Display control method, device, projection device, and computer-readable storage medium

Abstract

The present disclosure provides a display control method, device, projection device, and computer-readable storage medium, belonging to the field of assisted driving technology. The method includes: obtaining a target correspondence relationship between a plurality of consecutive target position points and a target height difference within a preset distance range in the vehicle driving direction; when the vehicle travels to each position point, controlling the display height of the display image according to the target height difference corresponding to each target position point, so that the jitter displacement of the display image at each target position point is less than the displacement threshold. When the vehicle passes through an uneven road surface, this method can reduce image jitter while avoiding image trailing and blurring.

Description

Technical Field

[0001] The present disclosure relates to the field of assisted driving technology, and in particular, to a display control method, a device, a projection device, and a computer-readable storage medium. Background Art

[0002] A Head Up Display (HUD) is a device that directly projects key information onto the windshield or a transparent display screen in front of the driver's line of sight, enabling the driver to obtain important information such as vehicle speed, navigation, traffic sign recognition, and incoming call information in real time without looking down at the dashboard or navigation system. With the development of technology, HUDs have more and more functions and are more intelligent. For example, an Augmented Reality Head Up Display (AR-HUD) combines virtual information with the actual road environment through augmented reality technology to provide more intuitive navigation guidance.

[0003] However, due to the diverse driving environments, during driving, affected by the external environment, the vehicle may vibrate. And because the vibrations of the vehicle and the driver are not in the same frequency, the image displayed on the HUD observed by the driver vibrates, resulting in a blurred display image, causing the driver to feel dizzy and potentially posing a safety problem. Summary of the Invention

[0004] The present disclosure provides a display control method, a device, a projection device, and a computer-readable storage medium, which can reduce image jitter and avoid image trailing and blurring when the vehicle passes over an uneven road surface.

[0005] The technical solution of the present disclosure is implemented as follows:

[0006] In a first aspect, the present disclosure provides a display control method, which includes: obtaining a target correspondence relationship between a plurality of consecutive target position points and target height differences within a preset distance range in the vehicle driving direction; when the vehicle travels to each position point, controlling the display height of the display image according to the target height difference corresponding to each target position point, so that the jitter displacement of the display image at each target position point is less than a displacement threshold.

[0007] In a second aspect, the present disclosure provides a display control device, which includes: an acquisition part and a control part; the acquisition part is configured to obtain a target correspondence relationship between a plurality of consecutive target position points and target height differences within a preset distance range in the vehicle driving direction; the control part is configured to, when the vehicle travels to each position point, control the display height of the display image according to the target height difference corresponding to each target position point, so that the jitter displacement of the display image at each target position point is less than a displacement threshold.

[0008] In a third aspect, the present disclosure provides a projection device, which includes a display unit and a display control unit; the display control unit is configured to: within a preset distance range in the vehicle driving direction, obtain a target correspondence between a plurality of consecutive target position points and a target height difference; and when the vehicle travels to each position point, control the display height of the display image according to the target height difference corresponding to each target position point, so that the jitter displacement of the display image at each target position point is less than a displacement threshold; the display unit projects an image onto a projection member to enable a visual verifier to visually verify the image.

[0009] In a fourth aspect, an embodiment of the present disclosure provides a display control device, which includes a processor and a memory; the processor is configured to execute instructions stored in the memory to implement the display control method described in the first aspect.

[0010] In a fifth aspect, the present disclosure provides a computer-readable storage medium, which stores at least one instruction, and the at least one instruction is used to be executed by a processor to implement the display control method described in the first aspect.

[0011] In a sixth aspect, the present disclosure provides a vehicle, which includes the head-up display device described in the fifth aspect.

[0012] The present disclosure provides a display control method, which includes: within a preset distance range in the vehicle driving direction, obtain a target correspondence between a plurality of consecutive target position points and a target height difference; when the vehicle travels to each position point, control the display height of the display image according to the target height difference corresponding to each target position point, so that the jitter displacement of the display image at each target position point is less than a displacement threshold. In this way, when the vehicle encounters an obstacle, instead of compensating for the height through a single frame of image, the height is smoothly compensated through multiple frames of images with different display heights according to the target correspondence, that is, the display height of the display image continuously changes as the vehicle passes by the obstacle. This can not only slow down or eliminate the jitter of the display image caused by the vehicle passing by the obstacle, but also avoid overcompensation or uneliminated jitter caused by directly compensating through a single frame, as well as the trailing that may be caused by a single height compensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the composition of an in-vehicle system provided by the present disclosure.

[0014] Figure 2 It is an exemplary top view of a vehicle provided by the present disclosure.

[0015] Figure 3 It is an exemplary perspective view from the driver's seat of a vehicle provided by the present disclosure.

[0016] Figure 4 Schematic diagram of the architecture of the head-up display device provided by the present disclosure.

[0017] Figure 5a Perspective view of the windshield when the vehicle provided by the present disclosure is driving on a non-jittery road surface.

[0018] Figure 5b Perspective view of the windshield when the vehicle provided by the present disclosure is driving on an upward-jittery road surface.

[0019] Figure 5c Perspective view of the windshield when the vehicle provided by the present disclosure is driving on a downward-jittery road surface.

[0020] Figure 6 One of the schematic flowcharts of the display control method provided by the present disclosure.

[0021] Figure 7a One of the schematic diagrams of a road condition information acquisition strategy provided by the present disclosure.

[0022] Figure 7b Two of the schematic diagrams of a road condition information acquisition strategy provided by the present disclosure.

[0023] Figure 8 Schematic diagram of a vehicle coordinate system provided by the present disclosure.

[0024] Figure 9a Schematic diagram of an image of a preset range in front of the vehicle collected.

[0025] Figure 9b One of the schematic diagrams of a target correspondence relationship.

[0026] Figure 9c Schematic diagram of compensating the height of a display image by two frames of images during the process of the vehicle provided by the present disclosure passing over a speed bump.

[0027] Figure 10 Two of the schematic flowcharts of the display control method provided by the present disclosure.

[0028] Figure 11 Three of the schematic flowcharts of the display control method provided by the present disclosure.

[0029] Figure 12a Schematic diagram of an initial correspondence relationship with a slope point provided by the present disclosure.

[0030] Figure 12b Schematic diagram of the first correspondence relationship after setting the height difference of the slope point provided by the present disclosure.

[0031] Figure 13aSchematic diagram of the target correspondence relationship obtained after processing by the locally weighted regression algorithm provided by the present disclosure.

[0032] Figure 13b Schematic diagram of the target correspondence relationship obtained after processing by the exponentially weighted moving average algorithm provided by the present disclosure.

[0033] Figure 13c Schematic diagram of the target correspondence relationship obtained after processing by the Savitzky-Golay averaging algorithm provided by the present disclosure.

[0034] Figure 14 Fourth schematic diagram of the flow of the display control method provided by the present disclosure.

[0035] Figure 15 Schematic diagram of the road condition information collected by a vehicle provided by the present disclosure.

[0036] Figure 16a First schematic diagram for determining whether the driving trajectory coincides with an obstacle provided by the present disclosure.

[0037] Figure 16b Second schematic diagram of the target correspondence relationship provided by the present disclosure.

[0038] Figure 16c Second schematic diagram for determining whether the driving trajectory coincides with an obstacle provided by the present disclosure.

[0039] Figure 16d Third schematic diagram of the target correspondence relationship provided by the present disclosure.

[0040] Figure 17 Composition schematic diagram of a display control device provided by the present disclosure.

[0041] Figure 18 Structure schematic diagram of a display control device provided by the present disclosure. Detailed implementation manners

[0042] Next, the technical solutions in the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the present disclosure.

[0043] Refer to Figure 1 , which shows an example of an in-vehicle system 100 applicable to the technical solution of the present disclosure. In some examples, the vehicle equipped with the system 100 can be an internal combustion engine vehicle powered by an engine, a hybrid vehicle powered by an engine and an electric motor, an electric vehicle powered by an electric motor, and other types of vehicles. In the subsequent content of this specification, the vehicle equipped with the in-vehicle system 100 is referred to as the present vehicle.

[0044] As Figure 1As shown, the vehicle-mounted system 100 includes: a navigation subsystem 110, an environmental detection device group 120 for obtaining the environment in which the vehicle is located during vehicle travel, a driving state detection device group 130, a data processing unit 140, a display control unit 150, a display unit 160, a travel system 180, and a suspension system 190. Each of the above components or device groups is coupled together through a communication bus 12. In some examples, the communication bus 12 is used for connection communication between each of the above components or device groups. It should be noted that Figure 1 only a part of the vehicle-mounted system 100 is shown, rather than all of the components of the vehicle-mounted system 100.

[0045] In Figure 1 , the navigation subsystem 110 includes: a positioning device 111 and a map information storage device 112. Among them, the positioning device 111 can locate the position of the vehicle based on positioning systems such as the global positioning system (GPS), China's Beidou system, Russia's GLONASS system, Europe's Galileo system, Japan's Quasi-Zenith Satellite System (QZSS), and India's Indian Regional Navigation Satellite System (IRNSS), and obtain the position information of the vehicle. The map information storage device 112 stores map information, can obtain a navigation path to the destination according to the position information obtained from the positioning device 111, and display the position information and the navigation path in a map application program.

[0046] In Figure 1 , the environmental detection device group 120 may include a vehicle-mounted communication device 121, a radar 122, a laser rangefinder 123, a camera 124, and a light sensor 125. These devices can obtain environmental information representing the inside or outside of the vehicle.

[0047] The in-vehicle communication device 121 can wirelessly communicate with one or more devices directly or via a communication network. These devices capable of communicating with the in-vehicle communication device 121 can be other vehicles, roadside units or roadside platforms, or mobile terminal devices used by the in-vehicle personnel of this vehicle, etc. In some examples, the in-vehicle communication device 121 can use 3G cellular communication, such as code division multiple access (CDMA), EVD0, global system for mobile communications (GSM) / general packet radio service (GPRS), or 4G cellular communication, such as long term evolution (LTE), or 5G cellular communication. In some examples, the in-vehicle communication device 121 can also communicate with a wireless local area network (WLAN) using WiFi. In some embodiments, the in-vehicle communication device 121 can also directly communicate with devices using an infrared link, Bluetooth, or ZigBee. In some examples, the in-vehicle communication device 121 can also communicate with devices using other wireless protocols.

[0048] The radar 122 is used to sense objects within the surrounding environment of this vehicle and can also be used to sense the speed and / or forward direction of these objects. In some examples, the radar 122 can use electromagnetic waves or laser as a medium and detect objects based on the time of flight (TOF) method or the phase-shift method, and detect the position of the detected object, the distance to the detected object, and the relative speed. In some examples, in order to be able to detect objects located in front of, behind, or to the side of this vehicle, the radar 122 can be configured at an appropriate position outside this vehicle.

[0049] The laser rangefinder 123 can use laser to sense objects in the environment where this vehicle is located. In some embodiments, the laser rangefinder 123 can include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components.

[0050] The camera 124 can be used to capture multiple images of the surrounding environment of the vehicle. The camera 124 can be a static camera or a video camera. In some examples, in order to obtain an external image of the vehicle, the camera 124 can be located at an appropriate position outside the vehicle. For example, in order to obtain an image in front of the vehicle, the camera 124 can be disposed close to the front windshield inside the vehicle. Alternatively, the camera 124 can be disposed around the front bumper or radiator grille. In some examples, in order to obtain an image behind the vehicle, the camera 124 can be disposed close to the rear window glass inside the vehicle. Alternatively, the camera 124 can be disposed around the rear bumper, trunk or tailgate. In some examples, in order to obtain an image on the side of the vehicle, the camera 124 can be disposed close to at least one of the side windows inside the vehicle. Alternatively, the camera 124 can be disposed around the side mirror, fender or door. In some examples, in order to obtain a foreground image of the vehicle that is the same as the driver's field of view, the camera 124 can be around the steering wheel.

[0051] The light sensor 125 can be used to detect the ambient light intensity of the vehicle. Specifically, it can be a sensor that only has the function of detecting ambient light intensity, or it can be a sensor that not only has the function of detecting ambient light intensity but also has other functions (such as a rain and light sensor). In some examples, in order to detect the light intensity of the ambient light inside the vehicle for controlling the interior lighting, the light sensor 125 can be disposed at a position close to the reading light on the roof console. In some examples, in order to detect the light intensity of the ambient light inside the vehicle for controlling the brightness of the interior lighting and the dashboard backlight, the light sensor 125 can be behind or inside the dashboard. In some examples, in order to detect the ambient light entering the vehicle interior, the light sensor 125 can be disposed on the inner side of the front windshield, close to the rearview mirror. In some examples, in order to detect the ambient light entering the vehicle interior for determining the degree of influence on the driver, the light sensor 125 can be disposed inside or outside the steering wheel. In some examples, in order to detect the light intensity of the ambient light outside the vehicle for automatically adjusting the anti-glare function of the rearview mirror, the light sensor 125 can be disposed on the back or near the rearview mirror. In order to detect the light intensity of the ambient light outside the vehicle for automatically controlling the headlights, the light sensor 125 can be disposed near the front bumper or front grille. In order to detect the light intensity of the ambient light outside the vehicle, avoid the interference of direct light or reflected light, and provide a more accurate light reading, the light sensor 125 can be disposed on the side or corner of the vehicle. In some advanced driver assistance systems, the light sensor 125 may be integrated with a front view camera or other sensors to provide ambient light information.

[0052] In Figure 1Among them, the driving state detection device group 130 of the vehicle may include: a steering angle sensor 131 for detecting the steering angle of the vehicle itself, a vehicle speed sensor 132 for detecting the driving speed of the vehicle itself, and an acceleration sensor 133 for detecting the acceleration applied to the vehicle itself. In some examples, as shown by the dashed box, it may further include an inertial sensor 134 for detecting the position and orientation changes of the vehicle itself based on inertial acceleration. In the specific implementation process, the inertial sensor 134 may be a combination of the acceleration sensor 133 and a gyroscope.

[0053] In Figure 1 Among them, the data processing unit 140 may be implemented as a computing system having a memory, a processor, an input / output interface, and a bus connecting these components. In some examples, the data processing unit 140 enables the processor to execute multiple commands through program instructions stored in the memory, so as to process the data obtained by the navigation subsystem 110, the environment detection device group 120, and the driving state detection device group 130. In some examples, the data processing unit 140 may also control the driving of the vehicle itself based on some or all of the processed data.

[0054] In Figure 1 Among them, as shown by the dashed box, the display control unit 150 and the display unit 160 may be the main body of a Head Up Display (HUD) device 170. The display control unit 150 may, after receiving the data processed by the data processing unit 140, or after receiving the data obtained by the navigation subsystem 110, the environment detection device group 120, and the driving state detection device group 130, process the received data to obtain a display setting that needs to be displayed, and project the display setting onto the windshield of the vehicle itself through the display unit 160 for display.

[0055] In Figure 1 Among them, the propulsion system 180 may include an engine 181, an energy source 182, a transmission 183, and wheels / tires 184. The engine 181 may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine composed of a gasoline engine and an electric motor, or a hybrid engine composed of an internal combustion engine and an air compression engine. The engine 181 converts the energy source 182 into mechanical energy. Examples of the energy source 182 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other power sources. The energy source 182 may also provide energy for other systems of the driving device 100. The transmission 183 may transmit the mechanical power from the engine 181 to the wheels 184. The transmission 183 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 183 may further include other components, such as a clutch. Among them, the drive shaft may include one or more shafts that can be coupled to one or more wheels 184.

[0056] In Figure 1 it, the suspension system 190 connects the wheel 184 to the vehicle body and is a mechanical system that absorbs the impact caused by road unevenness, maintains vehicle stability and comfort. The main components of the suspension system may include: a spring for supporting the weight of the vehicle, absorbing and reducing the impact caused by road unevenness; a shock absorber for controlling the vibration of the spring and quickly calming the spring's rebound; an upper arm and a lower arm, which are linkages for connecting the wheel 184 to the vehicle body, transmitting force and torque; a steering knuckle, which is a fixed point of the wheel 184, connecting the wheel 184 and the suspension system 190 and allowing the wheel 184 to rotate; a stabilizer bar for reducing the roll of the vehicle during turning; an axle for connecting the left and right wheels, transmitting power and supporting the wheels; ball joints for allowing the linkages of the suspension system 190 to move in multiple directions; suspension bushings for reducing friction and vibration between the components of the suspension system 190; and suspension brackets, which are components connecting the suspension system 190 and the vehicle body, absorbing and isolating vibration.

[0057] Combined with Figure 2 the exemplary top view of the present vehicle shown in Figure 3 and the exemplary perspective view from the driver's seat of the present vehicle shown in

[0058] In Figure 3 it, the windshield 204 is visually located above the vehicle instrument panel 206. The driver can turn the steering wheel 210 in the passenger compartment 208 to steer the vehicle, such as changing lanes, merging, and parking the vehicle. In some embodiments, the steering wheel 210 can be retracted or omitted.

[0059] The head-up display device 170 (see Figure 4 ) projects display images (such as a vehicle speed icon 301, a speed limit icon 302, navigation information 303, a pedestrian warning icon 304, etc., and the pedestrian warning icon 304 fits the actual pedestrian) onto a part of the windshield 204 through one or more holes in the instrument panel 206. Although Figure 3 only a part of the display images is shown, more information can be displayed on the windshield 204, such as the current gear of the vehicle transmission, the engine speed, the direction of the vehicle, the current infotainment system settings, and / or other vehicle information. The head-up display device 170 provides information to the vehicle driver without the driver having to shift their line of sight away from the objects in front of the vehicle.

[0060] See Figure 4Exemplary implementation architecture of the head-up display device 170 shown. The display control unit 150 generates a signal 412 based on the data processed by the data processing unit 140, or the data 420 transmitted by the navigation subsystem 110, the environmental detection device group 120, and the driving state detection device group 130. The display unit 160 may include: a light source 161 and an optical path component 162. The light source 161 outputs light based on the signal 412 from the display control unit 150 to be displayed on the windshield 204. For example, the light source 161 may include one or more lasers and output red, green, and blue light.

[0061] The optical path component 162 can reflect the output of the light source 161 to the windshield 204 through the hole 216. A viewer (e.g., the driver) can view the display image 212 in the display area where the display image 212 is projected onto the windshield 204. In some examples, the optical path component 162 may include one or more mirrors (plane mirrors) and concave mirrors (magnifying glasses). The output of the light source 161 is folded back by the mirror and magnified by the concave mirror and then reflected to the windshield 204 to form a virtual image 40 that can be visually observed by the driver. The visual effect presented by the virtual image 40 is that the virtual image 40 is projected onto the projection plane 41 at a set distance in front of the vehicle, but passes through the projection plane 41, and the real environment remains visible. In some examples, the optical path component 162 can also be omitted, and the light source 161 can directly project the display image 212 onto the windshield 204 to form a virtual image 40 on the projection plane 41.

[0062] Combined with the foregoing Figure 3 Shown, taking the images displayed in the windshield 204 including: a speed limit icon and a pedestrian warning icon as an example. In the world coordinate system, as Figure 5a Shown, when driving on a smooth road surface, the windshield 204 is located at position 1, the speed limit icon displayed in the windshield 204 is located at position 11, and the pedestrian warning icon is located at position 21. As Figure 5b Shown, when the vehicle passes over the raised obstacle 501, the windshield 204 shakes upward from position 1 to position 2, the speed limit icon displayed in the windshield 204 moves up from position 11 to position 21, and the pedestrian warning icon moves up from position 12 to position 22. As Figure 5c Shown, when the vehicle passes over the sunken road surface 502, the windshield 204 shakes upward from position 1 to position 3, the speed limit icon displayed in the windshield 204 moves down from position 11 to position 31, and the pedestrian warning icon moves down from position 12 to position 32. Therefore, when the vehicle is driving on an uneven road surface, the up-and-down shaking of the vehicle causes the display image to shake up and down. Since the driver's shaking is not in the same frequency as the vehicle's shaking, the display image in the HUD seen by the driver is blurred due to the shaking, making the driver feel dizzy and affecting safe driving.

[0063] Based on this, in the related art, when a vehicle passes over an obstacle (such as a depression or a protrusion), the display image is height-compensated. However, since it takes a certain amount of time for the vehicle to pass over an obstacle, if the display height of the display image is directly controlled according to the maximum height of the obstacle when passing over the obstacle, in one case: when contacting the obstacle, the height of the display image is controlled to be height-compensated in the opposite direction according to the height of the obstacle. However, when initially contacting the obstacle, the jitter amplitude of the image is not the highest height of the obstacle, and directly compensating this height will cause overcompensation. In another case: when passing over the highest or lowest point of the obstacle, the height of the display image is controlled to be height-compensated in the opposite direction according to the height of the obstacle. However, this kind of compensation cannot effectively compensate for the jitter when contacting the obstacle, and can only reduce the jitter frequency, but does not avoid the jitter; moreover, if the jitter amplitude caused by the obstacle is large, the height compensated in one frame is too large, which may also cause the display image to have trailing, affecting safe driving.

[0064] Based on the above description, the present disclosure expects to provide a display control method that can reduce image jitter and avoid image trailing and blurring when a vehicle passes over an uneven road surface. As Figure 6 shown, it shows an example of a display control method provided by the present disclosure. This method can be executed by the aforementioned head-up display device 170, and in particular, can be executed by the display control unit 150 in the aforementioned head-up display device 170. Figure 6 The method shown includes step S601 and step S602.

[0065] In step S601, within a preset distance range in the vehicle driving direction, a target correspondence relationship between a plurality of consecutive target position points and target height differences is obtained.

[0066] During the driving of the vehicle, road condition information within a preset range in front of the vehicle (such as 50 meters in front) is periodically collected at a certain frequency (such as once per second). The road condition information includes: the flatness of the road surface, whether there are obstacles, the type of obstacles, the size of obstacles, etc.

[0067] The road condition information can be radar data collected by a radar (such as: lidar, millimeter-wave radar, ultrasonic radar), or image data collected by a camera. The correspondence relationship between each position point and height difference at a certain interval is obtained by analyzing the radar data or the image data.

[0068] It should be noted that the time interval for collecting road condition information within a preset distance in front of the vehicle needs to be less than or equal to the time required for the vehicle to travel a preset range. That is, each time the road condition information is collected, the collected information is the correspondence between multiple position points and height differences within the preset distance, and the maximum time interval between two collections is the time required for the vehicle to travel the preset distance range. Taking the preset range in front of the vehicle as 50 meters in front of the vehicle as an example, as Figure 7a shown, the starting position of the vehicle is at 0m. When the vehicle starts to travel, it collects road condition information, that is, at the starting position 1, it collects the road condition information within the first 50m, and obtains the correspondence between multiple position points and height differences within the first 50m. During the vehicle's travel within the first 50m, the display height of the display image is controlled according to this correspondence; the vehicle continues to travel. At the starting point of the second 50m, that is, at the starting position 2, it collects the road condition information within the second 50m, and obtains the correspondence between multiple position points and height differences within the second 50m. During the vehicle's travel within the second 50m, the display height of the display image is controlled according to this correspondence, and so on. For the third and fourth 50m, the road condition information is collected at the starting positions 3 and 4 respectively to generate the corresponding correspondence, and then the display height of the display image is controlled according to the corresponding correspondence. However, in this collection method, the number of position points that can be collected at one time is large. Therefore, the total number of processing times required to process the image data or radar data to obtain the correspondence is correspondingly small, which can save the resource occupancy of the vehicle. However, at each initial position point, such as the above 0m, 50m, 100m, and 150m, since it takes a certain amount of time to generate the correspondence, it may cause the vehicle to have traveled to this starting position point, but the corresponding correspondence has not been generated yet. That is, within a few meters at the starting point of each preset range, the display height of the display image may not be adjusted according to the correspondence.

[0069] Based on the above problems, as Figure 7bAs shown in the figure, the acquisition frequency of road condition information is increased. The starting position of the vehicle is 0m. When the vehicle starts to move, road condition information is collected. That is, at the starting position 1, the road condition information within the first 50m is collected, obtaining a corresponding relationship. Within the first 50m, the display height of the display image is controlled according to this corresponding relationship. At the starting position 2 (40m) before reaching 50m, road condition information is collected, and the corresponding relationship 1 between 40m and 90m is obtained. At the starting position 3 (80m) before reaching 100m, road condition information is collected, and the corresponding relationship 2 between 80m and 130m is obtained. At the starting position 4 (120m) before reaching 150m, road condition information is collected, and the corresponding relationship 3 between 120m and 170m is obtained. Then, when the vehicle is traveling between 50m and 90m, the display height of the display image is controlled according to the corresponding relationship 1. This corresponding relationship has been generated when the vehicle travels to 40m, and there is no delay. When the vehicle is traveling between 90m and 130m, the display height of the display image is controlled according to the corresponding relationship 2. This corresponding relationship has been generated when the vehicle travels to 80m, and there is no delay. When the vehicle is traveling between 130m and 170m, the display height of the display image is controlled according to the corresponding relationship 3. This corresponding relationship has been generated when the vehicle travels to 120m, and there is no delay. And so on. Each corresponding relationship is always generated before it is used, which can avoid the delay caused by generating the corresponding relationship and prevent the inability to timely compensate the display height of the display image. In addition, at 0m, when the vehicle senses that the door is opened, intersection information can be collected. Since there is a certain time interval from opening the door to starting the vehicle, the corresponding relationship can also be pre-generated at 0m.

[0070] Exemplarily, the vehicle coordinate system is as Figure 8 shown. The vertical axis X is the driving direction of the vehicle itself, the horizontal axis Y is perpendicular to the X axis in the horizontal direction, and the vertical axis Z is perpendicular to the plane formed by the X axis and the Y axis. As Figure 9a shown, it is an image within fifty meters in front of the vehicle collected by the camera. The image is converted into a corresponding relationship as Figure 9b shown. The coordinates corresponding to each solid circle represent the corresponding relationship between the position point and the height difference. From Figure 9b it can be seen that at the current moment, there are two protrusions at 30 to 31 meters in front of the vehicle (for a more intuitive view, the solid circles are connected to indicate the height change trend of the two speed bumps). When the vehicle travels to the abscissa corresponding to each solid circle, the display height of the display image is adjusted according to the corresponding ordinate value.

[0071] In step S602, when the vehicle travels to each position point, the display height of the display image is controlled according to the target height difference corresponding to each target position point.

[0072] The present disclosure compensates frame by frame according to the height change of the obstacle based on the target correspondence relationship. For example, Figure 9b as shown, when passing over the first speed bump, instead of directly compensating the display height of the display image based on the highest point of the speed bump through one frame of image, the display height of the display image is gradually compensated through two frames of images. Combining Figure 9b , for example, Figure 9c as shown, it is the height change process of two frames of display images corresponding to the vehicle passing over the first speed bump to the highest point. The first frame of image is displayed after moving down by h1 according to the ordinate value of point 1, and the second frame of image is displayed after moving down by h2 according to the ordinate of point 2. During the compensation process, the driver perceives that as the vehicle passes over the highest point of the first speed bump, the display image does not jitter.

[0073] In this way, when the vehicle touches the obstacle, instead of completing the height compensation through one frame of image, the height compensation is smoothly performed through multiple frames of images with different display heights according to the target correspondence relationship, that is, the display height of the display image continuously changes as the vehicle passes over the obstacle, thereby avoiding overcompensation or uneliminated jitter caused by direct compensation through one frame, and trailing that may be caused by one-time height compensation.

[0074] For the position control of the display image, it is necessary to achieve stable control on the jittery road surface and try to ensure balanced compensation. Therefore, in some embodiments of the present disclosure, for example, Figure 10 as shown, in the preset distance range in the vehicle driving direction of the above step S601a, the target correspondence relationship of a continuous plurality of target position points and target height differences is obtained, which can be specifically achieved through the following step S601a and step S601b.

[0075] In step S601a, in the preset distance range in the vehicle driving direction, the first correspondence relationship of a continuous plurality of first position points and first height differences is obtained.

[0076] In step S601b, when the difference between the first height differences corresponding to two adjacent first position points is greater than the first difference threshold, at least one set of interpolation position points and corresponding height differences are inserted between the two adjacent first position points to obtain a plurality of target correspondence relationships.

[0077] Specifically, when the difference between the first height differences corresponding to two adjacent first position points is greater than the first difference threshold, at least one set of interpolation position points and corresponding height differences is inserted between the two adjacent first position points. The number of sets of inserted interpolation position points and corresponding height differences is determined according to the magnitude of the difference between the two adjacent first height differences, ensuring that the inserted interpolation position points are as few as possible while ensuring that the difference between two adjacent target position points after insertion is less than or equal to the difference threshold. For example, if the height difference of position point 1 is 0, the height difference of position point 2 is 10, and the first difference threshold is 4, it is determined that two position points and corresponding height differences need to be inserted to ensure that the difference between the height differences of two adjacent position points after insertion is less than or equal to the first difference threshold. Divide 10 into three parts as evenly as possible, which are 3, 3, and 4. Determine the inserted position point 1 corresponding to the height difference of 3 after position point 1, and the inserted position point 2 corresponding to the height difference of 3 after the inserted position point 1. The specific interpolation method is not limited in this disclosure. The simplest one can adopt linear interpolation.

[0078] Optionally, the corresponding relationship between the height range and the number of frames can also be pre-divided. According to the jitter amplitude of the jitter point, the height range to which the jitter amplitude belongs is determined; the number of interpolation frames is determined according to the number of frames corresponding to the height range.

[0079] Exemplarily, it is determined that the number of frames is 5 according to the height range corresponding to the jitter amplitude. However, only the height differences corresponding to three position points are collected within the jitter range, that is, the jitter compensation process is completed through three frames. Therefore, the number of interpolation frames to be inserted is 2, that is, two position points are inserted between the three position points by linear interpolation. Finally, during the process from the start to the end of the jitter, the height of five frames of images gradually changes so that the final jitter displacement is less than the displacement threshold.

[0080] In this way, in the finally obtained target correspondence, during the process of adjusting the image height, the height difference between two adjacent frames will not be too large, so as to achieve a smooth adjustment from one height to another height.

[0081] In some embodiments of this disclosure, as Figure 11 shown, in the preset distance range in the vehicle driving direction, the first correspondence between a plurality of consecutive first position points and the first height difference is obtained in the above step S601a, which can be specifically implemented through the following steps S601c and S601d.

[0082] In step S601c, in the preset distance range in the vehicle driving direction, the initial correspondence between a plurality of consecutive initial position points and the initial height difference is obtained.

[0083] In step S601d, when there are outliers in the initial correspondence, the outliers are corrected to obtain a plurality of first correspondences.

[0084] Among them, the outliers include at least one of the following: abnormal jitter points, abnormal initial height differences, and slope points. The jitter amplitude of an abnormal jitter point is greater than the amplitude threshold and the jitter distance is less than the distance threshold; the difference between the abnormal initial height difference and the corresponding predicted height difference is greater than the second difference threshold, and the predicted height difference is determined according to the change trend of the initial height difference in the initial correspondence; the slope point is the position point between the first initial position point and the second initial position point in the initial correspondence, the initial height difference corresponding to the first initial position point is greater than the first height difference threshold, and the second initial position point is the position point closest to the first initial position point before the first initial position point and the initial height difference is less than the second height difference threshold.

[0085] Optionally, in the case where there are abnormal jitter points in the initial correspondence, at least one initial position point and the initial height difference corresponding to the abnormal jitter points are corrected to obtain multiple first correspondences.

[0086] During the driving of the vehicle, one jitter corresponds to one jitter point. For example, the process of the vehicle passing over a speed bump corresponds to the generation of one jitter point. The jitter distance of one jitter point is the distance from the start of the jitter to the end of the jitter. As Figure 9b shown, there are two jitter points. The jitter distance of the jitter point corresponding to the first speed bump is 20 cm, and the jitter amplitude is about 15 cm. The jitter distance of the jitter point corresponding to the second speed bump is 20 cm, and the jitter amplitude is about 15 cm.

[0087] For the correction of abnormal jitter points, according to different strategies, the jitter amplitude of the abnormal jitter points can be reduced. It can be simply reducing the absolute value of the initial height difference corresponding to the multiple initial position points included in the abnormal jitter point by a preset value, or reducing the absolute value of the initial height difference greater than the amplitude threshold, or reducing different values of the absolute value of the initial height difference at different position points according to the trend of the multiple initial height differences included in the abnormal jitter point, or using an existing smoothing processing method to process the initial correspondence with abnormal jitter points. The present disclosure does not limit the strategy for reducing the height difference.

[0088] Optionally, in the case where there is an abnormal initial height difference in the initial correspondence, the abnormal initial height difference is corrected according to the predicted height difference corresponding to the abnormal initial height difference to obtain multiple first correspondences.

[0089] Since when the vehicle passes an obstacle, the height change at each collected position point has a certain pattern, it is possible to predict the predicted height difference at the next initial position point based on the initial height differences at the previous several initial position points. Usually, the difference between the predicted height difference and the initial height difference is less than or equal to a second difference threshold. When the difference is greater than the difference threshold, it indicates that a mutation point appears, and this point is considered an abnormal point and needs to be corrected. Specifically, the abnormal initial height difference can be directly replaced with the predicted height difference, or the difference between the predicted height difference and the abnormal initial height difference can be combined to determine the value that needs to be added to or subtracted from the abnormal initial height difference. It can also be to use an existing smoothing processing method to process the initial corresponding relationship with the abnormal initial height difference.

[0090] Optionally, in the case where there is a slope point in the initial corresponding relationship, the initial height difference corresponding to the slope point is corrected to 0 to obtain a plurality of first corresponding relationships.

[0091] Since the road condition information collected within a preset distance range during the vehicle's driving process may include road condition information of an uphill section collected on a horizontal road surface, or road condition information of a horizontal road surface collected in a downhill section. Due to the existence of the slope, the height difference at the position points corresponding to the uphill section collected on the horizontal road surface, or at the position points corresponding to the horizontal road surface collected in the downhill section will increase. Therefore, it is necessary to correct the slope points. The height differences at each position point on the uphill section collected from the horizontal road surface are set to 0, and the height differences at each position point on the horizontal section collected from the downhill road surface are set to 0. In this way, the incorrect height compensation caused by the existence of the sloped road surface is avoided.

[0092] Exemplarily, as Figure 12a shown, taking the preset range as within 100 meters in front of the vehicle, the first height difference threshold is 40 cm, the height difference corresponding to point 3 is greater than 40 cm, and the second initial position point that is the closest to point 3 and has a height difference less than the second height difference threshold (approximate to 0) is determined. The first initial position point and the second initial position point including the second initial position point are all slope points. The height differences at the slope points are set to 0. Correspondingly, the height differences of the position points after the second initial position point are also greater than the first height difference threshold and are also modified accordingly. Finally, the corresponding relationship as Figure 12b shown is obtained. There is no need to perform height compensation for the uphill section at 31m to 50m. In the figure, for the sake of illustration, the height differences corresponding to each position point are connected with solid lines.

[0093] In some embodiments of the present disclosure, the method further includes the following step S601e. When there are abnormal values in the initial corresponding relationship in the above step S601d, correcting the abnormal values to obtain a plurality of first corresponding relationships can be specifically implemented through the following step S601f.

[0094] In step S601e, according to the jitter amplitude and change frequency of the jitter points in the initial correspondence, the corresponding target correction method is determined.

[0095] For the determination of the correction method, a correction method selection model can be trained. This model can predict the corresponding correction method according to the input jitter amplitude and change frequency. However, the training process of the model takes a long time, and the vehicle needs to adapt the hardware for loading the model, which will also increase the cost of the vehicle.

[0096] Therefore, the change frequency and jitter amplitude can be pre-divided into multiple categories, and each category has a corresponding correction method. Specifically, the initial correspondence can be divided into six categories according to the jitter amplitude and change frequency: high frequency and high amplitude, high frequency and low amplitude, low frequency and high amplitude, low frequency and low amplitude, high and low frequency mixed high amplitude, and high and low frequency mixed low amplitude. Each category corresponds to a correction method, and the correction methods corresponding to different categories can be the same or different.

[0097] Optionally, the specific values of the jitter amplitude and change frequency are as follows: determine the extreme position points corresponding to the local maximum and local minimum in the initial correspondence; according to the number of extreme position points or the average interval between adjacent extreme position points, determine the change frequency of the jitter points in the first correspondence; according to the initial height difference corresponding to the extreme position points, determine the jitter amplitude of the jitter points in the first correspondence.

[0098] The number of extreme position points or the average interval between adjacent extreme position points can indicate the number of obstacles on the road surface where the vehicle is traveling, and the initial height difference corresponding to the extreme position points can indicate the height of the obstacles on the road surface where the vehicle is traveling. Therefore, within a preset distance range, the more the number of extreme position points and the smaller the average interval between adjacent extreme position points, the more jitter points on the road surface are indicated, the higher the jitter frequency will be, and the initial height difference corresponding to the extreme position points can indicate the jitter amplitude. The specific local maximum or local minimum can be obtained by calculating the difference of the data points (i.e., the difference between adjacent data points) and checking the sign change of the difference. If the difference changes from positive to negative, it may be a local maximum; if it changes from negative to positive, it may be a local minimum.

[0099] Optionally, since the locally weighted regression algorithm is a non-parametric smoothing technique that fits a polynomial regression model near each data point and emphasizes local features by assigning different weights to data points, it can adapt to local changes in the data and is suitable for smoothing non-linear relationships. For data with high-frequency oscillations and small amplitudes, the locally weighted regression algorithm can effectively capture local changes and reduce abnormal high-frequency oscillations. In actual road conditions, in order to reduce the height that needs to be compensated for abnormal height differences and not reduce the normal high-frequency height differences, therefore, for high-frequency low amplitudes, high-low frequency mixed high amplitudes, and high-low frequency mixed low amplitudes, the correction method adopted is the locally weighted regression. Since the exponentially weighted moving average algorithm can capture trend changes in the data and can reduce frequency and amplitude according to weights and parameters, in actual road conditions, in order to reduce the image pixels that are translated up and down too much multiple times, therefore, for high-frequency high amplitudes, the correction method adopted is the exponentially weighted moving average algorithm. Since the Savitzky-Golay averaging algorithm works by fitting polynomials to subsets of data points, it can preserve the original shape and features of the data, such as peaks and widths. It does not introduce false extrema and can retain low-frequency oscillation features and improve data smoothness. In actual road conditions, in order to more smoothly gradually compensate the image height, therefore, for low-frequency high amplitudes and low-frequency low amplitudes, the correction method adopted is the Savitzky-Golay averaging algorithm.

[0100] In step S601f, in the case where there are outliers in the initial correspondence, the outliers are corrected through the target correction method to obtain multiple first correspondences.

[0101] Exemplarily, as Figure 13a shown, the initial correspondence belongs to the high-low frequency mixed low amplitude. The dotted line in the figure shows the height change curve corresponding to the initial correspondence, and the solid line shows the height change curve corresponding to the first correspondence obtained after processing by the locally weighted regression algorithm. It can be seen from the figure that the abnormal jitter points are corrected. As Figure 13b shown, the initial correspondence belongs to the high-low frequency mixed low amplitude. The dotted line in the figure shows the height change curve corresponding to the initial correspondence, and the solid line shows the height change curve corresponding to the first correspondence obtained after processing by the exponentially weighted moving average algorithm. It can be seen from the figure that the abnormal height differences and abnormal jitter points are corrected. As Figure 13c shown, the initial correspondence belongs to the high-low frequency mixed low amplitude. The dotted line in the figure shows the height change curve corresponding to the initial correspondence, and the solid line shows the height change curve corresponding to the first correspondence obtained after processing by the Savitzky-Golay averaging algorithm. It can be seen from the figure that the abnormal height differences are corrected.

[0102] In the present disclosure, according to the processing characteristics of different calibration methods, the data in the initial correspondence of different features is calibrated, so that there are no abnormal jitter points and abnormal height differences at each position point in the first correspondence obtained after calibration. Therefore, in the process of height compensation for the image according to the target correspondence obtained from the first correspondence, continuous and stable compensation can be achieved, ensuring accurate compensation of the image height during jitter, and also avoiding the appearance of afterimages when the height moves greatly, so that the driver's visual perception shows that the displayed image does not jitter with the vehicle jitter and the displayed image does not become blurred.

[0103] In some embodiments of the present disclosure, as Figure 14 shown, in the preset distance range in the vehicle driving direction of the above step S601, a target correspondence of a plurality of consecutive target position points and target height differences is obtained, which can be specifically implemented through the following step S601g and step S601h.

[0104] In step S601g, in the preset distance range in the vehicle driving direction, a second correspondence of a plurality of consecutive second position points and second height differences on the predicted vehicle driving trajectory is collected.

[0105] Among them, the second correspondence of the plurality of second position points and the second height differences includes at least one of the following: the left second correspondence of the plurality of left second position points corresponding to the left wheel and the left second height difference, the right second correspondence of the plurality of right second position points corresponding to the right wheel and the right second height difference. That is, the second correspondence can be the collected left second correspondence of the predicted left wheel, or the collected left second correspondence of the predicted right wheel, or can be comprehensively determined according to the collected left second correspondence of the predicted left wheel and the right second correspondence of the right wheel.

[0106] Specifically, in the vehicle forward direction, the vehicle driving trajectory can be determined according to the steering angle of the wheel, the orientation angle of the vehicle head, the steering angle of the steering wheel, etc.

[0107] Exemplarily, the vehicle driving trajectory is predicted based on the wheel steering angle, and the road condition information in the preset range in front of the vehicle collected is image information. Furthermore, it is predicted whether the wheel will press over an obstacle. As Figure 15 shown, it is an image of the collected road condition information, and the image includes an obstacle 1501 and a speed bump 1502. The image is analyzed to determine the edge points P1 to P4 of the obstacle 1501 and the edge points P5 to P10 of the speed bump 1502 in the image coordinate system. The number of edge points in the figure is only an example, and more edge points can be analyzed. The edge points at least include the point with the largest abscissa and the smallest abscissa, the point with the largest ordinate and the smallest ordinate. The points P1 to P10 in the image coordinate system are converted into the points M1 to M10 in the vehicle coordinate system, as Figure 16aAs shown, the obstacle coverage area 1601 is determined based on points M1 to M4, and the speed bump coverage area 1602 is determined based on points M5 to M10. When the steering angle of the wheel relative to the X-axis direction is 0 degrees, the right wheel travel trajectory overlaps with the obstacle coverage area 1601, and both the left wheel travel trajectory and the right wheel travel trajectory overlap with the speed bump coverage area 1602. The determined target correspondence is as Figure 16b shown. As Figure 16c shown, when the wheel rotates a certain angle relative to the X-axis direction, the travel route determined according to the steering angle of the wheel relative to the X-axis direction does not overlap with the obstacle coverage area 1601, and both the left wheel travel trajectory and the right wheel travel trajectory overlap with the speed bump coverage area 1602. The determined target correspondence is as Figure 16d shown.

[0108] In step S601h, the target correspondence is determined according to the second correspondence.

[0109] If the second correspondence is the left second correspondence or the right second correspondence, the target correspondence is the corresponding second correspondence or the second correspondence. If the second correspondence is the left second correspondence and the right second correspondence, it is necessary to perform weighted summation on each corresponding point of the left second correspondence and the right second correspondence to obtain the final target correspondence. The corresponding points of the left second correspondence and the right second correspondence refer to two position points at the same distance in front of the vehicle and the corresponding height difference. Specifically, the weighted summation of each corresponding point of the left second correspondence and the right second correspondence is divided into the following situations:

[0110] In one situation, when the left and right wheels pass the same-sized and identical obstacles at the same time, the weights for the left second correspondence and the right second correspondence are the same. For example: it is predicted that the vehicle is about to pass over a speed bump, and the left and right wheels pass over the speed bump at the same time. The height of the speed bump at distance 1 is h1, and the weights are both 0.5, then the result of the weighted summation is h1. Or, it is predicted that the left and right wheels pass over the same depression at the same time. The height of the depression at distance 2 is -h2, and the weights are both 0.5, then the result of the weighted summation is -h2.

[0111] In another case, the left wheel and the right wheel pass over different obstacles simultaneously, and the directions of the jitters caused by the obstacles are the same, either upward or downward; or, one wheel passes over an obstacle while the other wheel does not. At this time, the weights of the left second correspondence and the right second correspondence can be set to be the same; however, since both the driver and the displayed image are on the left side of the vehicle, the lifting or lowering of the left wheel has a greater impact on the image jitter than that of the right wheel. The weight of the left second correspondence can also be set to be greater than the weight of the right second correspondence. For example: on a gravel road, at position 3, the height of the small gravel that the left wheel is about to roll over is h3. At the same time when the left wheel rolls over the small gravel, the height of the large gravel that the right wheel rolls over is h4, where h3 is less than h4. The weight of the left second correspondence is set to 0.7, and the weight of the right second correspondence is set to 0.3. Then the result of the weighted sum is (0.7h3 + 0.3h4).

[0112] In yet another case, the left wheel and the right wheel pass over different obstacles simultaneously, and the directions of the jitters caused by the obstacles are different, one upward and the other downward. At this time, the weights of the left second correspondence and the right second correspondence can be set to be the same; for the same reason as in the above another case, the absolute value of the weight of the left wheel can also be set to be greater than the absolute value of the weight of the right wheel. For example: at position 4, the height of the gravel that the left wheel is about to roll over is h5. At the same time when the left wheel rolls over the gravel, the height of the depression that the right wheel sinks into is -h6. The weight of the left second correspondence is set to 0.6, and the weight of the right second correspondence is set to -0.4. Then the result of the weighted sum is (0.6h5 + 0.4h6).

[0113] In summary, different weights can be set for weighted summation according to the actual situation, so that the position of the finally obtained adjusted displayed image is fixed and will not jitter with the jitter of the vehicle.

[0114] During the driving of the vehicle, the degree of jitter is affected not only by road condition information, i.e., external factors, but also by internal factors of the vehicle such as the speed, acceleration, elastic coefficient of the suspension system, and elastic coefficient of the wheels. The greater the speed or acceleration, the greater the amplitude of the jitter caused by the vehicle passing over an obstacle; the better the elastic coefficient, the smaller the amplitude of the jitter caused by the vehicle passing over an obstacle.

[0115] Therefore, in order to more accurately determine the position where the image is to be displayed, in some embodiments of the present disclosure, the method further includes the following step S603. When the vehicle travels to each position point in the above step S602, according to the target height difference corresponding to each target position point, the display height of the displayed image is controlled. Controlling the display height of the displayed image can be specifically implemented through the following step S602a.

[0116] In step S603, a height change compensation coefficient is determined according to vehicle information.

[0117] The vehicle information is a factor of the vehicle itself that affects the jitter amplitude of the vehicle when the vehicle passes an obstacle. For example, the vehicle information includes at least one of the following: speed, acceleration, elastic coefficient of the suspension system, elastic coefficient of the wheels.

[0118] In some implementable ways, to determine the height change compensation coefficient according to the vehicle information, specifically, before the vehicle leaves the factory, different vehicle information is configured for testing to determine the corresponding height change compensation coefficients under different configurations, and the corresponding relationship between the vehicle information and the height change compensation coefficients is stored. For vehicle information that is not stored, the corresponding height change compensation coefficient can be determined by linear interpolation.

[0119] In some other implementable ways, the height change compensation coefficient is predicted by a height change compensation coefficient prediction model. The pre-trained model is trained with different vehicle information and the corresponding height change compensation coefficients to obtain a height change compensation coefficient prediction model that can predict the height change compensation coefficient according to the vehicle information, and this height change compensation coefficient prediction model is set in the vehicle.

[0120] In step S602a, when the vehicle travels to each position point, the display height of the display image is controlled according to the target height difference corresponding to each target position point and the height change compensation coefficient.

[0121] Due to the suspension system of the vehicle and the shock absorption effect of the tires, the jitter amplitude of the vehicle will be smaller than the height difference in the actually determined target correspondence. Moreover, due to different vehicle speeds and accelerations, when passing the same obstacle, the jitter amplitudes are also different. Based on this, in order to make the position of the displayed image more accurate, considering the vehicle information comprehensively, the height change compensation coefficient is determined by the vehicle information, and the target correspondence is corrected by the height change compensation coefficient, so that the compensated height obtained after correction is more accurate.

[0122] Based on the same inventive concept as the foregoing technical solution, see Figure 17 , which shows a display control device 1700 provided by the present disclosure. The display control device 1700 may be Figure 1 、 Figure 4The display control unit shown in [description], the display control device 1700 includes: an acquisition part 1701 and a control part 1702; the acquisition part 1701 is configured to acquire a target correspondence relationship between a plurality of consecutive target position points and a target height difference within a preset distance range in the vehicle traveling direction; the control part 1702 is configured to control the display height of the display image according to the target height difference corresponding to each target position point when the vehicle travels to each position point, so that the jitter displacement of the display image at each target position point is less than the displacement threshold.

[0123] In some embodiments of the present disclosure, the acquisition part 1701 is specifically configured to acquire a first correspondence relationship between a plurality of consecutive first position points and a first height difference within a preset distance range in the vehicle traveling direction; in the case where the difference between the first height differences corresponding to two adjacent first position points is greater than a first difference threshold, at least one set of interpolation position points and corresponding height differences are inserted between the two adjacent first position points to obtain a plurality of target correspondence relationships.

[0124] In some embodiments of the present disclosure, the acquisition part 1701 is specifically configured to acquire an initial correspondence relationship between a plurality of consecutive initial position points and an initial height difference within a preset distance range in the vehicle traveling direction; in the case where there are outliers in the initial correspondence relationship, the outliers are corrected to obtain a plurality of first correspondence relationships.

[0125] In some embodiments of the present disclosure, the outliers include: abnormal jitter points, the jitter amplitude of the abnormal jitter points is greater than the amplitude threshold and the jitter distance is less than the distance threshold; the acquisition part 1701 is specifically configured to correct at least one initial position point and the initial height difference corresponding to the abnormal jitter points in the case where there are abnormal jitter points in the initial correspondence relationship to obtain a plurality of first correspondence relationships.

[0126] In some embodiments of the present disclosure, the outliers include: abnormal initial height differences, the difference between the abnormal initial height differences and the corresponding predicted height differences is greater than a second difference threshold, and the predicted height difference is determined according to the change trend of the initial height differences in the initial correspondence relationship; the acquisition part 1701 is specifically configured to correct the abnormal initial height differences according to the predicted height differences corresponding to the abnormal initial height differences in the case where there are abnormal initial height differences in the initial correspondence relationship to obtain a plurality of first correspondence relationships.

[0127] In some embodiments of the present disclosure, the device further includes: a determination part, the determination part is configured to: determine a corresponding target correction method according to the jitter amplitude and change frequency of the jitter points in the initial correspondence relationship; the acquisition part 1701 is specifically configured to correct the outliers by the target correction method in the case where there are outliers in the initial correspondence relationship to obtain a plurality of first correspondence relationships.

[0128] In some embodiments of the present disclosure, before determining the corresponding target correction method according to the jitter amplitude and change frequency of the jitter points in the initial correspondence, the determining part is further configured to determine the extreme position points corresponding to the local maximum and local minimum in the initial correspondence; determine the change frequency of the jitter points in the first correspondence according to the number of the extreme position points or the average interval between adjacent extreme position points; and determine the jitter amplitude of the jitter points in the first correspondence according to the initial height difference corresponding to the extreme position points.

[0129] In some embodiments of the present disclosure, the outlier further includes: a slope point, which is a position point between a first initial position point and a second initial position point in the initial correspondence. The initial height difference corresponding to the first initial position point is greater than a first height difference threshold, and the second initial position point is the position point closest to the first initial position point before the first initial position point, and the initial height difference corresponding to the second initial position point is less than a second height difference threshold; the obtaining part 1701 is specifically configured to correct the initial height difference corresponding to the slope point to 0 when there is a slope point in the initial correspondence, so as to obtain a plurality of first correspondences.

[0130] In some embodiments of the present disclosure, the obtaining part 1701 is specifically configured to collect a second correspondence between a plurality of consecutive second position points and a second height difference on the predicted vehicle driving trajectory within a preset distance range in the vehicle driving direction. The second correspondence between the plurality of second position points and the second height difference includes at least one of the following: a left second correspondence between a plurality of left second position points corresponding to the left wheel and a left second height difference, and a right second correspondence between a plurality of right second position points corresponding to the right wheel and a right second height difference; and determine the target correspondence according to the second correspondence.

[0131] In some embodiments of the present disclosure, the determining part is further configured to determine a height change compensation coefficient according to vehicle information; the control part 1702 is specifically configured to control the display height of the display image according to the target height difference corresponding to each target position point and the height change compensation coefficient when the vehicle travels to each position point.

[0132] It should be noted that the display control device provided by the present disclosure can achieve the same effect as the above display control method, and details are not described herein again.

[0133] Reference Figure 18 , which shows a structural block diagram of a display control device provided by an exemplary embodiment of the present disclosure. In some examples, the display control device has a communication function and can access a wired network or a wireless network. In some examples, the display control device can receive data based on the accessed wired network or wireless network. It can be understood that the display control device undertakes the calculation and processing work of the technical solution of the present disclosure, and the present disclosure does not limit this.

[0134] As Figure 18 shown, the display control device in the present disclosure may include one or more of the following components: a processor 1810 and a memory 1820.

[0135] Optionally, the processor 1810 is connected to various parts within the entire computing device through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 1820, and by calling data stored in the memory 1820, it performs various functions of the computing device and processes data. Optionally, the processor 1810 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 1810 may integrate one or a combination of several of a central processing unit (CPU), a graphics processing unit (GPU), a neural-network processing unit (NPU), and a baseband chip, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the touch display screen; the NPU is used to implement artificial intelligence (AI) functions; the baseband chip is used to process wireless communication. It can be understood that the above baseband chip may not be integrated into the processor 1810 and may be implemented separately by a single chip.

[0136] The memory 1820 may include a random access memory (RAM) and may also include a read-only memory (ROM). Optionally, the memory 1820 includes a non-transitory computer-readable storage medium. The memory 1820 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 1820 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for at least one function (such as touch control function, sound playback function, image playback function, etc.), instructions for implementing the above method embodiments, etc.; the data storage area may store data created according to the use of the computing device.

[0137] In addition, those skilled in the art can understand that the structure of the display control device shown in the above drawings does not limit the display control device. The display control device may include more or fewer components than those shown in the drawings, or combine certain components, or have different component arrangements. For example, the display control device also includes components such as a display screen, a camera assembly, a microphone, a speaker, a radio frequency circuit, an input unit, sensors (such as an acceleration sensor, an angular velocity sensor, a light sensor, etc.), an audio circuit, a WiFi module, a power supply, a Bluetooth module, etc., which will not be elaborated here.

[0138] The present disclosure also provides a projection device, including: a display unit and a display control unit; the display control unit is configured to: within a preset distance range in the vehicle traveling direction, obtain a target correspondence relationship between a plurality of consecutive target position points and a target height difference; and when the vehicle travels to each position point, control the display height of the displayed image according to the target height difference corresponding to each target position point, so that the jitter displacement of the displayed image at each target position point is less than a displacement threshold; the display unit projects the image onto the projection component to enable a visual confirmation person to visually confirm the image.

[0139] The present disclosure also provides a computer-readable storage medium storing at least one instruction for being executed by a processor to implement the display control method as described in each of the above embodiments.

[0140] The present disclosure also provides a computer program product including computer instructions stored in a computer-readable storage medium; a processor of a computing device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to enable the computing device to execute to implement the display control method as described in each of the above embodiments.

[0141] Those skilled in the art should be able to realize that in one or more of the above examples, the functions described in the present disclosure can be implemented by hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. The computer-readable medium includes a computer storage medium and a communication medium, where the communication medium includes any medium facilitating the transmission of a computer program from one place to another. The storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0142] It should be noted that: the technical solutions described in the present disclosure can be arbitrarily combined without conflict.

[0143] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims described above.

Claims

1. A display control method, characterized in that, The method includes: Obtaining a target correspondence relationship between a plurality of consecutive target position points and a target height difference within a preset distance range in the vehicle traveling direction, where the target height difference corresponding to one target position point is the difference between the height at the one target position point and the height at the vehicle starting position point; When the vehicle travels to each target position point, controlling the display height of the display image according to the target height difference corresponding to each target position point, so that the jitter displacement of the display image at each target position point is less than the displacement threshold; The obtaining a target correspondence relationship between a plurality of consecutive target position points and a target height difference within a preset distance range in the vehicle traveling direction includes: Obtaining a first correspondence relationship between a plurality of consecutive first position points and a first height difference within a preset distance range in the vehicle traveling direction; In the case where the difference between the first height differences corresponding to two adjacent first position points is greater than a first difference threshold, inserting at least one set of interpolation position points and corresponding height differences between the two adjacent first position points to obtain a plurality of target correspondence relationships; The obtaining a first correspondence relationship between a plurality of consecutive first position points and a first height difference within a preset distance range in the vehicle traveling direction includes: Obtaining an initial correspondence relationship between a plurality of consecutive initial position points and an initial height difference within a preset distance range in the vehicle traveling direction; In the case where there are outliers in the initial correspondence relationship, correcting the outliers to obtain a plurality of first correspondence relationships; The outliers include: abnormal jitter points, where the jitter amplitude of the abnormal jitter points is greater than an amplitude threshold and the jitter distance is less than a distance threshold; the correcting the outliers to obtain a plurality of first correspondence relationships in the case where there are outliers in the initial correspondence relationship includes: In the case where there are abnormal jitter points in the initial correspondence relationship, correcting at least one initial position point and the initial height difference corresponding to the abnormal jitter points to obtain the plurality of first correspondence relationships.

2. The method according to claim 1, wherein The outliers include: abnormal initial height differences, where the difference between the abnormal initial height differences and the corresponding predicted height differences is greater than a second difference threshold, and the predicted height differences are determined according to the change trend of the initial height differences in the initial correspondence relationship; the correcting the outliers to obtain a plurality of first correspondence relationships in the case where there are outliers in the initial correspondence relationship includes: In the case where there are abnormal initial height differences in the initial correspondence relationship, correcting the abnormal initial height differences according to the predicted height differences corresponding to the abnormal initial height differences to obtain the plurality of first correspondence relationships.

3. The method according to claim 1, wherein The method further includes: Determining a corresponding target correction method according to the jitter amplitude and change frequency of the jitter points in the initial correspondence relationship; The correcting the outliers to obtain a plurality of first correspondence relationships in the case where there are outliers in the initial correspondence relationship includes: In the case where there are outliers in the initial correspondence relationship, correcting the outliers through the target correction method to obtain a plurality of first correspondence relationships.

4. The method according to claim 3, wherein Before determining the corresponding target correction method according to the jitter amplitude and change frequency of the jitter points in the initial correspondence, the method further includes: Determine the extreme position points corresponding to the local maximum and local minimum in the initial correspondence; Determine the change frequency of the jitter points in the first correspondence according to the number of extreme position points or the average interval between adjacent extreme position points; Determine the jitter amplitude of the jitter points in the first correspondence according to the initial height difference corresponding to the extreme position points.

5. The method according to claim 1, characterized in that, The outlier further includes: a slope point, which is a position point between a first initial position point and a second initial position point in the initial correspondence. The initial height difference corresponding to the first initial position point is greater than a first height difference threshold, and the second initial position point is the position point closest to the first initial position point before the first initial position point and with an initial height difference less than a second height difference threshold; When there are outliers in the initial correspondence, correcting the outliers to obtain a plurality of first correspondences includes: When there is a slope point in the initial correspondence, correcting the initial height difference corresponding to the slope point to 0 to obtain the plurality of first correspondences.

6. The method according to claim 1, wherein Obtaining the target correspondence of a plurality of consecutive target position points and target height differences within a preset distance range in the vehicle traveling direction includes: Within a preset distance range in the vehicle traveling direction, collect the second correspondence of a plurality of consecutive second position points and second height differences on the predicted vehicle traveling trajectory. The second correspondence of the plurality of second position points and second height differences includes at least one of the following: the left second correspondence of a plurality of left second position points corresponding to the left wheel and the left second height difference, and the right second correspondence of a plurality of right second position points corresponding to the right wheel and the right second height difference; Determine the target correspondence according to the second correspondence.

7. The method according to claim 1, characterized in that The method further includes: Determine the height change compensation coefficient according to the vehicle information; When the vehicle travels to each target position point, controlling the display height of the display image according to the target height difference corresponding to each target position point includes: When the vehicle travels to each target position point, control the display height of the display image according to the target height difference corresponding to each target position point and the height change compensation coefficient.

8. A display control device, characterized in that, The device includes: an acquisition part and a control part; The acquisition part is configured to obtain the target correspondence of a plurality of consecutive target position points and target height differences within a preset distance range in the vehicle traveling direction; The control part is configured to, when the vehicle travels to each target position point, control the display height of the display image according to the target height difference corresponding to each target position point, so that the jitter displacement of the display image at each target position point is less than the displacement threshold; Obtaining the target correspondence of a plurality of consecutive target position points and target height differences within a preset distance range in the vehicle traveling direction includes: Within a preset distance range in the vehicle traveling direction, obtain the first correspondence of a plurality of consecutive first position points and first height differences; When the difference between the first height differences corresponding to two adjacent first position points is greater than the first difference threshold, insert at least one set of interpolation position points and corresponding height differences between the two adjacent first position points to obtain a plurality of target correspondences; The obtaining, within a preset distance range in the vehicle traveling direction, of the first correspondences between a plurality of consecutive first position points and first height differences includes: Obtaining, within a preset distance range in the vehicle traveling direction, the initial correspondences between a plurality of consecutive initial position points and initial height differences; When there are outliers in the initial correspondences, correcting the outliers to obtain a plurality of first correspondences; The outliers include: abnormally jittery points, where the jitter amplitude of the abnormally jittery point is greater than the amplitude threshold and the jitter distance is less than the distance threshold; when there are outliers in the initial correspondences, correcting the outliers to obtain a plurality of first correspondences includes: When there are abnormally jittery points in the initial correspondences, correcting at least one initial position point and initial height difference corresponding to the abnormally jittery point to obtain the plurality of first correspondences.

9. A display control device, characterized in that, The device includes: a processor and a memory; the processor is configured to execute instructions stored in the memory to implement the display control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction, and the at least one instruction is used to be executed by a processor to implement the display control method according to any one of claims 1 to 7.

11. A projection device, characterized in that, Including: A display unit and a display control unit; The display control unit is configured to: Obtain, within a preset distance range in the vehicle traveling direction, the target correspondences between a plurality of consecutive target position points and target height differences; And, when the vehicle travels to each target position point, control the display height of the display image according to the target height difference corresponding to each target position point, so that the jitter displacement of the display image at each target position point is less than the displacement threshold; The obtaining, within a preset distance range in the vehicle traveling direction, of the target correspondences between a plurality of consecutive target position points and target height differences includes: Obtaining, within a preset distance range in the vehicle traveling direction, the first correspondences between a plurality of consecutive first position points and first height differences; When the difference between the first height differences corresponding to two adjacent first position points is greater than the first difference threshold, insert at least one set of interpolation position points and corresponding height differences between the two adjacent first position points to obtain a plurality of target correspondences; The obtaining, within a preset distance range in the vehicle traveling direction, of the first correspondences between a plurality of consecutive first position points and first height differences includes: Obtaining, within a preset distance range in the vehicle traveling direction, the initial correspondences between a plurality of consecutive initial position points and initial height differences; When there are outliers in the initial correspondences, correcting the outliers to obtain a plurality of first correspondences; The outliers include: abnormal jitter points, where the jitter amplitude of the abnormal jitter points is greater than the amplitude threshold and the jitter distance is less than the distance threshold; in the case where there are outliers in the initial correspondence relationship, correcting the outliers to obtain a plurality of first correspondence relationships, including: In the case where there are abnormal jitter points in the initial correspondence relationship, correcting at least one initial position point and the initial height difference corresponding to the abnormal jitter points to obtain the plurality of first correspondence relationships; The display unit visually confirms the image for the visual confirmant by projecting the image onto the projection target member.

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