Head-up display offline calibration implementation method, device, equipment and storage medium

Abstract

The present invention discloses a method, apparatus, device, and storage medium for implementing offline calibration of a head-up display (HUD), relating to the field of automobile manufacturing technology. The method includes moving a camera to a target location and photographing a calibrated mid-viewpoint image projected by the HUD to obtain a calibrated mid-viewpoint image; adjusting the projection angle of the HUD based on the difference between the center position of the calibrated mid-viewpoint image and the calibrated mid-viewpoint in the calibrated mid-viewpoint image so that the difference meets a set requirement; photographing a distortion correction image projected by the HUD with the camera to obtain a distortion correction image and determining whether the distortion correction image is qualified; and correcting the distortion correction image to achieve offline calibration based on the determination result, or adjusting the projection height of the HUD to correct the distortion correction image to achieve offline calibration. This application can effectively improve the accuracy of HUD offline calibration.

Description

Technical Field

[0001] The present application relates to the field of automobile production and manufacturing technology, and specifically to a method, device, equipment and storage medium for implementing off-line calibration of a head-up display. Background Art

[0002] A vehicle's head-up display (HUD) can experience image distortion due to design errors, manufacturing errors, and component and vehicle assembly errors. Therefore, image correction, also known as vehicle end-of-line calibration, is required before the vehicle rolls off the production line. This involves calibrating the projected image using a camera's simulated eyebox position, and then writing calibration parameters via the bus based on an algorithm.

[0003] Currently, a common approach to head-up display (HUD) calibration is to use a camera to capture a calibration image (point map) projected onto the windshield. This process then applies a distortion mapping between the HUD projected image and the standard point map, and uses this distortion mapping to correct the projected image. However, in practical applications, if the HUD projected image captured by the camera is missing, the distortion mapping is incomplete, making accurate offline HUD calibration impossible. Summary of the Invention

[0004] The present application provides a method, apparatus, device and storage medium for implementing offline calibration of a head-up display, which can effectively improve the accuracy of offline calibration of a head-up display.

[0005] In a first aspect, an embodiment of the present application provides a method for implementing offline calibration of a head-up display, the method comprising:

[0006] Move the camera to the target location and capture the calibrated viewpoint image projected by the head-up display to obtain the calibrated viewpoint image;

[0007] Adjusting the projection angle of the head-up display based on a difference between a center position of the calibrated viewpoint image and a calibrated viewpoint in the calibrated viewpoint image so that the difference meets a set requirement;

[0008] photographing the distortion correction image projected by the head-up display through a photographing device to obtain an image of the distortion correction image and determining whether the image of the distortion correction image is qualified;

[0009] According to the determination result, the distortion correction image is corrected to achieve offline calibration, or the distortion correction image is corrected to achieve offline calibration after adjusting the projection height of the head-up display.

[0010] In combination with the first aspect, in one embodiment, the moving the shooting device to the target position and shooting the calibrated viewpoint image projected by the head-up display to obtain the calibrated viewpoint image specifically includes:

[0011] Move the vehicle to be calibrated to the calibration position, and move the camera to the target position inside the vehicle to be calibrated;

[0012] The shooting device shoots the calibrated viewpoint map projected by the head-up display to obtain a calibrated viewpoint map image.

[0013] In conjunction with the first aspect, in one embodiment, adjusting the projection angle of the head-up display based on the difference between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image so that the difference meets a set requirement specifically includes:

[0014] Calculating the difference between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image, and determining whether the difference is within a set range;

[0015] If yes, keep the HUD projection angle unchanged;

[0016] If not, adjust the projection angle of the head-up display so that the shooting device again shoots the calibrated viewpoint image projected by the head-up display to obtain the calibrated viewpoint image, and the difference between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image is within the set range.

[0017] In conjunction with the first aspect, in one embodiment, photographing the distortion correction image projected by the head-up display using a photographing device to obtain the distortion correction image and determining whether the distortion correction image is qualified specifically includes:

[0018] The camera captures the distortion correction image projected by the head-up display, obtains the distortion correction image, and makes a judgment:

[0019] If the distortion correction image contains all the point images of the distortion correction image, the distortion correction image is determined to be qualified;

[0020] If the distortion correction map image does not include all the point images of the distortion correction map, the distortion correction map image is determined to be unqualified.

[0021] In conjunction with the first aspect, in one embodiment, correcting the distortion correction image according to the determination result to achieve offline calibration, or adjusting the projection height of the head-up display and then correcting the distortion correction image to achieve offline calibration, specifically includes:

[0022] When the distortion correction image is determined to be qualified, offline calibration is performed based on the correction of the distortion correction image;

[0023] When it is determined that the distortion correction image is unqualified, the projection height of the head-up display is adjusted so that the shooting device again shoots the distortion correction image projected by the head-up display and the obtained distortion correction image includes all the point images of the distortion correction image. Then, offline calibration is achieved based on the correction of the distortion correction image.

[0024] In conjunction with the first aspect, in one embodiment, adjusting the projection height of the head-up display specifically includes:

[0025] For the distortion correction image, the dot image is divided horizontally to obtain multiple regions, wherein each horizontal row of dot images forms a region;

[0026] Calculate the number of dot images in each area to obtain the area with missing dot images, and count the number of all areas with missing dot images to obtain the image adjustment height;

[0027] A projection height of the heads-up display is adjusted based on the image.

[0028] In conjunction with the first aspect, in one embodiment, the offline calibration is implemented based on the correction of the distortion correction image, specifically including:

[0029] Obtaining the coordinates of each point in the distortion correction image, calculating the distortion rate of the distortion correction image and the offset of the center point, to determine whether the distortion of the distortion correction image is within the set tolerance range;

[0030] If so, it means the head-up display projection is qualified;

[0031] If not, based on the distortion mapping relationship between the distortion correction image and the standard point image, and combined with the difference algorithm, the distortion correction image is corrected to achieve offline calibration of the head-up display.

[0032] In a second aspect, an embodiment of the present application provides a head-up display offline calibration implementation device, the head-up display offline calibration implementation device comprising:

[0033] A shooting module is used to move the shooting device to the target position and shoot the calibrated viewpoint image projected by the head-up display to obtain the calibrated viewpoint image;

[0034] an adjustment module for adjusting a projection angle of a head-up display based on a difference between a center position of the calibrated viewpoint image and a calibrated viewpoint in the calibrated viewpoint image so that the difference meets a set requirement;

[0035] a judgment module, which is used to capture the distortion correction image projected by the head-up display through a camera, obtain an image of the distortion correction image, and determine whether the image of the distortion correction image is qualified;

[0036] The execution module is used to correct the distortion correction image to achieve offline calibration according to the judgment result, or to correct the distortion correction image after adjusting the projection height of the head-up display to achieve offline calibration.

[0037] In a third aspect, an embodiment of the present application provides a head-up display offline calibration implementation device, which includes a processor, a memory, and a head-up display offline calibration implementation program stored in the memory and executable by the processor, wherein when the head-up display offline calibration implementation program is executed by the processor, the steps of the above-mentioned head-up display offline calibration implementation method are implemented.

[0038] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a head-up display offline calibration implementation program is stored. When the head-up display offline calibration implementation program is executed by a processor, the steps of the above-mentioned head-up display offline calibration implementation method are implemented.

[0039] The beneficial effects of the technical solutions provided in the embodiments of the present application include:

[0040] After adjusting the projection angle of the head-up display so that the gap between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image meets the set requirements, a judgment is made on whether the distortion correction image is qualified. If the distortion correction image is unqualified, the projection height of the head-up display is adjusted and then the distortion correction image is corrected to realize the off-line calibration of the head-up display, automatically compensate for the installation error of the whole vehicle, avoid the problem of off-line calibration failure caused by incomplete recognition of the projection image, and effectively improve the accuracy of the off-line calibration of the head-up display. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a flowchart of the method for implementing offline calibration of the head-up display in this application;

[0042] Figure 2 is the style map of the viewpoint map in calibration;

[0043] Figure 3 is the style map of the distortion correction map;

[0044] Figure 4 A schematic diagram of region division for a distortion correction image;

[0045] Figure 5 Schematic diagram of the functional modules of the device for implementing offline calibration of the head-up display in this application;

[0046] Figure 6 Schematic diagram of the hardware structure of the equipment used to implement the offline calibration of the head-up display in this application. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0049] In a first aspect, an embodiment of the present application provides a method for implementing offline calibration of a head-up display, which automatically adjusts the image mapping when identifying incomplete images during offline calibration, thereby resolving the calibration failure problem.

[0050] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the method for implementing the offline calibration of the head-up display in this application. Figure 1 As shown, the method for implementing the off-line calibration of the head-up display includes:

[0051] S1: Move the camera to the target location and capture the calibrated mid-viewpoint image projected by the head-up display to obtain a calibrated mid-viewpoint image;

[0052] S2: Based on the difference between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image, adjusting the projection angle of the head-up display so that the difference meets the set requirement;

[0053] S3: photographing the distortion correction image projected by the head-up display with a photographing device to obtain an image of the distortion correction image and determining whether the image of the distortion correction image is qualified;

[0054] S4: According to the determination result, the distortion correction image is corrected to achieve offline calibration, or the distortion correction image is corrected to achieve offline calibration after adjusting the projection height of the head-up display.

[0055] First, the calibration viewpoint map and distortion correction map involved in this application are explained as follows:

[0056] For the calibration viewpoint map, see Figure 2 The image shown here contains the calibrated mid-viewpoint, located at the exact center of the image. It's shaped like a crosshair and can be white or another color. The image is used to ensure that the centerline of the head-up display is within the design tolerance of the theoretical human eye position.

[0057] For distortion correction images, see Figure 3 The image shown here contains multiple dot patterns arranged in an array, with the dot patterns consisting of white dots or other colored dots. The distortion correction map is used to fit the distortion mapping relationship between the HUD projected image and the standard dot image, and this distortion mapping relationship is used to perform distortion correction on the HUD projected image.

[0058] Furthermore, in one embodiment, moving a camera to a target location and capturing a calibration viewpoint image projected by a head-up display to obtain a calibration viewpoint image specifically includes:

[0059] S101: Move the vehicle to be calibrated to the calibration position, and move the camera to the target position inside the vehicle to be calibrated;

[0060] S102: The photographing device photographs the calibrated viewpoint map projected by the head-up display to obtain a calibrated viewpoint map image.

[0061] Specifically, the vehicle to be calibrated is first moved to the calibration position, and then the shooting device is moved to the target position in the vehicle to be calibrated, that is, the position of the driver's eyes. The shooting device can be a camera or other imaging device; then the head-up display projects the calibration viewpoint map, and the shooting device shoots the calibration viewpoint map projected by the head-up display to obtain the calibration viewpoint map image.

[0062] Furthermore, in one embodiment, based on the difference between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image, adjusting the projection angle of the head-up display so that the difference meets the set requirements specifically includes:

[0063] Calculating the difference between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image, and determining whether the difference is within a set range;

[0064] If yes, keep the HUD projection angle unchanged;

[0065] If not, adjust the projection angle of the head-up display so that the shooting device again shoots the calibrated viewpoint image projected by the head-up display to obtain the calibrated viewpoint image, and the difference between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image is within the set range.

[0066] Specifically, the captured calibrated viewpoint image is analyzed. First, the exact center position of the calibrated viewpoint image is determined. Then, the center position of the calibrated viewpoint in the calibrated viewpoint image is determined. The position difference between the two is calculated to determine whether the difference is within a set range. The set range can be a distance range of 50 pixels. If the difference is within the set range, the motor of the head-up display does not need to rotate, and the head-up display can maintain the current position. If the difference is not within the set range, it is necessary to control the forward or reverse rotation of the head-up display motor according to the offset direction between the two positions, and adjust the projection angle of the head-up display. Then, the calibrated viewpoint image projected by the head-up display is captured again, and the calibrated viewpoint image is obtained again. Then, the difference between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image is calculated again, and the cycle is repeated until the difference is within the set range.

[0067] Furthermore, in one embodiment, capturing the distortion correction image projected by the head-up display with a camera to obtain the distortion correction image and determining whether the distortion correction image is qualified specifically includes:

[0068] The camera captures the distortion correction image projected by the head-up display, obtains the distortion correction image, and makes a judgment:

[0069] If the distortion correction image contains all the point images of the distortion correction image, the distortion correction image is determined to be qualified;

[0070] If the distortion correction map image does not include all the point images of the distortion correction map, the distortion correction map image is determined to be unqualified.

[0071] Specifically, the head-up display projects a distortion correction image, and the shooting equipment shoots the distortion correction image projected by the head-up display to obtain a distortion correction image. In actual applications, due to the installation deviation of the head-up display on the actual vehicle, the image of the head-up display projected at the human eye position is incomplete, and the end of the head-up display projected image is missing. In view of this situation, for the obtained distortion correction image, the number of point images in the distortion correction image is calculated to determine whether the distortion correction image contains all the point images of the distortion correction image. If so, it indicates that the distortion correction image obtained is qualified. Otherwise, it indicates that the distortion correction image obtained is unqualified.

[0072] Furthermore, in one embodiment, according to the determination result, the distortion correction image is corrected to achieve offline calibration, or the distortion correction image is corrected after adjusting the projection height of the head-up display to achieve offline calibration, specifically including:

[0073] When the distortion correction image is determined to be qualified, offline calibration is performed based on the correction of the distortion correction image;

[0074] When it is determined that the distortion correction image is unqualified, the projection height of the head-up display is adjusted so that the shooting device again shoots the distortion correction image projected by the head-up display and the obtained distortion correction image includes all the point images of the distortion correction image. Then, offline calibration is achieved based on the correction of the distortion correction image.

[0075] Specifically, when the distortion correction map image includes all the point graphs of the distortion correction map, it indicates that the distortion correction map image is qualified. Then, according to the actual situation, the offline calibration is achieved based on the correction of the distortion correction map image; when the distortion correction map image does not include all the point graphs of the distortion correction map, it indicates that the distortion correction map image is unqualified. At this time, it is necessary to adjust the projection height of the head-up display. By adjusting the projection height of the display, the distortion correction map image obtained by the shooting device again shooting the distortion correction map projected by the head-up display includes all the point graphs of the distortion correction map. Then, according to the actual situation, the offline calibration is achieved based on the correction of the distortion correction map image.

[0076] Furthermore, in one embodiment, adjusting the projection height of the head-up display specifically includes:

[0077] A: For the distortion correction image, the dot image is divided horizontally to obtain multiple regions, where each horizontal row of dot images forms a region;

[0078] B: Calculate the number of dot images in each area to obtain the area with missing dot images, and count the number of all areas with missing dot images to obtain the image adjustment height;

[0079] C: Adjusting the projection height of the head-up display based on the image adjustment height.

[0080] For details, see Figure 4 The division method shown is to divide the dot diagram of the distortion correction image horizontally into multiple areas, and then calculate the number of dot diagrams in each area. If the number of dot diagrams in the current area is inconsistent with the original number of dot diagrams in each row of the distortion correction image, the current area is determined to be an area with a missing dot diagram number. Then, based on the total number of areas with missing dot diagram numbers, the image adjustment height is obtained, and the head-up display motor is driven to adjust the projection height of the head-up display, automatically compensating for the installation error of the entire vehicle, so that the distortion correction image obtained by the camera device capturing the distortion correction image projected by the head-up display contains all the dot diagrams of the distortion correction image.

[0081] Furthermore, in one embodiment, offline calibration is implemented based on the correction of the distortion correction image, specifically including:

[0082] Obtaining the coordinates of each point in the distortion correction image, calculating the distortion rate of the distortion correction image and the offset of the center point, to determine whether the distortion of the distortion correction image is within the set tolerance range;

[0083] If so, it means the head-up display projection is qualified;

[0084] If not, based on the distortion mapping relationship between the distortion correction image and the standard point image, and combined with the difference algorithm, the distortion correction image is corrected to achieve offline calibration of the head-up display.

[0085] Specifically, first obtain the coordinates of each point in the distortion correction image. Based on the coordinates of each point in the distortion correction image, calculate the distortion rate and the offset of the center point of the distortion correction image, so as to determine whether the distortion of the distortion correction image is within the set tolerance range. The calculation formula is as follows:

[0086] D=AD / PD×100%

[0087] Where D represents the distortion rate, AD represents the maximum distance between the distortion point and the reference point, and PD represents the maximum distance from the reference point to the center of the virtual image.

[0088] In actual applications, if the distortion rate is less than or equal to 3%, it indicates that the head-up display is installed properly and no adjustment is required. If the distortion rate is greater than 3%, it indicates that the head-up display is installed unqualified and the projection distortion of the head-up display needs to be adjusted. Specifically, based on the distortion mapping relationship between the distortion correction image and the standard point image, combined with the differential algorithm, the distortion correction image can be corrected to achieve offline calibration of the head-up display.

[0089] The method for implementing off-line calibration of a head-up display in an embodiment of the present application, after adjusting the projection angle of the head-up display so that the gap between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image meets the set requirements, determines whether the distortion correction image is qualified, and when the distortion correction image is unqualified, adjusts the projection height of the head-up display and then corrects the distortion correction image to implement off-line calibration of the head-up display, automatically compensates for the installation error of the entire vehicle, avoids the problem of off-line calibration failure caused by incomplete recognition of the projection image, and effectively improves the accuracy of the off-line calibration of the head-up display.

[0090] In a second aspect, an embodiment of the present application also provides a device for implementing offline calibration of a head-up display.

[0091] In one embodiment, referring to Figure 5 , Figure 5 This is a functional module diagram of the head-up display offline calibration implementation device for this application. Figure 5 As shown, the head-up display offline calibration implementation device includes: a shooting module, an adjustment module, a judgment module, and an execution module.

[0092] The shooting module is used to move the shooting device to the target position and shoot the calibrated viewpoint map projected by the head-up display to obtain the calibrated viewpoint map image; the adjustment module is used to adjust the projection angle of the head-up display based on the gap between the center position of the calibrated viewpoint map image and the calibrated viewpoint in the calibrated viewpoint map image so that the gap meets the set requirements; the judgment module is used to shoot the distortion correction map projected by the head-up display through the shooting device, obtain the distortion correction map image and determine whether the distortion correction map image is qualified; the execution module is used to correct the distortion correction map image to achieve offline calibration according to the judgment result, or adjust the projection height of the head-up display and then correct the distortion correction map image to achieve offline calibration.

[0093] In a third aspect, an embodiment of the present application provides a head-up display offline calibration implementation device, which can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0094] Reference Figure 6 , Figure 6 Schematic diagram of the hardware structure of the head-up display offline calibration implementation device involved in the embodiment of the present application. In the embodiment of the present application, the head-up display offline calibration implementation device may include a processor, a memory, a communication interface and a communication bus.

[0095] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0096] Communication interfaces include input / output (I / O), physical, and logical interfaces, which are used to interconnect components within the HUD and other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet, fiber, or ATM interfaces; user devices can include displays and keyboards.

[0097] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0098] The processor may be a general-purpose processor that can call a head-up display offline calibration implementation program stored in a memory and execute the head-up display offline calibration implementation method provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the head-up display offline calibration implementation program is called can be referred to in the various embodiments of the head-up display offline calibration implementation method of the present application and will not be further described here.

[0099] Those skilled in the art will understand that Figure 6 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0100] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0101] The computer-readable storage medium of the present application stores a head-up display offline calibration implementation program, wherein when the head-up display offline calibration implementation program is executed by a processor, the steps of the head-up display offline calibration implementation method as described above are implemented.

[0102] Among them, the method implemented when the head-up display offline calibration implementation program is executed can refer to the various embodiments of the head-up display offline calibration implementation method of this application, and will not be repeated here.

[0103] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0104] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0105] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0106] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0107] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of the present application.

[0108] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for implementing offline calibration of a head-up display, characterized in that: The head-up display offline calibration implementation method includes: Move the camera to the target location and capture the calibrated viewpoint image projected by the head-up display to obtain the calibrated viewpoint image; Adjusting the projection angle of the head-up display based on a difference between a center position of the calibrated viewpoint image and a calibrated viewpoint in the calibrated viewpoint image so that the difference meets a set requirement; photographing the distortion correction image projected by the head-up display through a photographing device to obtain an image of the distortion correction image and determining whether the image of the distortion correction image is qualified; According to the determination result, the distortion correction image is corrected to achieve offline calibration, or the distortion correction image is corrected to achieve offline calibration after adjusting the projection height of the head-up display.

2. The method for realizing offline calibration of a head-up display according to claim 1, characterized in that: The moving the shooting device to the target position and shooting the calibrated viewpoint image projected by the head-up display to obtain the calibrated viewpoint image specifically includes: Move the vehicle to be calibrated to the calibration position, and move the camera to the target position inside the vehicle to be calibrated; The shooting device shoots the calibrated viewpoint map projected by the head-up display to obtain a calibrated viewpoint map image.

3. The method for realizing offline calibration of a head-up display according to claim 1, characterized in that: The adjusting the projection angle of the head-up display based on the gap between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image so that the gap meets the set requirement specifically includes: Calculating the difference between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image, and determining whether the difference is within a set range; If yes, keep the HUD projection angle unchanged; If not, adjust the projection angle of the head-up display so that the shooting device again shoots the calibrated viewpoint image projected by the head-up display to obtain the calibrated viewpoint image, and the difference between the center position of the calibrated viewpoint image and the calibrated viewpoint in the calibrated viewpoint image is within the set range.

4. The method for realizing offline calibration of a head-up display according to claim 1, wherein: The step of photographing the distortion correction image projected by the head-up display by a photographing device to obtain the distortion correction image and determining whether the distortion correction image is qualified specifically includes: The camera captures the distortion correction image projected by the head-up display, obtains the distortion correction image, and makes a judgment: If the distortion correction image contains all the point images of the distortion correction image, the distortion correction image is determined to be qualified; If the distortion correction map image does not include all the point images of the distortion correction map, the distortion correction map image is determined to be unqualified.

5. The method for realizing offline calibration of a head-up display according to claim 4, characterized in that: The step of correcting the distortion correction image according to the determination result to realize offline calibration, or correcting the distortion correction image after adjusting the projection height of the head-up display to realize offline calibration, specifically includes: When the distortion correction image is determined to be qualified, offline calibration is performed based on the correction of the distortion correction image; When it is determined that the distortion correction image is unqualified, the projection height of the head-up display is adjusted so that the shooting device again shoots the distortion correction image projected by the head-up display and the obtained distortion correction image includes all the point images of the distortion correction image. Then, offline calibration is achieved based on the correction of the distortion correction image.

6. The method for realizing offline calibration of a head-up display according to claim 5, characterized in that: The adjusting of the projection height of the head-up display specifically includes: For the distortion correction image, the dot image is divided horizontally to obtain multiple regions, wherein each horizontal row of dot images forms a region; Calculate the number of dot images in each area to obtain the area with missing dot images, and count the number of all areas with missing dot images to obtain the image adjustment height; A projection height of the heads-up display is adjusted based on the image.

7. The method for implementing offline calibration of a head-up display according to claim 5, characterized in that: The offline calibration is achieved based on the correction of the distortion correction image, specifically including: Obtaining the coordinates of each point in the distortion correction image, calculating the distortion rate of the distortion correction image and the offset of the center point, to determine whether the distortion of the distortion correction image is within the set tolerance range; If so, it means the head-up display projection is qualified; If not, based on the distortion mapping relationship between the distortion correction image and the standard point image, and combined with the difference algorithm, the distortion correction image is corrected to achieve offline calibration of the head-up display.

8. A head-up display offline calibration implementation device, characterized in that: The head-up display offline calibration implementation device includes: A shooting module is used to move the shooting device to the target position and shoot the calibrated viewpoint image projected by the head-up display to obtain the calibrated viewpoint image; an adjustment module for adjusting a projection angle of a head-up display based on a difference between a center position of the calibrated viewpoint image and a calibrated viewpoint in the calibrated viewpoint image so that the difference meets a set requirement; a judgment module, which is used to capture the distortion correction image projected by the head-up display through a camera, obtain an image of the distortion correction image, and determine whether the image of the distortion correction image is qualified; The execution module is used to correct the distortion correction image to achieve offline calibration according to the judgment result, or to correct the distortion correction image after adjusting the projection height of the head-up display to achieve offline calibration.

9. A head-up display offline calibration implementation device, characterized in that: The head-up display offline calibration implementation device includes a processor, a memory, and a head-up display offline calibration implementation program stored in the memory and executable by the processor. When the head-up display offline calibration implementation program is executed by the processor, the steps of the head-up display offline calibration implementation method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a head-up display offline calibration implementation program, wherein when the head-up display offline calibration implementation program is executed by the processor, the steps of the head-up display offline calibration implementation method according to any one of claims 1 to 7 are implemented.

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