminal device sends the first image to the FPD-Link of the HUD, and the FPD-Link decodes the received first image and transmits it to the MUC. The MUC does not perform distortion correction on the first image, but directly transmits it to the PGU, and the PGU projects the first image.

[0095] It should be noted that the internal structure of the HUD is not necessarily the same as the above-mentioned structure. In some other embodiments, the terminal device can transmit the first image directly to the MCU of the HUD without the need for signal decoding through FPD-Link or using other image display technologies to generate the image output by the MCU. The embodiments of the present application do not limit the internal structure of the HUD.

[0096] In some embodiments, before the terminal device sends the correction prohibition instruction and the first image to be displayed to the HUD, the terminal device may send a first command to the HUD to instruct the HUD to enter the debugging mode. In other embodiments, before the terminal device sends the first command to the HUD, the HUD may be initialized after the vehicle is started or the HUD is powered on.

[0097] For example, please refer to Figure 5 , continue with the above Figure 4 Taking the internal structure of the HUD shown in FIG. 1 as an example, after the vehicle is started or the HUD is powered on, the MCU, FPD-Link, PGU and communication interface of the HUD are initialized. After the initialization is completed, the MUC receives commands from the terminal device, determines which mode it is currently in, and performs related operations according to the instructions in different modes. That is, after the MCU receives the first command from the terminal device, the MUC can enter the debugging mode to determine the distortion correction data of each eye box position.

[0098] Step 203: Acquire a second image captured by a camera, where the second image is obtained by photographing the first image displayed by the HUD with the camera, and the first image displayed by the HUD has not been subjected to distortion correction.

[0099] Based on the above description, after the HUD receives the correction prohibition instruction and the first image sent by the terminal device, the HUD does not perform distortion correction on the first image, but directly projects the first image onto the front windshield for display. At this time, the camera can capture the image projected on the front windshield to obtain the second image. Afterwards, the camera can send the captured second image to the terminal device.

[0100] Step 204: Generate distortion correction data based on the first image and the second image.

[0101] Since the HUD does not perform distortion correction on the first image, and the second image is the image of the first image projected onto the front windshield through the optical system in the HUD, the second image may have been distorted. At this time, by comparing and analyzing the first image and the second image, the distortion correction data corresponding to the target eye box position can be preliminarily obtained.

[0102] The implementation process of the terminal device determining the distortion correction data based on the first image and the second image includes: aligning the first image and the second image so that the first image and the second image are aligned or overlapped in the same coordinate system; based on the shape or geometric features of each site in the first image and the second image, the shape or geometric features of each site are analyzed and processed through a distortion correction model or a distortion correction algorithm to obtain a distortion correction parameter for each site, and the distortion correction parameter indicates whether the site needs to be corrected. If the site needs to be corrected, the distortion correction parameter also indicates the correction direction of the site, such as horizontal or vertical, and the degree of correction in each correction direction. After the distortion correction parameters of all sites are determined by the above method, the distortion correction parameters of these sites can form a distortion correction matrix, and the distortion correction matrix is ​​used as the distortion correction data.

[0103] Step 205: Determine the distortion rate corresponding to the distortion correction data.

[0104] In some embodiments, after the distortion correction data is determined by the first image and the second image, the determined distortion correction data can be directly used as the distortion correction data corresponding to the target eye box position. However, in order to ensure the correction effect of the distortion correction data, the distortion rate corresponding to the distortion correction data can also be determined to verify the correction effect of the distortion correction data. If the correction effect of the distortion correction data is good, the distortion correction data is used as the distortion correction data corresponding to the target eye box position.

[0105] As an example, the distortion rate corresponding to the distortion correction data can be determined through the following steps (1)-(5).

[0106] (1) Send the distortion correction data to the HUD.

[0107] (2) Receive the storage location of the distortion correction data sent by the HUD.

[0108] Since multiple eye box positions will have corresponding distortion correction data, and these data need to be stored in the HUD, it is necessary to partition the storage space of the HUD and store the distortion correction data of different eye box positions in corresponding storage locations to distinguish the distortion correction data corresponding to different eye box positions so as to select appropriate distortion correction data when needed.

[0109] In some embodiments, the distortion correction data may be stored in the MCU of the HUD, and in this case, the storage location may be a certain storage location in the MCU. In other embodiments, the HUD may further include an external Flash (flash memory) connected to the MCU, and the distortion correction data may be stored in the external Flash, and in this case, the storage location may be a certain storage location in the external Flash.

[0110] It should be noted that the external Flash can also ensure the integrity of the distortion correction data when the power is off, so the distortion correction data can be stored in the external Flash to achieve the persistence of the distortion correction data. Of course, in practical applications, the distortion correction data can also be stored in other storage media, and the embodiment of the present application does not limit the storage location of the distortion correction data.

[0111] For example, please refer to Figure 6 In addition to MCU, FPD-Link and PGU, HUD also includes external Flash. In this way, the CPU of the terminal device can send the distortion correction data to the external Flash, and the external Flash stores the distortion correction data sent by the terminal device.

[0112] (3) Sending a start correction instruction, a third image to be displayed, and a storage location of the distortion correction data to the HUD, wherein the start correction instruction instructs the HUD to enable the distortion correction function.

[0113] Since the distortion correction data corresponding to the target eye box position has been preliminarily determined in step 204, and the distortion correction data preliminarily determined for the target eye box position has been stored in the HUD, in order to verify the correction effect of the distortion correction data, the terminal device can send a start correction instruction to the HUD to turn on the distortion correction function of the HUD. In this way, after the HUD receives the third image and the storage location of the distortion correction data, the HUD can obtain the distortion correction data based on the storage location of the distortion correction data, and use the distortion correction data to perform distortion correction on the third image and then display it.

[0114] In some embodiments, the start correction instruction may include a correction flag, and the value of the correction flag is a second numerical value, and the second numerical value indicates that the distortion correction function of the HUD needs to be turned on. For example, the value of the second numerical value is 1. In some other embodiments, the start correction instruction may also include a correction control field, and the value of the correction control field is start, to indicate that the distortion correction function of the HUD needs to be started. In other words, the start correction instruction can be expressed in different ways, depending on the system design and communication interface of the HUD, and the embodiments of the present application are not limited to this.

[0115] The third image is any image in the debugging image library of the terminal device. For example, the third image can be a dot matrix image or a grid image, so as to facilitate subsequent comparative analysis of the image. It should be noted that the third image can be the same as the first image or different from the first image, and this embodiment of the application does not limit this.

[0116] The above process is performed during the debugging process. Whether the image sent by the terminal device is distorted or not during the debugging process depends on the instructions sent by the terminal device. For example, please refer to Figure 7 , Figure 7 This is a schematic diagram of the operating principle of a debugging mode provided in an embodiment of the present application. When the HUD enters the debugging mode, the HUD determines whether the instruction currently sent by the terminal device is a correction prohibition instruction or a correction start instruction. If it is a correction prohibition instruction, the image sent by the terminal device is directly projected and displayed; if it is a correction start instruction, the corresponding distortion correction data is read, and the distortion correction data is used to perform distortion correction on the image sent by the terminal device, and the distortion-corrected image is projected and displayed.

[0117] (4) Acquire a fourth image captured by a camera, where the fourth image is obtained by photographing the third image displayed on the HUD by the camera, and the third image displayed on the HUD has been corrected by distortion correction data.

[0118] Based on the above description, after the HUD receives the start correction instruction, the third image and the storage location of the distortion correction data sent by the terminal device, the distortion correction is performed on the third image through the distortion correction data, and the third image after the distortion correction is projected onto the front windshield for display. At this time, the camera can capture the image projected on the front windshield to obtain the fourth image. Afterwards, the camera can send the captured fourth image to the terminal device.

[0119] (5) Based on the third image and the fourth image, determine the distortion rate of the distortion correction data.

[0120] Since the HUD has performed distortion correction on the third image, and the fourth image is the image of the third image projected onto the front windshield after distortion correction, this image eliminates or reduces the image distortion caused by optical elements and projection angles, etc., so the fourth image is more accurate, clearer, and closer to the third image. At this time, by comparing and analyzing the third image and the fourth image, the distortion rate corresponding to the distortion correction data can be determined.

[0121] The implementation process of the terminal device determining the distortion rate corresponding to the distortion correction data based on the third image and the fourth image includes: aligning the third image and the fourth image so that the third image and the fourth image are aligned or overlapped in the same coordinate system; based on the shape or geometric features of each point in the third image and the fourth image, calculating the difference between each point in the two images, that is, the distortion amount. After determining the distortion amount corresponding to each point, the distortion rates of all points are fused and calculated to obtain the distortion rate.

[0122] The distortion rate can be determined by comparing the differences between corresponding pixels or using other image quality evaluation indicators. Common image quality evaluation indicators include mean square error, peak signal-to-noise ratio, etc. The distortion rate describes the degree of distortion of the image after distortion correction relative to the original image. Generally speaking, the distortion rate is expressed as a percentage. The lower the distortion rate, the better the correction effect.

[0123] Step 206: If the distortion rate of the distortion correction data is less than the distortion rate threshold, instruct the HUD to store the corresponding relationship between the target eye box position and the distortion correction data.

[0124] The distortion rate threshold refers to the threshold used to measure whether the correction effect meets the expected standard during the image distortion correction process. The distortion rate threshold is usually a pre-set value used to determine whether the quality of the corrected image meets the requirements or needs further optimization. For example, the distortion rate threshold can be 3%, indicating that the difference between the image after distortion correction and the original image should be controlled within 3%.

[0125] It should be noted that the distortion rate threshold needs to be set according to specific application scenarios and requirements. Different application scenarios may have different requirements for the degree of image distortion correction. In practical applications, the appropriate distortion rate threshold can be determined through experiments and repeated calibration to obtain the best correction effect. The specific value of the distortion rate threshold is not limited in the embodiment of the present application.

[0126] If the distortion rate is less than the distortion rate threshold, it is determined that the difference between the corrected image and the original image is within the preset threshold range, and the corrected image can accurately restore the shape and geometric features of the original image, which is the desired result in the image distortion correction process, indicating that the distortion correction data is effective and can successfully eliminate or reduce image distortion. At this time, the distortion correction data can be determined as the distortion correction data ultimately determined for the target eye box position, and the HUD is instructed to store the corresponding relationship between the target eye box position and the distortion correction data.

[0127] In some embodiments, if the distortion rate of the distortion correction data is greater than or equal to a distortion rate threshold, the distortion correction data is re-determined, and the number of times the distortion correction data is determined is counted; if the number of determinations reaches the number threshold, the HUD is instructed to store the correspondence between the target eye box position and the distortion correction data with the smallest distortion rate in the currently determined distortion correction data.

[0128] If the distortion rate is greater than or equal to the distortion rate threshold, it means that the difference between the corrected image and the original image exceeds the preset threshold range, and the corrected image cannot accurately restore the shape and geometric features of the original image, which is not the expected result in the image distortion correction process, indicating that the distortion correction data is not ideal and cannot eliminate or reduce image distortion. At this time, the terminal device needs to re-execute the operations of step 202-step 206. If the distortion rate of the re-determined distortion correction data is still greater than or equal to the distortion rate threshold, the above process is repeated, and at the same time, the number of repetitions of the above process, that is, the number of determinations of the distortion correction data, is recorded. When the number of determinations reaches the number threshold, the distortion correction data with the smallest distortion rate in the above repeated determination process is selected, and the distortion correction data with the smallest distortion rate is used as the distortion correction data finally determined for the target eye box position, and the HUD is instructed to store the corresponding relationship between the target eye box position and the distortion correction data.

[0129] The number threshold refers to the upper limit of the number of times the distortion correction data is determined. For example, the number threshold is 10 times, which means that the distortion correction data can be determined repeatedly 10 times. By setting the number threshold, not only the possibility of selecting abnormal data as distortion correction data is avoided, but also the maximum number of repetitions is limited to avoid the process from going on indefinitely. The number threshold can be set according to different application scenarios and requirements. The specific value of the number threshold is not limited in the embodiment of the present application.

[0130] By using the distortion correction data to correct the image to be displayed and determining the distortion rate of the two images before and after the correction, the validity of the distortion correction data can be intuitively understood. In other words, by determining the distortion rate corresponding to the distortion correction data, the validity of the distortion correction data is verified. If it does not meet the requirements, the corresponding distortion correction data is re-determined until the requirements are met or the operation process reaches the number threshold. Through this verification method, better distortion correction data can be determined to obtain better correction effect and image quality.

[0131] The above steps all occur in the debugging mode of the HUD. After determining the distortion correction data corresponding to each of the multiple eye box positions through the above steps, the terminal device sends a second command to the HUD to instruct the HUD to close the debugging mode and enter the user mode.

[0132] Normally, the HUD needs to enter the debugging mode first to determine the distortion correction data corresponding to each of the multiple eye box positions. After determining the distortion correction data corresponding to all the eye box positions, the HUD can be switched to the user mode for the driver to use during actual driving.

[0133] Next, through Figure 8 and Fig. 9 The method provided in the embodiment of the present application is introduced. Please refer to Figure 8 and Fig. 9, the terminal device sends a position movement instruction to the camera to control the camera to reach the target eye box position, and sends a first command to the MCU of the HUD to instruct the HUD to enter the debugging mode; the terminal device sends a prohibition correction instruction to the MUC of the HUD, and sends the first image to be displayed to the FPD-Link of the HUD; in response to the prohibition correction instruction, the MUC does not perform distortion correction on the first image from the FPD-Link, but directly transmits it to the PGU for display by the PGU. The camera captures the first image displayed by the HUD, obtains the second image, and sends the second image to the terminal device. Based on the first image and the second image, the terminal device generates distortion correction data, and sends the distortion correction data to the HUD. The HUD stores the distortion correction data in the MCU or external Flash, and sends the storage location of the distortion correction data to the terminal device. The terminal device sends a start correction instruction and the storage location of the distortion correction data to the MUC of the HUD, and sends the third image to be displayed to the FPD-Link of the HUD. The MCU responds to the start correction instruction, obtains the distortion correction data based on the storage location of the distortion correction data, and transmits the distortion correction to the third image from the FPD-Link to the PGU for display by the PGU. The camera captures the third image displayed by the HUD to obtain the fourth image, and sends the fourth image to the terminal device. The terminal device determines the distortion rate corresponding to the distortion correction data based on the third image and the fourth image. If the distortion rate is less than the distortion rate threshold, the HUD is instructed to store the corresponding relationship between the target eye box position and the distortion correction data. If it is greater than or equal to the distortion rate threshold, the above steps are repeated. If the distortion correction data less than the distortion rate threshold is not obtained when the number of repeated determinations reaches the number threshold, the HUD is instructed to store the distortion correction data with the smallest distortion rate among the target eye box position and the currently determined distortion correction data. Then, the terminal device controls the camera to move to other eye box positions again until the distortion correction data corresponding to all eye box positions are determined.

[0134] In summary, the embodiment of the present application simulates the driver's eye position through a camera, controls the camera to move to the target eye box position through a terminal device, and sends the image to be displayed to the HUD. After the HUD displays two images before and after distortion correction, the camera captures the two images and sends them to the terminal device, and the terminal device determines the distortion correction data through the above two images. When the distortion rate of the distortion correction data meets the requirements, the correspondence between the target eye box position and the distortion correction data is stored. This method can accurately determine the distortion correction data corresponding to multiple eye box positions, so that the driver can select the distortion correction data of the corresponding position according to his driving habits, so that the HUD can complete the image correction more efficiently, and provide higher quality image display and more humanized driving assistance functions.

[0135] Next, the vehicle provided in the embodiment of the present application is explained in detail.

[0136] The vehicle includes a vehicle controller and a HUD, the vehicle controller is used to send an image source to be displayed to the HUD; the HUD is used to perform distortion correction on the image source based on distortion correction data corresponding to a target eye box position, and project the distortion-corrected image source onto the front windshield of the vehicle for display; wherein the distortion correction data corresponding to the target eye box position is determined by a terminal device in a HUD debugging system based on a first image and a second image, the first image is sent to the HUD by the terminal device, the second image is obtained by taking a picture of a first image displayed by the HUD by a camera in the HUD debugging system, the first image displayed by the HUD has not been distortion corrected, and the distortion rate corresponding to the distortion correction data is less than a distortion rate threshold.

[0137] The target eye box position is any one of the multiple eye box positions, and the distortion correction data corresponding to the target eye box position is obtained by the above Figure 2 The embodiment shown is determined by Figure 2 After the embodiment shown determines the distortion correction data corresponding to each of the multiple eye box positions, a certain eye box position among the multiple eye box positions can be used as the target eye box position, for example Figure 3 In this way, the HUD can perform distortion correction on the image source from the vehicle controller based on the distortion correction data corresponding to the target eye box position, and project the distortion-corrected image source onto the front windshield for display.

[0138] The image source sent by the vehicle controller to the HUD may be images of driving information such as vehicle speed, lane, navigation, etc. These images can enable the driver to obtain relevant driving information more conveniently and safely, reduce the focus on the dashboard, and improve the driving experience and driving safety. Different models and different HUDs may provide different image display content to meet different driving needs and user preferences. The present application embodiment does not limit the images displayed by the HUD.

[0139] Based on the above description, the target eye box position is any one of the multiple eye box positions, and the HUD stores the distortion correction data corresponding to each of the multiple eye box positions. In some other embodiments, the target eye box position can also be the eye box position selected by the driver. In this case, the vehicle also includes a central control display screen; the central control display screen is used to display the position indication information of the multiple eye box positions; the central control display screen is also used to indicate the eye box position selected by the position selection operation to the HUD in response to the position selection operation. The HUD is also used to perform distortion correction on the image source based on the distortion correction data corresponding to the eye box position indicated by the central control display screen, and then project it onto the front windshield for display. The central control display screen is also used to respond to the position determination operation, and use the eye box position indicated by the position determination operation as the target eye box position and indicate it to the HUD.

[0140] That is to say, the vehicle's central control display screen provides multiple selectable eyebox positions. When the driver selects an eyebox position through the position selection operation, the HUD can perform distortion correction on the image source based on the distortion correction data corresponding to the eyebox position and then project it onto the front windshield for display. If the driver believes that the correction effect of the distortion correction data corresponding to the eyebox position is not good, he can select another eyebox position through the position selection operation again. The HUD performs distortion correction on the image source based on the distortion correction data corresponding to the eyebox position selected by the driver again and then projects it onto the front windshield for display. If the driver believes that the correction effect of the distortion correction data corresponding to the eyebox position is not good, he can select another eyebox position again. If the driver believes that the correction effect of the distortion correction data corresponding to the eyebox position is good, the eyebox position can be fixed as the target eyebox position through the position determination operation, so that the HUD can subsequently perform distortion correction on the image source from the vehicle controller through the distortion correction data corresponding to the target eyebox position and then display it.

[0141] After the vehicle's central control display screen provides multiple selectable eyebox positions, the driver can select one eyebox position from the multiple eyebox positions and observe whether the effect of the image displayed by the HUD at the eyebox position is clear and accurate; if it is not clear and accurate enough, the eyebox position selection operation can be performed again until the best eyebox position is selected. In other words, the driver can select the eyebox position that suits his or her line of sight through the central control display screen, that is, the target eyebox position is the eyebox position with the best display effect that can be observed from the current position of the driver's eyes after the image source is corrected by the corresponding distortion correction data among the multiple eyebox positions.

[0142] For example, the plurality of eye box positions are Figure 3 There are nine eye box positions in three rows and three columns. In the initial state, the eye box position in the center is used as the default target eye box position (i.e. Figure 3When the driver needs to re-determine the target eye box position, he can select Figure 3 The eye box positions are selected, and the display effect after the HUD corrects the image source through the distortion correction data of each eye box position is observed, so as to select the eye box position with the best display effect as the target eye box position.

[0143] The position selection operation and the position determination operation are triggered by the driver through a specified operation, such as a sliding operation, a voice operation, etc. After the driver triggers the position selection operation or the position determination operation, the central control display screen can send the identification of the corresponding eye box position to the vehicle controller, and the vehicle controller identifies the corresponding eye box position through the identification of the eye box position.

[0144] It should be noted that the identifier of the eye box position can be a digital number of the eye box position or a text name, which is not limited in the embodiments of the present application.

[0145] In some embodiments, the HUD is also used to receive a second command sent by the terminal device after storing the correspondence between multiple eye box positions and corresponding distortion correction data, and in response to the second command, turn off the debug mode and enter the user mode. In this way, the HUD can perform distortion correction on the image source from the vehicle controller based on the distortion correction data corresponding to the target eye box position, and project the distortion-corrected image source onto the front windshield of the vehicle for display. In other words, after determining the distortion correction data corresponding to all eye box positions through the debug mode, the terminal device can send a second command to the HUD to instruct the HUD to enter the user mode, in which the HUD can correct and display the image source from the vehicle controller through the distortion correction data determined in the debug mode.

[0146] In the embodiment of the present application, the eye box position that best suits the driver's line of sight can be selected through the central control display screen, and then the image source from the vehicle controller is corrected and displayed through the distortion correction data corresponding to the eye box position, so as to achieve the best display effect. In other words, the embodiment of the present application can enable the driver to select the distortion correction effect according to his own driving habits, so that the distortion correction result of the HUD is more in line with the actual driving needs, more accurate, clearer, and closer to the original image, thereby providing a better driving experience and driving safety.

[0147] Fig.10 This is a schematic diagram of the structure of a device for determining distortion correction data provided by an embodiment of the present application. The device for determining distortion correction data can be implemented by software, hardware, or a combination of both to become part or all of the terminal device. Fig.10The device includes: a camera control module 1001, a first sending module 1002, an acquisition module 1003, a generation module 1004, a first determination module 105 and a first storage module 1006.

[0148] A camera control module 1001 is used to control the camera to move to a target eye box position, where the target eye box position is any one of a plurality of eye box positions, where the plurality of eye box positions are a plurality of positions where the driver's eyes may be located;

[0149] A first sending module 1002 is used to send a correction prohibition instruction and a first image to be displayed to the HUD, where the correction prohibition instruction instructs the HUD to prohibit the distortion correction function;

[0150] An acquisition module 1003 is used to acquire a second image captured by a camera, where the second image is obtained by photographing the first image displayed by the HUD with the camera, and the first image displayed by the HUD has not been subjected to distortion correction;

[0151] A generating module 1004, configured to generate distortion correction data based on the first image and the second image;

[0152] A first determination module 1005 is used to determine a distortion rate corresponding to the distortion correction data;

[0153] The first storage module 1006 is configured to instruct the HUD to store a correspondence between the target eye box position and the distortion correction data if the distortion rate is less than a distortion rate threshold.

[0154] Optionally, the first determining module 1005 is specifically configured to:

[0155] Send the distortion correction data to the HUD;

[0156] Receive the storage location of the distortion correction data sent by the HUD;

[0157] Sending a start correction instruction, a third image to be displayed, and a storage location of the distortion correction data to the HUD, wherein the start correction instruction instructs the HUD to enable a distortion correction function;

[0158] Acquire a fourth image captured by the camera, where the fourth image is obtained by photographing the third image displayed on the HUD by the camera, and the third image displayed on the HUD has been corrected by the distortion correction data;

[0159] Based on the third image and the fourth image, a distortion rate is determined.

[0160] Optionally, the device further comprises:

[0161] A second determination module, configured to re-determine the distortion correction data if the distortion rate is greater than or equal to the distortion rate threshold, and count the number of times the distortion correction data is determined;

[0162] The second storage module is used to instruct the HUD to store the corresponding relationship between the target eye box position and the distortion correction data with the smallest distortion rate in the currently determined distortion correction data if the number of determinations reaches a number threshold.

[0163] Optionally, before controlling the camera to move to the target eye box position, the device further includes:

[0164] The second sending module is used to send a first command to the HUD to instruct the HUD to enter a debugging mode.

[0165] Optionally, the device further comprises:

[0166] The third sending module is used to send a second command to the HUD after instructing the HUD to store the corresponding relationship between multiple eye box positions and corresponding distortion correction data, so as to instruct the HUD to close the debugging mode and enter the user mode.

[0167] In an embodiment of the present application, the camera simulates the driver's eye position, the terminal device controls the camera to move to the target eye box position, and sends the image to be displayed to the HUD. After the HUD displays two images before and after distortion correction, the camera captures the two images and sends them to the terminal device, which determines the distortion correction data through the two images. When the distortion rate of the distortion correction data meets the requirements, the correspondence between the target eye box position and the distortion correction data is stored. This method can accurately determine the distortion correction data corresponding to multiple eye box positions, so that the driver can select the distortion correction data of the corresponding position according to his driving habits, so that the HUD can complete the image correction more efficiently, provide higher quality image display and more humanized driving assistance functions.

[0168] It should be noted that: the device for determining the distortion correction data provided in the above embodiment only uses the division of the above functional modules as an example when determining the distortion correction data. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device for determining the distortion correction data provided in the above embodiment and the method for determining the distortion correction data belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0169] Fig.111 is a block diagram of a terminal device 1100 provided in an embodiment of the present application. The terminal device 1100 may be a portable mobile terminal, such as a laptop or a desktop computer. The terminal device 1100 may also be called a user device, a portable terminal, a laptop terminal, a desktop terminal, or other names.

[0170] Typically, the terminal device 1100 includes: a processor 1101 and a memory 1102 .

[0171] The processor 1101 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1101 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 1101 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 1101 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1101 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0172] The memory 1102 may include one or more computer-readable storage media, which may be non-transitory. The memory 1102 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 1102 is used to store at least one instruction, which is used to be executed by the processor 1101 to implement the method for determining the distortion correction data provided in the method embodiment of the present application.

[0173] In some embodiments, the terminal device 1100 may further optionally include: a peripheral device interface 1103 and at least one peripheral device. The processor 1101, the memory 1102 and the peripheral device interface 1103 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 1103 via a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 1104, a touch display screen 1105, an audio circuit 1106 and a power supply 1107.

[0174] The peripheral device interface 1103 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 1101 and the memory 1102. In some embodiments, the processor 1101, the memory 1102, and the peripheral device interface 1103 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1101, the memory 1102, and the peripheral device interface 1103 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0175] The radio frequency circuit 1104 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 1104 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 1104 converts the electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1104 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. The radio frequency circuit 1104 can communicate with other terminal devices through at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network.

[0176] The display screen 1105 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 1105 is a touch display screen, the display screen 1105 also has the ability to collect touch signals on the surface or above the surface of the display screen 1105. The touch signal can be input to the processor 1101 as a control signal for processing. At this time, the display screen 1105 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 1105 can be one, and the front panel of the terminal device 1100 is set; in other embodiments, the display screen 1105 can be at least two, which are respectively set on different surfaces of the terminal device 1100 or are folded; in some other embodiments, the display screen 1105 can be a flexible display screen, which is set on the curved surface or folded surface of the terminal device 1100. Even, the display screen 1105 can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 1105 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0177] The audio circuit 1106 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 1101 for processing, or input them into the radio frequency circuit 1104 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the terminal device 1100. The microphone may also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 1101 or the radio frequency circuit 1104 into sound waves. The speaker may be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 1107 may also include a headphone jack.

[0178] The power supply 1107 is used to power various components in the terminal device 1100. The power supply 1107 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 1107 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0179] Those skilled in the art will understand that Fig.11The structure shown in the figure does not constitute a limitation on the terminal device 1100, and may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0180] In some embodiments, a computer-readable storage medium is further provided, in which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for determining the distortion correction data in the above embodiment are implemented. For example, the computer-readable storage medium may be a ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

[0181] It is worth noting that the computer-readable storage medium mentioned in the embodiments of the present application may be a non-volatile storage medium, in other words, a non-transitory storage medium.

[0182] It should be understood that all or part of the steps to implement the above embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions can be stored in the above-mentioned computer readable storage medium.

[0183] That is, in some embodiments, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the steps of the method for determining the distortion correction data described above.

[0184] It should be understood that the "at least one" mentioned herein refers to one or more, and "multiple" refers to two or more. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not limit them to be necessarily different.

[0185] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of the present application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0186] The above-mentioned embodiments are provided for the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle, characterized in that: The vehicle includes a vehicle controller and a head-up display HUD; The vehicle controller is used to send an image source to be displayed to the HUD; The HUD is used to perform distortion correction on the image source based on the distortion correction data corresponding to the target eye box position, and project the distortion-corrected image source onto the front windshield of the vehicle for display; Among them, the distortion correction data corresponding to the target eye box position is determined by the terminal device in the HUD debugging system based on the first image and the second image, the first image is sent by the terminal device to the HUD, and the second image is obtained by shooting the first image displayed by the HUD by a camera in the HUD debugging system, the first image displayed by the HUD has not been distortion corrected, and the distortion rate corresponding to the distortion correction data is less than the distortion rate threshold.

2. The vehicle according to claim 1, characterized in that The target eye box position is any one of a plurality of eye box positions, the HUD stores distortion correction data corresponding to each of the plurality of eye box positions, and the vehicle further includes a central control display screen; The central control display screen is used to display position indication information of the multiple eye box positions; The central control display screen is also used to indicate the eye box position selected by the position selection operation to the HUD in response to the position selection operation; The HUD is also used to perform distortion correction on the image source based on the distortion correction data corresponding to the eye box position indicated by the central control display screen, and then project the image source onto the front windshield for display; The central control display screen is also used to respond to a position determination operation, and use the eye box position indicated by the position determination operation as the target eye box position and indicate it to the HUD.

3. The vehicle according to claim 2, characterized in that The target eye box position is the eye box position of the multiple eye box positions that can achieve the best display effect observed from the current position of the driver's eyes after the image source is corrected by corresponding distortion correction data.

4. The vehicle according to claim 1, characterized in that The HUD is also used to receive a second command sent by the terminal device after storing the correspondence between the multiple eye box positions and the corresponding distortion correction data, and in response to the second command, turn off the debugging mode and enter the user mode.

5. A method for determining distortion correction data, characterized in that: A terminal device used in a head-up display (HUD) debugging system, wherein the HUD debugging system further includes a camera and a HUD deployed in a vehicle, and the method includes: Controlling the camera to move to a target eye box position, wherein the target eye box position is any one of a plurality of eye box positions, wherein the plurality of eye box positions are a plurality of positions where the driver's eyes may be located; sending a correction prohibition instruction and a first image to be displayed to the HUD, wherein the correction prohibition instruction instructs the HUD to prohibit a distortion correction function; Acquire a second image captured by the camera, where the second image is obtained by photographing the first image displayed by the HUD by the camera, and the first image displayed by the HUD has not been subjected to distortion correction; generating distortion correction data based on the first image and the second image; Determining a distortion rate corresponding to the distortion correction data; If the distortion rate is less than the distortion rate threshold, the HUD is instructed to store the corresponding relationship between the target eye box position and the distortion correction data.

6. The method according to claim 5, characterized in that The determining the distortion rate corresponding to the distortion correction data includes: Sending the distortion correction data to the HUD; receiving a storage location of the distortion correction data sent by the HUD; sending a start correction instruction, a third image to be displayed, and a storage location of the distortion correction data to the HUD, wherein the start correction instruction instructs the HUD to enable a distortion correction function; Acquire a fourth image captured by the camera, where the fourth image is obtained by photographing the third image displayed by the HUD by the camera, and the third image displayed by the HUD has been corrected by the distortion correction data; The distortion rate is determined based on the third image and the fourth image.

7. The method according to claim 5, characterized in that The method further comprises: If the distortion rate is greater than or equal to the distortion rate threshold, re-determine the distortion correction data, and count the number of times the distortion correction data is determined; If the determination times reaches the times threshold, the HUD is instructed to store the correspondence between the target eye box position and the distortion correction data with the smallest distortion rate among the currently determined distortion correction data.

8. The method according to any one of claims 5 to 7, characterized in that: Before controlling the camera to move to the target eye box position, the method further includes: A first command is sent to the HUD to instruct the HUD to enter a debugging mode.

9. The method according to claim 8, characterized in that The method further comprises: After instructing the HUD to store the correspondence between the multiple eye box positions and the corresponding distortion correction data, a second command is sent to the HUD to instruct the HUD to close the debugging mode and enter the user mode.

10. A terminal device, characterized in that: The terminal device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of the method described in any one of claims 5 to 9.

Images