HUD-based electronic rearview reversing image display method and system and vehicle

Abstract

The invention discloses an HUD (Head Up Display)-based electronic rearview reversing picture display method and system and a vehicle. The problems that a central control display screen has a small range of displaying reversing pictures and a driver needs to lower the head to watch are solved. The method comprises the steps that when a vehicle is started, a right rear digital signal, a left rear digital signal and a right rear digital signal of the vehicle are obtained; when a reverse gear signal of the vehicle is detected, the right rear digital signal, the left rear digital signal and the right rear digital signal are spliced into a reversing picture matched with the display size of the head-up display device based on turning angle information of a steering wheel of the vehicle; and outputting a back-up picture carrying the corner information to the head-up display device for displaying. Reversing image signals are combined with an electronic rearview mirror display system, the displayable range is expanded, display is carried out on the head-up display device, a driver does not need to lower the head to watch a center control display screen and only needs to front a front windshield, and observation of the driver to the front view is not affected.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted equipment control, and in particular to a method, system and vehicle for displaying an electronic rear-view reversing image based on a head-up display (HUD). Background Art

[0002] Nowadays, with the continuous development of automobile intelligence, the reversing rear view, which is a high-end function in traditional cars, has become a standard configuration in smart driving cars. The resolution of the display screen has also increased from the previous 300,000 pixels to at least 1 million pixels, or even higher. The improvement of reversing clarity and configuration has greatly improved the safety and convenience of reversing, and the viewing angle of the reversing display has also been improved simultaneously, so that the driver can see a wider rear view range when reversing. But even so, the display range and field of view of a single reversing camera are still limited. If the viewing angle of the reversing camera exceeds a certain range, the displayed image will be distorted, which is not conducive to the driver's correct judgment of the road conditions. Therefore, the reversing field of view of a single camera still has blind spots. Because of the existence of blind spots, when reversing, the driver still needs to check the rear view through the vehicle's exterior rearview mirror to assist in reversing.

[0003] At present, more and more on-board electronic rearview mirror products are installed in passenger cars. By replacing the traditional physical rearview mirrors on the left and right sides of the car with two high-definition cameras, the electronic rearview mirror controller displays the camera images on two displays at the left and right door positions inside the car. The driver observes the content on the display screen to judge the condition of the vehicle behind, which expands the display range and solves many unclear display problems of traditional physical rearview mirrors. The two display screens in the car are more used when changing lanes when driving forward. For the rearview needs of reversing in low-speed scenes, since the two display screens can only display the images of the left and right blind spots respectively, and cannot display the image directly behind the vehicle, the electronic rearview system cannot directly assist in reversing. Moreover, the vehicle equipped with the electronic rearview mirror system does not have a traditional physical rearview mirror outside the car, so there is no way to assist in reversing observation in the traditional way.

[0004] Currently, when reversing, the driver needs to lower his head to look at the central control display screen in the car, and the display range of the central control display screen is small, usually only showing the image directly behind the vehicle. When reversing, the driver also needs to constantly look up to observe the front and the left and right rearview mirrors, which is not convenient enough. Summary of the invention

[0005] The purpose of the present invention is to provide a HUD-based electronic rear-view reversing screen display method, system and vehicle to solve the technical problem in the prior art that the central control display screen displays a small reversing screen range and requires the driver to lower his head to watch.

[0006] The various technical effects that can be produced by the optional technical solutions among the various technical solutions provided by the present invention are described in detail below.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] In a first aspect, the present application provides a method for displaying an electronic rearview reversing image based on a HUD, comprising:

[0009] When the vehicle is started, obtaining a digital signal directly behind, a digital signal to the left rear, and a digital signal to the right rear of the vehicle;

[0010] When a reverse gear signal of the vehicle is detected, the rear digital signal, the left rear digital signal and the right rear digital signal are spliced ​​into a reverse screen of a display size adapted to a head-up display device based on the steering wheel angle information of the vehicle;

[0011] The reversing picture carrying the turning angle information is output to the head-up display device for display.

[0012] In some embodiments, the rear digital signal is a digital signal obtained by digitally converting the rear view taken by the vehicle's reversing camera, the left rear digital signal is a digital signal obtained by digitally converting the left rear view taken by the vehicle's left rear view camera, and the right rear digital signal is a digital signal obtained by digitally converting the right rear view taken by the vehicle's right rear view camera.

[0013] In some embodiments, the step of splicing the rear digital signal, the left rear digital signal, and the right rear digital signal into a reversing screen adapted to the display size of a head-up display device based on the steering wheel angle information of the vehicle includes:

[0014] Determining a display range of the reversing screen based on a display size of the head-up display device;

[0015] Based on the steering wheel angle information of the vehicle, determining, within the display range, the distance and direction in which the spliced ​​image moves from the original display position to the target display position;

[0016] Based on the distance and direction, the rear digital signal, the left rear digital signal and the right rear digital signal are input into the SOC module for conversion and image stitching processing to obtain the reversing picture.

[0017] In some embodiments, outputting the reversing video signal to a head-up display device for display includes:

[0018] Get the steering wheel icon;

[0019] The icon of the steering wheel and the turning direction of the steering wheel are displayed in real time on the reversing screen through the head-up display device.

[0020] In some embodiments, the HUD-based electronic rearview reversing image display method further includes:

[0021] If there is obstacle information in the reversing screen, the obstacle information is displayed in real time on the reversing screen through the head-up display device.

[0022] In some embodiments, the HUD-based electronic rearview reversing image display method further includes:

[0023] In the reverse mode, if the vehicle is moving forward, forward driving information is output to the head-up display device, and warning information is detected in the rear digital signal, the left rear digital signal, and the right rear digital signal;

[0024] If at least one of the rear digital signal, the left rear digital signal and the right rear digital signal contains warning information, the forward driving information and the warning information are displayed through the head-up display device.

[0025] In some embodiments, the obstacle information and the warning information are both displayed as icons.

[0026] In some embodiments, displaying the forward driving information and the warning information by the head-up display device includes:

[0027] The warning information is correspondingly set within the display range of the head-up display device.

[0028] Implementing one of the above technical solutions of the present invention has the following advantages or beneficial effects:

[0029] The HUD-based electronic rear-view reversing screen display method, system and vehicle of the present application separate the traditional reversing rear-view signal from the head-up display device. When the vehicle is started, the digital signal of the vehicle's rear, left rear and right rear is obtained, so that when the reverse gear signal is detected, the reversing screen can be spliced ​​in real time, and the reversing image signal is combined with the electronic rearview mirror display system to expand the display range. When the head-up display device is displayed, the driver does not need to lower his head to look at the central control display screen, but only needs to look at the front windshield, which will not affect the driver's observation of the front field. In addition, image splicing is performed based on the vehicle's driving information. For example, according to the steering wheel angle information, the reversing screen can be displayed dynamically, and the clarity will not be affected. The reversing screen is enriched, allowing the driver to perceive a larger range of left rear, right rear and other screens, thereby improving the safety of reversing.

[0030] Furthermore, by using the current head-up display equipment and electronic rearview mirror display system, there is no need to increase hardware costs, the reversing field of view is expanded, and the driver does not need to lower his head to observe and affect reversing safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. It is obvious that the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0032] Figure 1 is a schematic block diagram of an electronic rear-view reversing screen display system based on HUD according to an embodiment of the present application;

[0033] Figure 2 It is a flow chart of a method for displaying an electronic rear-view reversing image based on HUD according to an embodiment of the present application;

[0034] Figure 3 is a schematic diagram of a reversing screen in an embodiment of the present application;

[0035] Figure 4 It is a schematic diagram of a reversing screen with the steering wheel returning to the center position in an embodiment of the present application;

[0036] Figure 5 This is a schematic diagram of a reversing screen with the steering wheel turning left in an embodiment of the present application;

[0037] Figure 6 This is a schematic diagram of a reversing screen with the steering wheel turning right in an embodiment of the present application;

[0038] Figure 7 It is a schematic diagram of the steering wheel icon in the reversing screen according to an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present invention clearer, the various exemplary embodiments to be described below will refer to the corresponding drawings, which constitute a part of the exemplary embodiments, wherein various exemplary embodiments that may be used to implement the present invention are described. Unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present disclosure. It should be understood that they are only examples of processes, methods, devices, etc. that are consistent with some aspects of the present disclosure as detailed in the attached claims, and other embodiments may also be used, or the embodiments listed herein may be modified in structure and function without departing from the scope and essence of the present invention.

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", etc. indicate the orientation or positional relationship based on the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the elements referred to must have a specific orientation, be constructed and operated in a specific orientation. The terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. The term "multiple" means two or more. The terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a communication connection, a direct connection, an indirect connection through an intermediate medium, and can be the internal connection of two elements or the interaction relationship between two elements. The term "and / or" includes any and all combinations of one or more related listed items. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0041] In order to illustrate the technical solution of the present invention, a specific embodiment is used for description below, and only the parts related to the embodiment of the present invention are shown.

[0042] Embodiment 1:

[0043] The present application provides a HUD-based electronic rearview reversing screen display method, which is applied to a HUD-based electronic rearview reversing screen display system. The HUD-based electronic rearview reversing screen display system is essentially an electronic rearview mirror display system of a vehicle in an embodiment of the present application.

[0044] like Figure 1 As shown, the HUD-based electronic rear-view reversing image display system includes a SOC (System on Chip) module 201 , and a left rear-view camera 204 , a right rear-view camera 203 , and a reversing camera 202 connected to the SOC module 201 .

[0045] The left rear-view camera 204 is arranged on the left side outside the vehicle, and its setting position is the position of the physical left rear-view mirror of a traditional vehicle. The left rear-view camera 204 is used to shoot the left rear-view picture of the vehicle, that is, the left rear-view vehicle condition image. The right rear-view camera 203 is arranged on the right side outside the vehicle, and its setting position is the position of the physical right rear-view mirror of a traditional vehicle. The right rear-view camera 203 is used to shoot the right rear-view picture of the vehicle, that is, the right rear-view vehicle condition image. The left rear-view display screen 205 is arranged on the left side of the steering wheel inside the vehicle, and is used to display the left rear-view picture. The right rear-view display screen 206 is arranged on the right side of the steering wheel inside the vehicle, and is used to display the right rear-view picture. The reversing camera 202 is arranged at the rear of the vehicle, and is used to shoot the front rear-view picture of the vehicle, that is, the vehicle condition image directly behind the vehicle.

[0046] Among them, since the left rear view camera 204 and the right rear view camera 203 are respectively located on both sides of the outside of the vehicle, replacing the traditional physical rear view mirrors, the display of the pictures taken by the left rear view camera 204 and the right rear view camera 203 must be real-time or near real-time. In order to meet the standard delay requirements, the signal transmission of the left rear view camera 204 and the right rear view camera 203 must reduce the delay as much as possible to meet the driver's real-time observation needs. Therefore, these two cameras must adopt digital transmission to minimize the delay of signal transmission. Secondly, the resolution of the left rear view camera 204 and the right rear view camera 203 is not less than 1280 (width) × 720 (height), and the field of view angle of these two cameras is greater than 60 degrees in both the horizontal and vertical directions.

[0047] The reversing camera 202 is mainly used to obtain the front and rear view images of the whole vehicle. In the reversing mode of the whole vehicle, in order to complete the image stitching through the front and rear view images to obtain the reversing image, the resolution of the reversing camera 202 needs to be consistent with the resolution of the left rear view camera 204 and the right rear view camera 203. Therefore, the resolution of the reversing camera 202 is not less than 1280×720, and the high resolution of the reversing camera 202 can also ensure the image clarity of the front and rear view images. In addition, the reversing camera 202 also adopts a digital transmission method. As long as the whole vehicle is started, the reversing camera 202 is always in working state, outputting the front and rear view images to the SOC module 201, but prohibiting display. Only when the whole vehicle is in the reversing mode, the SOC module 201 will splice the front and rear view images to obtain the target reversing image, and output the target reversing image to the central control display screen of the central control system of the whole vehicle. The following uses the example that the resolutions of the reversing camera 202 , the left rear view camera 204 , and the right rear view camera 203 are all 1280×720 to explain the corresponding screens.

[0048] The SOC module 201 includes a CPU (Central Processing Unit) module, a GPU (Graphics Processing Unit) module, and an NPU (Neural Network Processing Unit) module. After the right rear view camera 203, the right rear view camera 204, and the reversing camera 202 collect images, they are all digitally converted and transmitted to the SOC module for processing in the form of digital signals.

[0049] The GPU part is responsible for receiving the signal input by the camera, and outputs the processed image signal to the left rearview mirror display screen 205 and the right rearview mirror display screen 206 for display after a certain conversion. The GPU module is also responsible for outputting the reversing image to the head-up display device 208 of the vehicle; the NPU module is responsible for running the stitching algorithm, performing image stitching, and outputting the stitched image to the GPU module. The CPU module receives the information input by the NPU module, runs the control strategy, and controls the GPU module to output the processed image to each display system (left rearview mirror display screen 205, right rearview mirror display screen 206, head-up display device 208); the MCU (Motor Control Unit) module is responsible for the interaction between the controller and the body controller 207 of the whole vehicle, obtaining the whole vehicle signal, receiving part of the driving information of the whole vehicle, such as reversing, left turn, right turn, and steering wheel angle information, and assisting the controller in outputting the display content of the reversing image.

[0050] The electronic rear-view reversing screen display system based on HUD, the present application also provides an electronic rear-view reversing screen display method based on HUD, and the SOC module 201 applied to the electronic rear-view reversing screen display system of HUD, such as Figure 2 As shown, the HUD-based electronic rear-view reversing image display method includes the following steps S101 to S103.

[0051] S101: When a vehicle is started, a rear digital signal, a left rear digital signal, and a right rear digital signal of the vehicle are acquired.

[0052] Since the left rear view camera 204 and the right rear view camera 203 respectively display the left rear view image and the right rear view image to replace the traditional physical rear view mirror, the image display must be real-time or near real-time. In order to meet the standard delay requirements, the signal transmission of the left rear view camera 204 and the right rear view camera 203 must reduce the delay as much as possible to meet the driver's real-time observation needs. The resolution of the left rear view camera 204 and the right rear view camera 203 is not less than 1280×720, and the field of view angle of the left rear view camera 204 and the right rear view camera 203 is greater than 60 degrees horizontally and vertically.

[0053] Moreover, in order to complete the image stitching normally, the resolution of the reversing camera 202 needs to be consistent with the resolution of the left rear view camera 204 and the right rear view camera 203, and in order to ensure that the signal transmission delay is reduced as much as possible, digital transmission is also required.

[0054] Therefore, when the vehicle is started, the reversing camera 202, the left rear view camera 204 and the right rear view camera 203 are started. Furthermore, the reversing camera 202, the left rear view camera 204 and the right rear view camera 203 transmit the captured rearward image, the left rear image and the right rear image to the SOC module 201 in a digital transmission mode.

[0055] Among them, the rear digital signal is a digital signal obtained by digitally converting the rear view by the vehicle's reversing camera 202, the left rear digital signal is a digital signal obtained by digitally converting the left rear view by the vehicle's left rear view camera 204, and the right rear digital signal is a digital signal obtained by digitally converting the right rear view by the vehicle's right rear view camera 203.

[0056] When the vehicle is started, the reversing camera 202, the left rear view camera 204 and the right rear view camera 203 are directly started, and the reversing camera 202, the left rear view camera 204 and the right rear view camera 203 use digital transmission to transmit signals, so that when reversing, the NPU module can splice images in time to reduce delays as much as possible.

[0057] In some embodiments, when the vehicle is driving forward normally, the left rear view image and the right rear view image captured by the left rear view camera 204 and the right rear view camera 203 are respectively transmitted to the left electronic rear view display screen and the right electronic rear view display screen to ensure the use of the electronic rear view function during driving. The digital signal directly behind captured by the reversing camera 202 is input to the electronic rear view controller host, but at this time, image stitching is not required, and the electronic rear view system does not need to output images to the HUD system.

[0058] S102: When a reverse gear signal of the vehicle is detected, based on the steering wheel angle information of the vehicle, the rear digital signal, the left rear digital signal and the right rear digital signal are spliced ​​into a reverse screen of a display size adapted to the head-up display device.

[0059] S103: Outputting the reversing picture carrying the turning angle information to the head-up display device for display.

[0060] When the electronic rearview mirror controller host receives the reverse gear signal sent by the vehicle through the CAN bus, it determines that the vehicle is in reverse mode at this time. Then, the function of splicing the reversing image is activated. The NPU module runs the splicing algorithm to splice the received digital signals from the rear, left and right, and outputs them to the GPU module of the controller. The GPU module outputs the spliced ​​video signal according to the instructions of the CPU.

[0061] The vehicle's driving information may include the vehicle's steering wheel angle information.

[0062] In some implementations, step S102 may include:

[0063] Determining a display range of the reversing screen based on a display size of the head-up display device;

[0064] Based on the steering wheel angle information of the vehicle, determine the distance and direction of the spliced ​​image moving from the original display position to the target display position within the display range;

[0065] Based on the distance and direction, the rear digital signal, the left rear digital signal and the right rear digital signal are input into the SOC module for conversion and image stitching processing to obtain the reversing picture.

[0066] Specifically, in order to facilitate the driver to directly view the front windshield when reversing, without having to look down at the central control display screen, the reversing picture is finally output on the front windshield through the head-up display device. Therefore, the size of the reversing picture needs to match the display size of the head-up display device.

[0067] When reversing, it is usually necessary to turn the steering wheel. When the steering wheel is returned to the center, the resolution of the reversing image is 1280×720, and the center of the field of view of the spliced ​​reversing image is still the center of the reversing camera 202, and there is no need to move left or right. Figure 3 As shown, the display range of the reversing screen is a dotted frame. Obviously, compared with the original reversing display range, the visual range after splicing is larger, which is conducive to expanding the driver's visual range of the reversing screen and improving reversing safety.

[0068] Before splicing, the left rear digital signal, the right rear digital signal and the rear digital signal need to be cropped accordingly in the SOC module to adapt to the display range and size of the head-up display device. In addition, the clarity of the cropped and spliced ​​images remains unchanged. For specific cropping, please refer to the current image cropping technology, which will not be described in detail here.

[0069] like Figure 4 As shown, Figure 4It is a schematic diagram of the reversing screen with the steering wheel returned to the center according to the embodiment of the present application. If the steering wheel is in the centering state, the spliced ​​reversing screen is cropped to the corresponding screen displayed at the original display position, including the first left rear screen, the rear screen and the first right rear screen.

[0070] like Figure 5 As shown, Figure 5 This is a schematic diagram of the reversing screen when the steering wheel turns left in an embodiment of the present application. If the steering wheel turns left, the CPU runs the control strategy based on the left turning angle information of the steering wheel, and converts these data into the distance the stitched image moves to the left. The GPU crops the image at the corresponding position based on this information, and the obtained reversing screen includes the second left rear screen, the rear screen and the second right rear screen.

[0071] like Figure 6 As shown, Figure 6 This is a schematic diagram of the reversing screen when the steering wheel turns right in the embodiment of the present application. If the steering wheel is turned to the right, the CPU runs the control strategy based on the turning angle information of the steering wheel turning to the right, and converts these data into the distance the stitched image moves to the right. The GPU crops the image at the corresponding position based on this information, and the obtained reversing screen includes the third left rear screen, the rear screen and the third right rear screen.

[0072] The reversing picture is displayed in real time through the head-up display device, so that the reversing picture is displayed in real time and dynamically as the steering wheel turns, which greatly enriches the display range of the reversing rear view.

[0073] In some implementations, step S103 may include:

[0074] Get the steering wheel icon;

[0075] The icon of the steering wheel and the turning direction of the steering wheel are displayed in real time on the reversing screen through the head-up display device.

[0076] In the display screen projected onto the front windshield by the head-up display device, an icon of a steering wheel may also be displayed. Figure 7 As shown in the figure, if the driver turns the steering wheel to the left when reversing, the MCU in the electronic rearview mirror controller host receives the real-time steering wheel angle information transmitted by the whole vehicle and sends it to the CPU. The CPU runs the control strategy according to the angle information and converts these data into the distance the stitched image moves to the left. The GPU crops the image at the corresponding position based on this information and outputs it to the HUD system for display in real time, so as to achieve the purpose of the reversing image following the steering wheel angle, which greatly enriches the display range of the reversing rear view.

[0077] In some embodiments, the HUD-based electronic rearview reversing image display method further includes:

[0078] If there is obstacle information in the reversing screen, the obstacle information is displayed in real time on the reversing screen through the head-up display device.

[0079] Specifically, pedestrians, vehicles, obstacles and other environmental factors that affect reversing within the reversing field of view can be static or dynamically moving objects. After completing the recognition of these information, the electronic rearview system generates obstacle information and displays the obstacle information in real time on the reversing screen through the head-up display device. The obstacle information can be displayed through icons, allowing the driver to see the obstacle information in the reversing screen.

[0080] In some embodiments, the HUD-based electronic rearview reversing image display method further includes:

[0081] In the reverse mode, if the vehicle is moving forward, forward driving information is output to the head-up display device, and warning information is detected in the rear digital signal, the left rear digital signal, and the right rear digital signal;

[0082] If at least one of the rear digital signal, the left rear digital signal and the right rear digital signal contains warning information, the forward driving information and the warning information are displayed through the head-up display device.

[0083] Specifically, in a reversing environment, the vehicle is not always in a state of driving backwards. In many cases, it needs to drive forward to make adjustments before continuing to reverse. Therefore, when the vehicle is in reversing mode, it will be driving forward for a short period of time. Therefore, when it is detected that the vehicle enters a reversing environment, for example, when it needs to park in a parking space, it can be considered that the vehicle is in reversing mode. In reversing mode, when there is forward movement, that is, the forward signal of the vehicle is detected through the CAN bus, the electronic rearview system will not output the spliced ​​image to the head-up display device. The head-up display device displays the forward driving information, but the electronic rearview system determines that the entire vehicle is still in a reversing state, so it continues to send warning information from the three cameras and still detects the vehicle condition behind the vehicle in real time.

[0084] In reverse mode, if the vehicle is moving forward, in order to ensure driving safety, the head-up display device does not display the real-time video of the reversing scene, but only uses rich UI icons to display information about the vehicle's driving process. The forward driving information includes vehicle speed, engine speed, tire pressure, navigation path, some road conditions within a certain distance ahead, etc.

[0085] At the same time, it also detects whether there is warning information in the digital signal directly behind, the digital signal behind the left, and the digital signal behind the right. If there is warning information, the warning information is also displayed in the form of a UI icon.

[0086] The warning information can remind the driver of the road conditions during the reversing process. The warning information includes object information, distance, movement and motion speed, etc. Because the vehicle speed will not be very fast when reversing, the head-up display device can display rich reminder content, and the driver can receive and process these warning contents while reversing.

[0087] Therefore, during the forward driving phase in the reverse mode, the head-up display device can not only display the forward driving information, but also display the vehicle conditions behind the vehicle, reminding the driver of the real-time position of obstacles and pedestrians behind the vehicle, so as to facilitate the driver to make decisions and determine when to perform the reverse action and when to stop to avoid pedestrians and vehicles behind.

[0088] In some embodiments, displaying the forward driving information and the warning information by the head-up display device may include:

[0089] The warning information is correspondingly set within the display range of the head-up display device.

[0090] Specifically, if the warning information comes from a digital signal directly behind, the warning information is displayed at a position corresponding to the digital signal directly behind within the display range of the head-up display device, that is, displayed in the middle area; if the warning information comes from a digital signal from the left rear, the warning information is displayed at a position corresponding to the digital signal from the left rear within the display range of the head-up display device, that is, displayed in the left area; if the warning information comes from a digital signal from the right rear, the warning information is displayed at a position corresponding to the digital signal from the right rear within the display range of the head-up display device, that is, displayed in the right area.

[0091] By setting the warning information within the head-up display range, the driver can know the specific location behind the vehicle that needs a warning, understand the vehicle conditions behind the vehicle in detail, and make timely decisions.

[0092] This application separates the traditional reversing rear-view signal from the head-up display device. When the vehicle is started, the digital signal of the vehicle's rear, left rear and right rear is obtained, so that when the reverse gear signal is detected, the reversing image signal is spliced ​​in real time to obtain the reversing image. The reversing image signal is combined with the electronic rearview mirror display system to expand the display range. When the head-up display device is displayed, the driver does not need to lower his head to look at the central control display screen, but only needs to look at the front windshield, which will not affect the driver's observation of the front field. In addition, image splicing is performed based on the vehicle's driving information. For example, according to the steering wheel angle information, the reversing image can be displayed dynamically, and the clarity will not be affected. The reversing image is enriched, allowing the driver to perceive a larger range of left rear, right rear and other images, thereby improving the safety of reversing.

[0093] Furthermore, by using the current head-up display equipment and electronic rearview mirror display system, there is no need to increase hardware costs, the reversing field of view is expanded, and the driver does not need to lower his head to observe and affect reversing safety.

[0094] The embodiment is only a special case and does not indicate that the present application is implemented in such a way.

[0095] The present application also provides a non-volatile computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by the HUD-based electronic rear-view reversing screen display system, the HUD-based electronic rear-view reversing screen display system executes the HUD-based electronic rear-view reversing screen display method as any one of the first embodiments.

[0096] Those skilled in the art can understand that all or part of the features / steps of the above-mentioned method embodiments can be implemented by methods, data processing systems or computer programs, and these features can be implemented without hardware, entirely by software, or by a combination of hardware and software. The aforementioned computer program can be stored in one or more computer-readable storage media, and the storage medium stores the computer program. When the computer program is executed (such as by a processor), the steps of the above-mentioned HUD-based electronic rearview reversing screen display method embodiment are executed.

[0097] The aforementioned storage media that can store program codes include: static hard disks, solid-state hard disks, random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), optical storage devices, magnetic storage devices, flash memory, magnetic disks or optical disks and / or combinations of the above devices, that is, they can be implemented by any type of volatile or non-volatile storage device or a combination thereof.

[0098] The above are only preferred embodiments of the present invention. Those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the protection scope of the present invention.

Claims

1. A method for displaying an electronic rearview image based on HUD, characterized in that: include: When the vehicle is started, obtaining a digital signal directly behind, a digital signal to the left rear, and a digital signal to the right rear of the vehicle; When a reverse gear signal of the vehicle is detected, the rear digital signal, the left rear digital signal and the right rear digital signal are spliced ​​into a reverse screen of a display size adapted to a head-up display device based on the steering wheel angle information of the vehicle; The reversing picture carrying the turning angle information is output to the head-up display device for display.

2. The HUD-based electronic rearview reversing image display method according to claim 1, characterized in that: The rear digital signal is a digital signal obtained by digitally converting the rear view by the vehicle's reversing camera, the left rear digital signal is a digital signal obtained by digitally converting the left rear view by the vehicle's left rear view camera, and the right rear digital signal is a digital signal obtained by digitally converting the right rear view by the vehicle's right rear view camera.

3. The method for displaying an electronic rearview image based on HUD according to claim 1, characterized in that: The method of splicing the rear digital signal, the left rear digital signal and the right rear digital signal into a reversing screen of a display size adapted to a head-up display device based on the steering wheel angle information of the vehicle includes: Determining a display range of the reversing screen based on a display size of the head-up display device; Based on the steering wheel angle information of the vehicle, determining, within the display range, the distance and direction in which the spliced ​​image moves from the original display position to the target display position; Based on the distance and direction, the rear digital signal, the left rear digital signal and the right rear digital signal are input into the SOC module for conversion and image stitching processing to obtain the reversing picture.

4. The method for displaying an electronic rear-view reversing image based on HUD according to claim 1, characterized in that: Output the reversing video signal to the head-up display device for display, including: Get the steering wheel icon; The icon of the steering wheel and the turning direction of the steering wheel are displayed in real time on the reversing screen through the head-up display device.

5. The HUD-based electronic rearview reversing image display method according to claim 1, characterized in that: The HUD-based electronic rearview reversing screen display method also includes: If there is obstacle information in the reversing screen, the obstacle information is displayed in real time on the reversing screen through the head-up display device.

6. The method for displaying an electronic rear-view reversing image based on HUD according to claim 5, characterized in that: The HUD-based electronic rearview reversing screen display method further includes: In the reverse mode, if the vehicle is moving forward, forward driving information is output to the head-up display device, and warning information is detected in the rear digital signal, the left rear digital signal, and the right rear digital signal; If at least one of the rear digital signal, the left rear digital signal and the right rear digital signal contains warning information, the forward driving information and the warning information are displayed through the head-up display device.

7. The method for displaying an electronic rearview image based on HUD according to claim 6, characterized in that: The obstacle information and the warning information are both displayed as icons.

8. The method for displaying an electronic rear-view reversing image based on HUD according to claim 6, characterized in that: The displaying of the forward driving information and the warning information by the head-up display device includes: The warning information is correspondingly set within the display range of the head-up display device.

9. An electronic rear-view reversing image display system based on HUD, characterized in that: include: An SOC module, and a left rear-view camera, a right rear-view camera, and a reversing camera connected to the SOC module. The SOC module executes the steps of the electronic rear-view reversing screen display method according to any one of claims 1 to 8.

10. A vehicle, characterized in that: It includes the HUD-based electronic rear-view reversing image display system as claimed in claim 9.

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