A HUD-based electronic rear-view reversing picture display method, system and vehicle

Abstract

The application discloses a HUD-based electronic rear-view reversing picture display method and system and a vehicle. The problem that a central control display screen displays a small reversing picture range and needs a driver to look down is solved. The method comprises the following steps: acquiring a front digital signal, a left rear digital signal and a right rear digital signal of the vehicle when the vehicle starts; when a reverse gear signal of the vehicle is detected, based on the turning angle information of the steering wheel of the vehicle, the front digital signal, the left rear digital signal and the right rear digital signal are spliced into a reversing picture with a display size suitable for a head-up display device; and the reversing picture carrying the turning angle information is output to the head-up display device for display. The application combines the reversing image signal with the electronic rear-view mirror display system, expands the displayable range, displays on the head-up display device, and does not need the driver to look down at the central control display screen, only needs to look straight at the front windshield, and does not affect the observation of the driver on the front field of view.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle-mounted equipment control, and in particular to an electronic rear-viewing reversing picture display method and system based on a HUD and a vehicle. BACKGROUND

[0002] Nowadays, with the continuous development of automobile intelligence, the traditional automobile function of reversing rear-viewing, which is a high-end configuration, is becoming a standard configuration in intelligent driving automobiles. The resolution of the display picture has also increased from the previous 300,000 pixels to at least 1,000,000 pixels, or even higher. The improvement of reversing clarity and configuration greatly improves the safety and convenience of reversing. Moreover, the viewing angle of the reversing display is also improved synchronously, so that the driver can see a wider rear-viewing range when reversing. However, even so, the display range and viewing angle 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 a blind area. Due to the existence of the blind area, the driver still needs to check the rear-viewing situation through the vehicle's outside rear-view mirror to some extent when reversing, which assists the reversing behavior.

[0003] The vehicle-mounted electronic rear-view mirror product is currently configured more and more on passenger cars. Two high-definition cameras are used to replace the traditional physical rear-view mirrors on the left and right sides of the vehicle. The electronic rear-view mirror controller displays the camera images to two displays at the left and right door positions in the vehicle respectively. The driver observes the display screen content to judge the rear vehicle conditions, which expands the display range and solves many unclear display problems of the traditional physical rear-view mirror. The two display screens in the vehicle are more used when changing lanes during forward driving. For the reversing rear-viewing demand in a low-speed scene, since the two display screens can only display the images of the left and right blind areas respectively and cannot display the image of the rear of the vehicle, the electronic rear-viewing system cannot directly assist reversing. Moreover, the vehicle without the traditional physical rear-view mirror cannot observe the rear in the traditional way when the electronic rear-view mirror system is installed.

[0004] At present, the driver needs to lower his head to watch the center control display screen when reversing, and the display range of the center control display screen is small, usually only displaying the image of the rear of the vehicle. The driver also needs to constantly look up to observe the front and left and right rear-view mirrors when reversing, which is not convenient. SUMMARY

[0005] The present application aims to provide an electronic rear-viewing reversing picture display method and system based on a HUD and a vehicle to solve the technical problem of a small display range of the center control display screen in the prior art, which requires the driver to lower his head to watch.

[0006] The technical effects of the optional technical solutions in the various technical solutions provided by the application are described below.

[0007] To achieve the above object, the application provides the following technical solutions.

[0008] In a first aspect, the application provides a HUD-based electronic rearview reversing image display method, comprising:

[0009] When the vehicle is started, the front digital signal, the left rear digital signal and the right rear digital signal of the vehicle are acquired;

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

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

[0012] In some embodiments, the front digital signal is a digital signal obtained by digitally converting a front image captured by a reversing camera of the vehicle, the left rear digital signal is a digital signal obtained by digitally converting a left rear image captured by a left rearview camera of the vehicle, and the right rear digital signal is a digital signal obtained by digitally converting a right rear image captured by a right rearview camera of the vehicle.

[0013] In some embodiments, the front digital signal, the left rear digital signal and the right rear digital signal are spliced into a reversing image with a display size adapted to the head-up display device based on the turning angle information of the steering wheel of the vehicle, comprising:

[0014] The display range of the reversing image is determined based on the display size of the head-up display device;

[0015] The distance and direction of the spliced image moving from the original display position to the target display position are determined in the display range based on the turning angle information of the steering wheel of the vehicle;

[0016] The front digital signal, the left rear digital signal and the right rear digital signal are input into an SOC module for conversion and image splicing processing to obtain the reversing image based on the distance and direction.

[0017] In some embodiments, the reversing video signal is output to the head-up display device for display, comprising:

[0018] An icon of the steering wheel is acquired;

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

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

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

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

[0023] In the reversing mode, if the vehicle is moving forward, forward driving information is output to the head-up display device, and it is detected whether there is early warning information in the rear digital signal, the left rear digital signal and the right rear digital signal.

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

[0025] In some embodiments, the obstacle information and the early warning information are both icon displays.

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

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

[0028] Implementing one of the technical solutions in the above-mentioned technical solutions of the present application has the following advantages or beneficial effects:

[0029] The HUD-based electronic rearview reversing image display method, system and vehicle of the present application separate the traditional reversing rearview signal from the head-up display device. When the vehicle is started, the rear digital signal, the left rear digital signal and the right rear digital signal of the vehicle are obtained, which facilitates real-time splicing to obtain a reversing image when a reverse gear signal is detected. The reversing image signal is combined with the electronic rearview mirror display system to expand the displayable range. The head-up display device displays the reversing image, so the driver does not need to look down at the center control display screen and only needs to look straight at the front windshield, which does not affect the driver's observation of the front view. Furthermore, the image is spliced based on the driving information of the vehicle, such as the steering wheel angle information, so that the reversing image can be displayed in real time without affecting the clarity. The reversing image is enriched to allow the driver to perceive a larger range of left rear, right rear and other images, thereby improving the safety of reversing.

[0030] Furthermore, the current head-up display device and electronic rearview mirror display system do not need to increase hardware cost, expand the view range of the reversing, and do not need the driver to lower his head to observe, which affects the safety of reversing. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings. The drawings are as follows:

[0032] Figure 1 is a schematic block diagram of the HUD-based electronic rearview reversing image display system of the embodiments of the present application;

[0033] Figure 2 is a flowchart of the HUD-based electronic rearview reversing image display method of the embodiments of the present application;

[0034] Figure 3 is a schematic diagram of the reversing image of the embodiments of the present application;

[0035] Figure 4 is a schematic diagram of the reversing image of the embodiments of the present application when the steering wheel is returned to the straight position;

[0036] Figure 5 is a schematic diagram of the reversing image of the embodiments of the present application when the steering wheel is turned to the left;

[0037] Figure 6 is a schematic diagram of the reversing image of the embodiments of the present application when the steering wheel is turned to the right;

[0038] Figure 7 is a schematic diagram of the icon of the steering wheel in the reversing image of the embodiments of the present application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present application more clear, the various exemplary embodiments to be described below will be described with reference to the corresponding drawings, which constitute a part of the exemplary embodiments, and various exemplary embodiments that can be used to implement the present application are described. Unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. It should be understood that they are only examples of processes, methods and devices, etc. consistent with some aspects of the present disclosure as described in the appended claims, and other embodiments can be used, or structural and functional modifications can be made to the embodiments listed herein, without departing from the scope and spirit of the present application.

[0040] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse" and the like indicate the orientation or positional relationship based on the drawings shown, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the elements referred to must have a particular orientation, be constructed and operated in a particular orientation. The terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. The term "a plurality of" means two or more. The terms "connected", "connected" should be broadly understood, for example, can be fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, communicatively connected, directly connected, indirectly connected through an intermediate medium, can be the internal communication or interaction relationship of two elements. The term "and / or" includes any and all combinations of one or more related listed items. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] In order to illustrate the technical solutions of the present application, the following will be described by specific examples, only showing the part related to the embodiment of the present application.

[0042] Embodiment one:

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

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

[0045] The left rear view camera 204 is arranged on the left side of the vehicle outside, and is arranged at the position of the physical left rear view mirror of the traditional vehicle. The left rear view camera 204 is used to shoot the left rear view picture of the vehicle, that is, the vehicle condition image of the left rear view. The right rear view camera 203 is arranged on the right side of the vehicle outside, and is arranged at the position of the physical right rear view mirror of the traditional vehicle. The right rear view camera 203 is used to shoot the right rear view picture of the vehicle, that is, the vehicle condition image of the right rear view. 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 tail of the vehicle, and is used to shoot the front view picture of the vehicle, that is, the vehicle condition image of the front of the vehicle.

[0046] Since the left rear view camera 204 and the right rear view camera 203 are respectively arranged on the two sides of the vehicle outside, instead of the traditional physical rear view mirror, it is required that the display of the pictures shot by the left rear view camera 204 and the right rear view camera 203 must be real-time or close to real-time display. In order to meet the standard time delay requirement, the signal transmission of the left rear view camera 204 and the right rear view camera 203 must be as low as possible in delay, so as to meet the real-time observation requirement of the driver. Therefore, the two cameras must adopt digital transmission mode, so as to minimize the signal transmission delay. Secondly, the resolution of the left rear view camera 204 and the right rear view camera 203 is not less than 1280 (width) x 720 (height), and the field of view angle of the two cameras is greater than 60 degrees in the horizontal direction and the vertical direction.

[0047] The reversing camera 202 is mainly used to obtain the front view picture of the vehicle. In the reversing mode of the vehicle, in order to complete image splicing through the front view picture to obtain the reversing picture, 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 also not less than 1280 x 720, and the high resolution of the reversing camera 202 can also ensure the image definition of the front view picture. Moreover, the reversing camera 202 also adopts digital transmission mode. As long as the vehicle is started, the reversing camera 202 is always in working state, and outputs the front view picture to the SOC module 201, but the display is prohibited. Only when the vehicle is in the reversing mode, the SOC module 201 splices the front view picture to obtain the target reversing picture, and outputs the target reversing picture to the central control display screen of the central control system of the vehicle. Hereinafter, the resolutions of the reversing camera 202, the left rear view camera 204 and the right rear view camera 203 are all taken as 1280 x 720 to illustrate the corresponding pictures.

[0048] The SOC module 201 comprises 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, the images are all subjected to digital conversion and transmitted to the SOC module in the form of digital signals for processing.

[0049] The GPU module is responsible for receiving the signals input by the cameras, outputting the processed image signals to the left rear-view mirror display screen 205 and the right rear-view mirror display screen 206 respectively after certain conversion, and outputting the reversing image to the head-up display device 208 of the vehicle; the NPU module is responsible for running the splicing algorithm, performing image splicing and outputting the spliced 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 (the left rear-view mirror display screen 205, the right rear-view mirror display screen 206 and the head-up display device 208); the MCU (Motor Control Unit) module is responsible for the interaction between the controller and the vehicle body controller 207, acquires the signals of the vehicle and receives part of the driving information of the vehicle, such as reversing, left turning, right turning and steering angle information, and assists the controller in controlling the output of the reversing image display content.

[0050] The HUD-based electronic rear-view reversing image display system also provides a HUD-based electronic rear-view reversing image display method, which is applied to the SOC module 201 of the HUD-based electronic rear-view reversing image display system, as shown in Figure 2 The HUD-based electronic rear-view reversing image display method comprises the following steps S101 to S103.

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

[0052] Since the left rear-view camera 204 and the right rear-view camera 203 display the left rear and right rear images respectively to replace the traditional physical rear-view mirror, the display of the images must be real-time or close to real-time. In order to meet the standard time delay requirement, the signal transmission of the left rear-view camera 204 and the right rear-view camera 203 must be reduced as much as possible to meet the real-time observation requirement of the driver. The resolution of the left rear-view camera 204 and the right rear-view camera 203 is not less than 1280x720, and the horizontal and vertical field angles of the left rear-view camera 204 and the right rear-view camera 203 are both greater than 60 degrees.

[0053] Moreover, in order to complete the image stitching normally, the resolution of the reversing camera 202 needs to be consistent with the resolutions of the left and right rearview cameras 204 and 203, and in order to ensure that the signal transmission has as low a delay as possible, a digital transmission mode is also required.

[0054] Therefore, when the vehicle is started, the reversing camera 202, the left and right rearview cameras 204 and 203 are started. The reversing camera 202, the left and right rearview cameras 204 and 203 transmit the front, left and right rear digital signals to the SOC module 201 in a digital transmission mode.

[0055] The front digital signal is a digital signal obtained by the reversing camera 202 of the vehicle capturing a front view and performing digital conversion, the left rear digital signal is a digital signal obtained by the left rearview camera 204 of the vehicle capturing a left rear view and performing digital conversion, and the right rear digital signal is a digital signal obtained by the right rearview camera 203 of the vehicle capturing a right rear view and performing digital conversion.

[0056] Since the reversing camera 202, the left and right rearview cameras 204 and 203 are directly started when the vehicle is started, and the reversing camera 202, the left and right rearview cameras 204 and 203 transmit signals in a digital transmission mode, the NPU module can stitch images in time and reduce the delay as much as possible when reversing.

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

[0058] S102: When the reverse signal of the vehicle is detected, based on the turning angle information of the steering wheel of the vehicle, the front, left and right rear digital signals are stitched into a reversing image that is adapted to the display size of the head-up display device.

[0059] S103: The reversing image carrying the turning angle information is output to the head-up display device for display.

[0060] When the electronic rearview mirror controller receives a reverse gear signal from the vehicle via the CAN bus, it determines that the vehicle is in reverse mode. The function of stitching together the reversing image is then activated. The NPU module runs a stitching algorithm, stitching together the received rearward, left rearward, and right rearward digital signals, and outputs the result to the controller's GPU module. The GPU module then outputs the stitched video signal according to the CPU's instructions.

[0061] Vehicle driving information can include information about the steering wheel angle.

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

[0063] The display range of the reversing image is determined based on the display size of the head-up display device;

[0064] Based on the steering wheel angle information of the vehicle, within the display range, determine the distance and direction in which the stitched image moves from the original display position to the target display position;

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

[0066] Specifically, to allow drivers to view the windshield directly while reversing without looking down at the central control display, the reversing image is ultimately output to the windshield via a head-up display (HUD). Therefore, the size of the reversing image needs to be matched to the display size of the HUD.

[0067] When reversing, you usually need to turn the steering wheel. When the steering wheel is straightened, the resolution of the reversing image is 1280×720. The center of the field of view of the stitched reversing image remains the center of the reversing camera 202, and it does not need to be moved to the left or right. Figure 3 As shown, the display area of ​​the reversing image is indicated by the dashed frame. Clearly, compared to the original reversing display area, the stitched-together view is larger, which helps to expand the driver's field of vision and improves reversing safety.

[0068] Before splicing, the digital signals at the left rear, right rear, and front rear need to be cropped in the SOC module to fit the display range and size of the head-up display device. Furthermore, the image clarity remains unchanged after cropping and splicing. Specific cropping techniques can be found in current image cropping technologies and will not be elaborated upon here.

[0069] like Figure 4 As shown, Figure 4is a schematic diagram of the reverse image of the steering wheel return of the embodiment of the present application. If the steering wheel is in the return state, the spliced reverse image is cropped to display the corresponding image at the original display position, including the first left rear image, the rear image and the first right rear image.

[0070] As shown in Figure 5 , Figure 5 is a schematic diagram of the reverse image of the steering wheel left turn of the embodiment of the present application. If the steering wheel turns left, the CPU runs the control strategy according to the steering wheel left turning angle information, converts the data into the distance of the spliced image moving left, and the GPU crops the image at the corresponding position according to the information to obtain the reverse image including the second left rear image, the rear image and the second right rear image.

[0071] As shown in Figure 6 , Figure 6 is a schematic diagram of the reverse image of the steering wheel right turn of the embodiment of the present application. If the steering wheel turns right, the CPU runs the control strategy according to the steering wheel right turning angle information, converts the data into the distance of the spliced image moving right, and the GPU crops the image at the corresponding position according to the information to obtain the reverse image including the third left rear image, the rear image and the third right rear image.

[0072] The reverse image is displayed in real time through the head-up display device to achieve the purpose of real-time dynamic display of the reverse image following the steering wheel rotation, greatly enriching the display range of the reverse view.

[0073] In some embodiments, step S103 can include:

[0074] Obtaining the icon of the steering wheel;

[0075] Displaying the icon of the steering wheel and the turning direction of the steering wheel in real time on the reverse image through the head-up display device.

[0076] In the display image projected by the head-up display device to the front windshield, the icon of the steering wheel can also be displayed. As shown in Figure 7 , if the driver turns the steering wheel left while reversing, the MCU in the electronic rearview mirror controller host receives the real-time steering wheel turning angle information transmitted by the whole vehicle and sends it to the CPU. The CPU runs the control strategy according to the turning angle information, converts the data into the distance of the spliced image moving left, and the GPU crops the image at the corresponding position according to the information, and outputs it to the HUD system in real time to achieve the purpose of the reverse image following the steering wheel turning angle, greatly enriching the display range of the reverse view.

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

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

[0079] Specifically, pedestrians, vehicles, obstacles and other environmental elements in the reversing field of view affect the reversing environment, which can be static or dynamically moving objects. After the electronic rearview system completes the identification of these information, it generates obstacle information, and displays the obstacle information in real time in the reversing picture through the head-up display device. The obstacle information can be displayed through icons, so that the driver can see the obstacle information in the reversing picture.

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

[0081] In the reversing mode, if the vehicle is forward driving, the forward driving information is output to the head-up display device, and it is detected whether there is early warning information in the rear digital signal, left rear digital signal and right rear digital signal.

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

[0083] Specifically, in the reversing environment, the vehicle is not always in the state of driving backward, and many times it needs to drive forward to adjust and then continue to reverse. Therefore, when the vehicle is in the reversing mode, there will be forward driving for a short time. Therefore, when it is detected that the vehicle enters the reversing environment, such as needing to stop in a parking space, it can be considered that the vehicle is in the reversing mode. In the reversing mode, when there is forward driving, 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, and the head-up display device displays the forward driving information. However, the electronic rearview system judges that the whole vehicle is still in the reversing state, so it continues to send the early warning information of the three cameras, and still detects the vehicle conditions behind the vehicle in real time.

[0084] If the vehicle is forward driving in the reversing mode, in order to ensure driving safety, the head-up display device does not display the video of the reversing picture in real time, but only displays the information in the vehicle driving process in the form of rich UI icons. The forward driving information includes vehicle speed, rotation speed, tire pressure, navigation path, part of the road condition information within a certain distance in front, etc.

[0085] At the same time, it is also detected whether there is early warning information in the rear digital signal, left rear digital signal and right rear digital signal. If there is early warning information, the early warning information is also displayed in the form of UI icons.

[0086] The early warning information can prompt the road condition information during the reversing process of the driver, and the early warning information includes object information, distance, movement and motion speed, etc. Because the vehicle speed is not very fast in the reversing condition, the head-up display device can display rich prompt content, and the driver can receive and process the early warning content while reversing.

[0087] Therefore, in the forward driving stage in the reversing mode, the head-up display device can display the vehicle condition behind the vehicle in addition to the forward driving information, remind the driver of the real-time position of the rear obstacles and pedestrians, etc. to facilitate the driver to make a decision and determine when to perform the reversing action and when to stop to avoid the rear pedestrians and vehicles.

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

[0089] Correspondingly setting the early warning information in the display range of the head-up display device.

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

[0091] By correspondingly setting the early warning information in the head-up display range, the driver can know the specific position behind the vehicle that needs early warning, understand the vehicle condition behind the vehicle in detail, and make a decision in time.

[0092] The application separates the traditional reversing rearview signal from the head-up display device. When the vehicle starts, the rear digital signal, the left rear digital signal and the right rear digital signal of the vehicle are acquired, so as to splice in real time and obtain the reversing picture when the reverse signal is detected, combine the reversing image signal with the electronic rearview mirror display system, expand the displayable range, and display on the head-up display device. The driver does not need to look down at the central control display screen, but only needs to look straight at the front windshield, which will not affect the observation of the driver on the front view. Moreover, the image splicing is based on the driving information of the vehicle, such as the steering wheel angle information, so that the reversing picture can be displayed in real time, the clarity will not be affected, the reversing picture is enriched, the driver can perceive a larger range of left rear, right rear, etc. and the safety of reversing is improved.

[0093] Furthermore, the current head-up display device and electronic rearview mirror display system do not need to increase the hardware cost, expand the range of view during reversing, and do not need the driver to lower his head to observe, which affects the safety of reversing.

[0094] The embodiment is only one example, and does not indicate that the application is limited to this implementation.

[0095] The application also provides a non-volatile computer readable storage medium, which stores computer executable instructions, and when the computer executable instructions are executed by the HUD-based electronic rearview reversing image display system, the HUD-based electronic rearview reversing image display system executes the HUD-based electronic rearview reversing image display method according to any one of the first embodiment.

[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 a method, a data processing system or a computer program, and these features can be implemented in a hardware manner, a software manner or 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, and the computer program is executed by (such as a processor) to execute the steps of the above-mentioned HUD-based electronic rearview reversing image display method embodiment.

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

[0098] The above is only the preferred embodiment of the application, and those skilled in the art know that various changes or equivalent replacements can be made to the features and embodiments without departing from the spirit and scope of the application. In addition, the features and embodiments can be modified to adapt to specific conditions and materials under the guidance of the application without departing from the spirit and scope of the application. Therefore, the application is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the application are within the protection scope of the application.

Claims

1. A HUD-based electronic rearview backup image display method, characterized by, The method comprises the following steps: acquiring a front digital signal, a left rear digital signal and a right rear digital signal of the vehicle when the vehicle starts; based on the turning angle information of the steering wheel of the vehicle, splicing the front digital signal, the left rear digital signal and the right rear digital signal into a reversing picture which is adapted to the display size of the head-up display device when the reverse signal of the vehicle is detected; outputting the reversing picture carrying the turning angle information to the head-up display device for display; The HUD-based electronic rear-view reversing picture display method further comprises: in the reversing mode, if the vehicle is moving forward, outputting forward driving information to the head-up display device, and detecting whether there is early warning information in the front digital signal, the left rear digital signal and the right rear digital signal; if there is early warning information in at least one of the front digital signal, the left rear digital signal and the right rear digital signal, displaying the forward driving information and the early warning information through the head-up display device.

2. The HUD-based electronic rearview backup picture display method according to claim 1, characterized in that, The front digital signal is a digital signal obtained by digital conversion of a picture of the front of the vehicle captured by a reversing camera of the vehicle, the left rear digital signal is a digital signal obtained by digital conversion of a picture of the left rear of the vehicle captured by a left rear-view camera of the vehicle, and the right rear digital signal is a digital signal obtained by digital conversion of a picture of the right rear of the vehicle captured by a right rear-view camera of the vehicle.

3. The HUD-based electronic rearview backup picture display method according to claim 1, characterized in that, Based on the turning angle information of the steering wheel of the vehicle, splicing the front digital signal, the left rear digital signal and the right rear digital signal into a reversing picture which is adapted to the display size of the head-up display device, comprises: determining the display range of the reversing picture based on the display size of the head-up display device; based on the turning angle information of the steering wheel of the vehicle, determining the distance and direction of the spliced picture moving from the original display position to the target display position in the display range; based on the distance and direction, inputting the front digital signal, the left rear digital signal and the right rear digital signal into the SOC module for conversion and image splicing processing to obtain the reversing picture.

4. The HUD-based electronic rearview backup picture display method according to claim 1, characterized by, Outputting the reversing video signal to the head-up display device for display, comprises: acquiring an icon of the steering wheel; displaying the icon of the steering wheel and the turning direction of the steering wheel in real time on the reversing picture through the head-up display device.

5. The HUD-based electronic rearview backup picture display method according to claim 1, characterized in that, The HUD-based electronic rear-view reversing picture display method further comprises: if there is obstacle information in the reversing picture, displaying the obstacle information in real time on the reversing picture through the head-up display device.

6. The HUD-based electronic rearview backup picture display method according to claim 5, characterized in that, The obstacle information and the early warning information are both icon displays.

7. The HUD-based electronic rearview backup picture display method according to claim 1, characterized by, The displaying of the forward driving information and the early warning information through the head-up display device comprises: corresponding setting the early warning information in the display range of the head-up display device.

8. A HUD-based electronic rearview backup picture display system, characterized by, The system comprises: an SOC module, and a left rear-view camera, a right rear-view camera and a reversing camera connected with the SOC module, and the SOC module executes the electronic rear-view reversing picture display method steps of any one of claims 1-7.

9. A vehicle characterized by comprising: The system comprises the HUD-based electronic rear-view reversing picture display system of claim 8.

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