Vehicle-mounted head-up display image adjusting method and device, equipment and medium

Abstract

The embodiment of the invention discloses a vehicle-mounted head-up display image adjusting method and device, equipment and a medium. The method comprises the following steps: determining an attitude transformation matrix of a current vehicle coordinate system based on a world coordinate system at adjacent moments; correcting a first position transformation matrix between a vehicle-mounted first camera coordinate system and a vehicle coordinate system under a world coordinate system according to the attitude transformation matrix; determining a visual transformation matrix of the eyes of the driver under a vehicle coordinate system; correcting a second position transformation matrix between a rendering space coordinate system of the virtual image and a virtual camera coordinate system in the rendering space according to the visual transformation matrix; and adjusting the position of the virtual image displayed by the HUD and the position of the target object in the virtual image based on the corrected first position transformation matrix and the corrected second position transformation matrix. By adopting the technical scheme, the problem that the object in the virtual image displayed by the HUD cannot be attached to the actual object when the posture of the vehicle changes is solved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of automotive electronics technology, and in particular to a method, device, equipment and medium for adjusting an image of a vehicle-mounted head-up display. Background Art

[0002] AR-HUD (Augmented Reality Head Up Display) is an in-vehicle display system that can overlay virtual information on the real world and display this information directly in the driver's field of vision through a projection device. However, during the driving process, for example, when the vehicle passes over speed bumps, low-lying areas or stones, or when going uphill or downhill, the posture changes inevitably occur, which will cause the virtual image displayed by the HUD to shake.

[0003] In related technologies, the object position information obtained by ADAS (Advanced Driver Assistance System) has a high delay, coupled with the communication, image drawing and other delays of the HUD software itself. If the vehicle's posture changes frequently on the road, the objects in the virtual image will not fit the position of the actual objects, which will affect the driver's judgment and the driving experience. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, equipment and medium for adjusting an image of a vehicle head-up display, so as to solve the problem that objects in a virtual image displayed by the HUD cannot fit with actual objects when the vehicle posture changes.

[0005] In a first aspect, the present invention provides a method for adjusting an image of a vehicle head-up display (HUD), wherein the HUD is used to display vehicle operation information and driving assistance information through a virtual image. The method provided by the embodiment of the present invention includes:

[0006] Determine the attitude transformation matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments;

[0007] According to the posture conversion matrix, a first position transformation matrix between the vehicle-mounted first camera coordinate system and the vehicle coordinate system in the world coordinate system is corrected to obtain a corrected first position transformation matrix, wherein the first position transformation matrix is ​​used to convert the position information of the target object in the vehicle-mounted first camera coordinate system to the vehicle coordinate system;

[0008] Determine the visual transformation matrix of the driver's eyes in the vehicle coordinate system according to the position transformation relationship of the driver's sight lines at adjacent moments, wherein the driver's eyes are identified by a second vehicle-mounted camera;

[0009] According to the visual transformation matrix, a second position transformation matrix between the rendering space coordinate system of the virtual image and the virtual camera coordinate system in the rendering space is corrected to obtain a corrected second position transformation matrix, wherein the second position transformation matrix is ​​used to transform the position of the target object in the rendering space coordinate system to the virtual camera coordinate system, and the rendering space coordinate system is consistent with the vehicle coordinate system;

[0010] Based on the corrected first position transformation matrix and the corrected second position transformation matrix, the position of the virtual image displayed by the HUD and the position of the target object in the virtual image are adjusted.

[0011] Optionally, determining the attitude transformation matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments includes:

[0012] Determine the current posture information of the current vehicle in the world coordinate system at the current moment, and obtain the historical posture information of the current vehicle in the world coordinate system at the moment before the current moment;

[0013] According to the current posture information and the historical posture information, the posture transformation matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments is determined.

[0014] Optionally, determine the current posture information of the current vehicle in the world coordinate system at the current moment, including:

[0015] Based on the attitude change of the inertial measurement unit IMU at the current moment, the current attitude information of the current vehicle in the world coordinate system at the current moment is determined.

[0016] Optionally, based on the attitude change of the inertial measurement unit IMU at the current moment, the current attitude information of the current vehicle in the world coordinate system at the current moment is determined, including:

[0017] Based on the attitude change of the IMU at the current moment, determine the first rotation matrix around the X axis, the second rotation matrix around the Y axis, and the third rotation matrix around the Z axis of the current vehicle in the world coordinate system at the current moment, where the X axis, Y axis and Z axis are perpendicular to each other;

[0018] The third rotation matrix, the second rotation matrix and the first rotation matrix are multiplied in sequence to obtain the current posture information of the current vehicle in the world coordinate system at the current moment.

[0019] Optionally, determining the visual transformation matrix of the driver's eyes in the vehicle coordinate system according to the position transformation relationship of the driver's sight lines at adjacent moments includes:

[0020] The visual transformation matrix of the driver's eyes in the vehicle coordinate system is determined according to the rotation matrix of the direction in which the driver's eyes are looking at at adjacent moments and the position transformation matrix of the driver's eyes.

[0021] Optionally, determining the visual transformation matrix of the driver's eyes in the vehicle coordinate system according to the rotation matrix of the direction in which the driver's eyes are looking at at adjacent moments and the position transformation matrix of the driver's eyes includes:

[0022] Based on the relative position relationship between the on-board second camera and the current vehicle, the position information of the driver's eyes in the on-board second camera coordinate system is converted to the vehicle coordinate system to obtain the position information of the driver's eyes based on the vehicle coordinate system;

[0023] The difference of the position information of the driver's eyes at adjacent moments is used as the position transformation matrix of the driver's eyes at adjacent moments;

[0024] Determine the rotation matrix of the driver's eye gaze direction at adjacent moments according to the rotation axis and rotation angle between the current gaze vector corresponding to the driver's eye gaze direction at the current moment and the historical gaze vector at the previous moment;

[0025] The rotation matrix of the driver's eye gaze direction at adjacent moments and the position transformation matrix of the driver's eyes at adjacent moments are combined to form the visual transformation matrix of the driver's eyes in the vehicle coordinate system.

[0026] Optionally, the rotation matrix of the driver's eye gaze direction at adjacent moments is determined according to the rotation axis and rotation angle between the current gaze vector corresponding to the driver's eye gaze direction at the current moment and the historical gaze vector at the previous moment, including:

[0027] Based on the Rodriguez formula, the rotation axis and rotation angle between the current gaze vector corresponding to the driver's eye gaze direction at the current moment and the historical gaze vector at the previous moment are used to form a rotation matrix of the driver's eye gaze direction at adjacent moments;

[0028] Among them, the rotation axis and rotation angle between the current gaze vector corresponding to the driver's eye gaze direction at the current moment and the historical gaze vector at the previous moment are obtained by the following formulas:

[0029] i=z(t-1)×z(t)

[0030]

[0031] Among them, z(t) represents the current gaze vector corresponding to the driver's eye gaze direction at the current moment, z(t-1) represents the historical gaze vector corresponding to the driver's eye gaze direction at the previous moment, i represents the rotation axis between the current gaze vector and the historical gaze vector at the previous moment; δ represents the rotation angle between the current gaze vector and the historical gaze vector at the previous moment.

[0032] Optionally, according to the posture conversion matrix, the first position transformation matrix between the onboard first camera coordinate system and the vehicle coordinate system in the world coordinate system is corrected, including:

[0033] According to the following formula, the first position transformation matrix between the first onboard camera coordinate system and the vehicle coordinate system in the world coordinate system is corrected:

[0034]

[0035] Among them, M′ M represents the modified first position transformation matrix, M M represents the first position transformation matrix before correction, Represents the attitude transformation matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments;

[0036] According to the visual transformation matrix, a second position transformation matrix between the rendering space coordinate system of the virtual image and the virtual camera coordinate system in the rendering space is corrected, including:

[0037] According to the following formula, the second position transformation matrix between the rendering space coordinate system of the virtual image and the virtual camera coordinate system in the rendering space is corrected:

[0038]

[0039] Among them, M′ V represents the modified second position transformation matrix, M V represents the second position transformation matrix before correction, Represents the visual transformation matrix of the driver's eyes in the vehicle coordinate system at adjacent moments.

[0040] In a second aspect, an embodiment of the present invention further provides an image adjustment device for a vehicle head-up display HUD, wherein the HUD is used to display vehicle operation information and driving assistance information through a virtual image. The device provided by the embodiment of the present invention includes:

[0041] A posture conversion matrix determination module is configured to determine a posture conversion matrix of a current vehicle coordinate system based on a world coordinate system at adjacent moments;

[0042] A first correction module is configured to correct a first position transformation matrix between the vehicle-mounted first camera coordinate system and the vehicle coordinate system in the world coordinate system according to the posture conversion matrix to obtain a corrected first position transformation matrix, wherein the first position transformation matrix is ​​used to convert the position information of the target object in the vehicle-mounted first camera coordinate system to the vehicle coordinate system;

[0043] A visual transformation matrix determination module is configured to determine a visual transformation matrix of the driver's eyes in the vehicle coordinate system according to a position transformation relationship of the driver's sight lines at adjacent moments, wherein the driver's eyes are identified by a second vehicle-mounted camera;

[0044] A second correction module is configured to correct a second position transformation matrix between the rendering space coordinate system of the virtual image and the virtual camera coordinate system in the rendering space according to the visual transformation matrix to obtain a corrected second position transformation matrix, wherein the second position transformation matrix is ​​used to transform the position of the target object in the rendering space coordinate system to the virtual camera coordinate system, and the rendering space coordinate system is consistent with the vehicle coordinate system;

[0045] The image position adjustment module is configured to adjust the position of the virtual image rendered by the HUD and the position of the target object in the virtual image based on the corrected first position transformation matrix and the corrected second position transformation matrix.

[0046] Optionally, a posture transformation matrix determination module includes:

[0047] A posture information determination unit is configured to determine the current posture information of the current vehicle in the world coordinate system at the current moment, and obtain the historical posture information of the current vehicle in the world coordinate system at the previous moment of the current moment;

[0048] The posture conversion matrix determining unit is configured to determine the posture conversion matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments according to the current posture information and the historical posture information.

[0049] Optionally, the posture information determination unit includes:

[0050] The posture information determination subunit is configured to determine the current posture information of the current vehicle in the world coordinate system at the current moment based on the posture change of the inertial measurement unit IMU at the current moment.

[0051] Optionally, the posture information determination subunit is specifically configured as follows:

[0052] Based on the attitude change of the IMU at the current moment, determine the first rotation matrix around the X axis, the second rotation matrix around the Y axis, and the third rotation matrix around the Z axis of the current vehicle in the world coordinate system at the current moment, where the X axis, Y axis and Z axis are perpendicular to each other;

[0053] The third rotation matrix, the second rotation matrix and the first rotation matrix are multiplied in sequence to obtain the current posture information of the current vehicle in the world coordinate system at the current moment.

[0054] Optionally, a visual transformation matrix determination module includes:

[0055] The visual transformation matrix determination unit is configured to determine the visual transformation matrix of the driver's eyes in the vehicle coordinate system based on the position transformation of the driver's sight lines at adjacent moments, the rotation matrix of the direction in which the eyes are looking, and the position transformation matrix of the driver's eyes.

[0056] Optionally, a visual transformation matrix determination unit comprises:

[0057] The eye position information determination subunit is configured to convert the position information of the driver's eyes in the coordinate system of the second on-board camera to the vehicle coordinate system based on the relative position relationship between the second on-board camera and the current vehicle, so as to obtain the position information of the driver's eyes based on the vehicle coordinate system;

[0058] The eye position transformation matrix determination subunit is configured to use the difference of the position information of the driver's eyes at adjacent moments as the position transformation matrix of the driver's eyes at adjacent moments;

[0059] The gaze direction rotation matrix determination subunit is configured to determine the rotation matrix of the gaze direction of the driver's eyes at adjacent moments according to the rotation axis and rotation angle between the current gaze vector corresponding to the gaze direction of the driver's eyes at the current moment and the historical gaze vector at the previous moment;

[0060] The visual transformation matrix forming subunit is configured to combine the rotation matrix of the direction in which the driver's eyes are looking at at adjacent moments and the position transformation matrix of the driver's eyes at adjacent moments to form a visual transformation matrix of the driver's eyes in the vehicle coordinate system.

[0061] Optionally, the gaze direction rotation matrix determination subunit is specifically configured as follows:

[0062] Based on the Rodriguez formula, the rotation axis and rotation angle between the current gaze vector corresponding to the driver's eye gaze direction at the current moment and the historical gaze vector at the previous moment are used to form a rotation matrix of the driver's eye gaze direction at adjacent moments;

[0063] The rotation axis and rotation angle between the current gaze vector corresponding to the driver's eye gaze direction at the current moment and the historical gaze vector at the previous moment are obtained by the following formulas:

[0064] i=z(t-1)×z(t)

[0065]

[0066] Among them, z(t) represents the current gaze vector corresponding to the driver's eye gaze direction at the current moment, z(t-1) represents the historical gaze vector corresponding to the driver's eye gaze direction at the previous moment, i represents the rotation axis between the current gaze vector and the historical gaze vector at the previous moment; δ represents the rotation angle between the current gaze vector and the historical gaze vector at the previous moment.

[0067] Optionally, the first correction module is specifically configured as follows:

[0068] According to the following formula, the first position transformation matrix between the first onboard camera coordinate system and the vehicle coordinate system in the world coordinate system is corrected:

[0069]

[0070] Among them, M′ M represents the modified first position transformation matrix, M M represents the first position transformation matrix before correction, Represents the attitude transformation matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments;

[0071] The second correction module is specifically configured as follows:

[0072] According to the following formula, the second position transformation matrix between the rendering space coordinate system of the virtual image and the virtual camera coordinate system in the rendering space is corrected:

[0073]

[0074] Among them, M′ V represents the modified second position transformation matrix, M V represents the second position transformation matrix before correction, Represents the visual transformation matrix of the driver's eyes in the vehicle coordinate system at adjacent moments.

[0075] In a third aspect, an embodiment of the present invention further provides an electronic device, including:

[0076] A memory storing executable program code;

[0077] a processor coupled to the memory;

[0078] The processor calls the executable program code stored in the memory to execute the image adjustment method of the vehicle head-up display HUD provided in any embodiment of the present invention.

[0079] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the image adjustment method for a vehicle-mounted head-up display (HUD) provided in any embodiment of the present invention.

[0080] The technical solution provided by the embodiment of the present invention, when the vehicle posture changes, by correcting the first position transformation matrix between the on-board first camera coordinate system and the vehicle coordinate system in the world coordinate system, and the second position transformation matrix between the rendering space coordinate system and the virtual camera coordinate system in the rendering space, when the virtual image is drawn using the corrected first position transformation matrix, the corrected second position transformation and the projection matrix, the position of the virtual image and the position of the target object in the virtual image can be adjusted accordingly following the change of the vehicle posture, that is, when the vehicle posture changes, the position of the target object in the virtual image can also be aligned with the actual position of the target object, thereby avoiding the problem of driver dizziness caused by the misalignment between the target object in the virtual image and the actual target object, and improving the driver's riding experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0082] Figure 1 A schematic diagram showing area changes on the HUD screen;

[0083] Figure 2 A flowchart of a method for adjusting an image of a vehicle head-up display provided in Embodiment 1 of the present invention;

[0084] Figure 3 A flow chart for determining a driver's visual transformation matrix provided in the first embodiment of the present invention;

[0085] Figure 4 A structural block diagram of an image adjustment device for a vehicle head-up display (HUD) provided in Embodiment 2 of the present invention;

[0086] Figure 5 A schematic diagram of the structure of an electronic device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0087] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 the present invention.

[0088] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0089] The embodiments of the present invention disclose a method, device, equipment and medium for adjusting an image of a vehicle head-up display. In order to explain the contents of each embodiment of the present invention more clearly and clearly, the implementation principle of the present invention is briefly introduced below.

[0090] Figure 1 This is a schematic diagram of the HUD screen display area changes. Figure 1 As shown in the figure, when a vehicle passes a stone, the rear axle is used as the fulcrum, and the front of the vehicle is lifted α°, that is, it is rotated α° along the x-axis. At this time, the posture of the whole vehicle changes, and the driver's perspective of the target object changes from the lower area A to the upper area B. Due to the change in the conversion relationship of the image coordinate system, the HUD virtual image cannot be adjusted to the appropriate position in time, and the target object in the virtual image cannot fit the actual position of the target object.

[0091] The purpose of the present invention is to correct the first position transformation matrix between the on-board first camera coordinate system and the vehicle coordinate system by the posture conversion matrix of the vehicle before and after the posture change when the vehicle changes its posture, such as when passing over speed bumps, low-lying areas or stones, or when going up and downhill. In addition, by determining the visual transformation matrix of the driver's eyes in the vehicle coordinate system before and after the vehicle posture change, the second position transformation matrix between the rendering space coordinate system and the virtual camera coordinate system in the rendering space can be corrected. When the HUD draws a virtual image using the corrected first position transformation matrix and the second position transformation matrix, the position of the virtual image can be adjusted accordingly as the vehicle posture changes, thereby ensuring that the icons in the virtual image viewed by the driver and the positions of the actual objects can fit in real time, avoiding the driver from feeling dizzy and affecting the driving experience. The implementation process of the present invention is described in detail below.

[0092] Embodiment 1

[0093] Figure 2 This is a flow chart of a method for adjusting the image of a vehicle head-up display provided in the first embodiment of the present invention. The method can be applied to vehicle terminals such as HUD (Head Up Display), and can also be applied to servers, which are not limited in the present embodiment. The method provided in this embodiment can be applied to application scenarios where the vehicle's posture changes, such as when the vehicle passes by speed bumps, low-lying areas or stones, or when the vehicle passes through uphill and downhill sections. Figure 2 As shown, the method provided in this embodiment specifically includes:

[0094] S110, determining a posture conversion matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments.

[0095] Among them, adjacent moments are the current moment and the moment before the current moment. The world coordinate system is also called the geodetic coordinate system, which is an absolute coordinate system that does not rotate with the object. The vehicle coordinate system is a coordinate system on the vehicle body. The coordinate system usually takes the center of the rear axle of the vehicle as the origin, the direction of vehicle travel is the X-axis direction, the direction perpendicular to the X-axis is the Z-axis direction, and the direction perpendicular to the X-axis and Z-axis is the Y-axis direction. Regarding the setting method of the vehicle coordinate system position, this embodiment does not make any specific restrictions on this.

[0096] In this embodiment, the posture conversion matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments can be obtained according to the current posture information of the current vehicle in the world coordinate system at the current moment, and the historical posture information of the current vehicle in the world coordinate system at the previous moment. Among them, the posture information of the vehicle in the world coordinate system at each moment can be measured by the on-board IMU (Inertial Measurement Unit). Among them, the on-board IMU is installed at the origin of the vehicle coordinate system. The initial posture of the IMU is the unit matrix. Based on the posture change of the IMU at the current moment, the current posture information of the current vehicle in the world coordinate system at the current moment can be determined.

[0097] Specifically, the IMU’s attitude change at the current moment can be expressed as θ = (θ x ,θ y ,θ z ). Among the above parameters, θ x Indicates the roll angle (Roll) around the X axis, θ y Indicates the pitch angle (Pitch) around the Y axis, θ z Indicates the yaw angle (Yaw) of rotation around the Z axis. The above angle is obtained by integrating the angular velocity information measured by the IMU's angular velocity meter.

[0098] Based on the above IMU attitude change at the current moment, the first rotation matrix M of the current vehicle around its X-axis in the world coordinate system at the current moment can be determined: x (t), the second rotation matrix M around the Y axis y (t), and the third rotation matrix M around the Z axis z (t), the specific formulas of each rotation matrix are as follows:

[0099]

[0100] In this embodiment, the transformation matrix of the vehicle posture can be obtained by three rotations around the Z axis, around the Y axis and around the X axis, that is, the third rotation matrix, the second rotation matrix and the first rotation matrix are multiplied in sequence to obtain the current posture information of the current vehicle in the world coordinate system at the current moment. The specific formula is:

[0101]

[0102] Wherein, t represents the time, the subscript b represents the vehicle coordinate system, and the superscript i represents the IMU coordinate system, which can be used as the world coordinate system in this embodiment.

[0103] According to the current posture information of the current vehicle in the world coordinate system at the current moment And the historical posture information of the vehicle in the world coordinate system at the last moment The attitude transformation matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments can be obtained It can be expressed by the following formula:

[0104]

[0105] in, Representation Matrix The transpose of .

[0106] S120. Correct a first position transformation matrix between the onboard first camera coordinate system and the vehicle coordinate system according to the posture conversion matrix to obtain a corrected first position transformation matrix.

[0107] The first vehicle-mounted camera is a camera of the vehicle ADAS (Advanced Driving Assistance System). The camera is used to capture target objects outside the vehicle. The target objects may be other vehicles, obstacles, signs or traffic markings, etc., which are not specifically limited in this embodiment.

[0108] Those skilled in the art can understand that when implementing the drawing of the HUD virtual image, the MVP matrix (a collective name for the three matrices of model, view, and projection) of OpenGL (Open Graphics Library) can be used to draw the image. Among them, in the MVP matrix, the role of the M matrix is ​​to transform the object from the model space to the world space, that is, to transform the object from its own coordinate system to the rendering space coordinate system. In this embodiment, the rendering space coordinate system completely coincides with the vehicle coordinate system, that is, the reference for model drawing is the vehicle coordinate system, that is, the M matrix in this embodiment is the first position transformation matrix between the vehicle-mounted first camera coordinate system and the vehicle coordinate system based on the world coordinate system. In the actual application process, due to the change of the vehicle body posture, the position of the target object photographed by the first vehicle-mounted camera also changes relatively. Therefore, under the condition that the position of the virtual camera in the rendering space remains unchanged, in order to ensure that the position of the rendered object remains unchanged, the posture transformation matrix obtained by the above step S110 can be used to correct the M matrix of OpenGL, that is, the first position transformation matrix between the vehicle-mounted first camera coordinate system and the vehicle coordinate system in the world coordinate system in this embodiment.

[0109] Specifically, the correction process of the first position transformation matrix may be:

[0110] First, transform the 3D posture matrix Expanded to a four-dimensional rotation and translation matrix This setting is to unify the dimensions of the subsequent matrix. The specific expansion method can be: in the three-dimensional posture rotation matrix The next column of the matrix adds a one-dimensional matrix with 0 elements. Since the three-dimensional posture rotation matrix is a matrix with three rows and three columns. The added column matrix is ​​a matrix with three rows and one column. Therefore, a matrix with one row and four columns needs to be added to the last row of the matrix. The elements of the matrix are (0 0 0 1), and a 4×4 dimensional rotation and translation matrix is ​​obtained. In the three-dimensional posture transformation matrix Expanded to a four-dimensional rotation and translation matrix Then, the rotation and translation matrix Added to the current M matrix in OpenGL rendering, the adding process is to rotate and translate the matrix Multiplying with the current M matrix, we get the corrected first position transformation matrix, which can be specifically expressed by the following formula:

[0111]

[0112] in, It is a three-dimensional matrix, which represents the rotation matrix between the coordinate system of the first camera on board and the vehicle coordinate system in the world coordinate system.a =[s,0,h] T represents the translation matrix from the origin of the vehicle's first camera coordinate system to the origin of the vehicle coordinate system, where s represents the distance difference between the center of the vehicle's rear axle and the lateral center of the vehicle in the X direction, and h represents the distance difference between the center of the vehicle's rear axle and the lateral center of the vehicle in the Z direction. represents the M matrix before correction, that is, the first position transformation matrix between the vehicle-mounted first camera coordinate system based on the world coordinate system and the vehicle coordinate system before correction, M′ M Represents the modified first position transformation matrix.

[0113] Furthermore, the target object recognized by the first on-board camera can be converted to the rotated vehicle coordinate system by using the modified M matrix, so as to adjust the position of the target object and prevent the virtual image from shaking due to the change of vehicle posture. This can be achieved by the following formula:

[0114]

[0115] Among them, P is a 3×1 dimensional matrix, which represents the position information of the target object in the coordinate system of the first camera on the vehicle, and P′ is a 3×1 dimensional matrix, which represents the position information of the target object in the vehicle coordinate system after posture rotation, and also represents the first position information of the target object in the rendering space coordinate system after rotation. ,

[0116] S130: Determine a visual transformation matrix of the driver's eyes in the vehicle coordinate system according to a position change relationship of the driver's sight lines at adjacent moments.

[0117] The driver's eyes can be identified and tracked by a second onboard camera in a DMS (Driver Monitor System), and the DMS can also detect changes in the driver's sight line, that is, changes in the driver's gaze direction. In this embodiment, the position change of the driver's sight line can be represented by a rotation matrix of the direction in which the driver's eyes are looking and a position transformation matrix of the driver's eyes.

[0118] It can be understood by those skilled in the art that when implementing the drawing of the HUD virtual image, the role of the V matrix in the MVP matrix is ​​to convert the coordinates in the world space to the visual space, that is, to convert the object in the rendering space coordinate system to the camera coordinate system in the rendering space. In this embodiment, when the vehicle changes its posture, the position of the driver's eyes relative to the vehicle coordinate system changes. In order to ensure that the position of the virtual image seen by the driver does not change, the position of the camera in the rendering space also needs to be adjusted accordingly, that is, the V matrix in the OpenGL rendering pipeline needs to be adjusted. In this embodiment, the V matrix can be adjusted according to the visual transformation matrix of the driver's eyes.

[0119] In this embodiment, Figure 3 As shown, the determination method of the visual transformation matrix of the driver's eyes can be implemented through the following steps S131-S134:

[0120] S131. Based on the relative position relationship between the onboard second camera and the current vehicle, the position information of the driver's eyes in the onboard second camera coordinate system is converted to the vehicle coordinate system to obtain the position information of the driver's eyes based on the vehicle coordinate system.

[0121] Among them, the positional relationship between the on-board second camera and the vehicle is fixed, that is, the positional transformation relationship between the on-board second camera coordinate system and the vehicle coordinate system is fixed.

[0122] In this embodiment, step S131 can be specifically implemented by the following formula:

[0123]

[0124] in, Indicates the position information of the driver's eyes in the coordinate system of the second camera on the vehicle. Represents the position information of the driver's eyes in the vehicle coordinate system, Represents the rotation matrix from the onboard second camera coordinate system to the vehicle coordinate system, Represents the translation matrix from the vehicle's second camera coordinate system to the vehicle coordinate system.

[0125] S132: Using the difference in the position information of the driver's eyes at adjacent moments as a position transformation matrix of the driver's eyes at adjacent moments.

[0126] Among them, the position transformation matrix of the driver's eyes can be expressed by the following formula:

[0127]

[0128] Among them, t represents the time, Indicates the current position information of the driver's eyes in the vehicle coordinate system, Indicates the position information of the driver's eyes in the vehicle coordinate system at the moment before the current moment, Represents the position transformation matrix of the driver's eyes at adjacent moments.

[0129] S133, determining a rotation matrix of the driver's eye gaze direction at adjacent moments according to a rotation axis and a rotation angle between a current gaze vector corresponding to the driver's eye gaze direction at the current moment and a historical gaze vector at a previous moment.

[0130] In this embodiment, the DMS can detect the gaze direction of the driver's eyes, determine the unit vector of the driver's eye gaze direction at the current moment as z(t), and the unit vector of the driver's eye gaze direction at the previous moment as z(t-1). The rotation axis of the gaze vector corresponding to the driver's eye gaze direction at these two adjacent moments can be obtained by cross-producting the above two unit vectors, that is:

[0131] i=z(t-1)×z(t)

[0132] Furthermore, by multiplying the two unit vectors, the rotation angle δ between them can be obtained. The specific formula is:

[0133]

[0134] According to the Rodriguez formula, the above rotation axis and rotation angle can be converted into a rotation matrix

[0135] S134, combining the rotation matrix of the direction in which the driver's eyes are looking and the position transformation matrix of the driver's eyes to form a visual transformation matrix of the driver's eyes in the vehicle coordinate system.

[0136] The rotation matrix obtained in step S134 Combined with the position transformation matrix obtained in step S132, the visual transformation matrix of the driver's eyes in the vehicle coordinate system can be obtained, that is, the homogeneous translation rotation matrix The rotation matrix obtained in step S134 is The purpose of combining the position transformation matrix obtained in step S132 is to transform the three-dimensional rotation matrix Combined with the one-dimensional position transformation matrix into a four-dimensional matrix that contains both rotation and translation. The combination principle is the same as the above three-dimensional posture transformation matrix Expanded to a four-dimensional rotation and translation matrix The method is similar to that of Add a three-row and one-column position transformation matrix to the next column, and then add a row and four-column matrix (0 0 0 1) to the last row of the matrix to get a 4×4 dimensional visual transformation matrix It can be expressed by the following formula:

[0137]

[0138] in, Represents the position transformation matrix of the driver's eyes at adjacent moments.

[0139] S140. According to the visual transformation matrix, correct the second position transformation matrix between the rendering space coordinate system of the virtual image and the virtual camera coordinate system in the rendering space to obtain a corrected second position transformation matrix.

[0140] In this embodiment, the position transformation matrix between the rendering space coordinate system of the virtual image and the virtual camera coordinate system in the rendering space is corrected according to the visual transformation matrix, that is, the V matrix in OpenGL is corrected. Specifically, the visual transformation matrix and the current second position transformation matrix M V Multiply M V ,Right now The corrected second position transformation matrix is ​​obtained. By correcting the second position transformation matrix, the position of the virtual camera coordinate system in the rendering space can change with the change of the vehicle posture. Using the corrected second position transformation matrix, the position information of the object in the rendering space coordinate system can be converted to the corrected virtual camera coordinate system.

[0141] S150: Adjust the position of the virtual image rendered by the HUD and the position of the target object in the virtual image based on the corrected first position transformation matrix and the corrected second position transformation matrix.

[0142] It can be understood by those skilled in the art that when drawing a virtual image in the rendering space through the MVP matrix of OpenGL, the position of the target object is converted to the vehicle coordinate system, that is, the rendering space coordinate system, through the modified first position matrix (modified M matrix), and then the target object is converted from the rendering space coordinate system to the virtual camera coordinate system in the rendering space through the modified second position matrix (modified V matrix), and then the target object in the virtual camera coordinate system is projected to the 2D screen of the HUD through the projection matrix. In this embodiment, when the vehicle posture changes, the position of the target object in the virtual image seen by the driver can be adjusted by correcting the first position matrix, and the position of the virtual image seen by the driver can be adjusted by correcting the second position matrix, so that the position of the virtual image seen by the driver and the position of the target object in the virtual image can be adjusted accordingly when the vehicle posture changes, which solves the problem that the position of the target object does not fit the actual position when the vehicle posture changes.

[0143] In this embodiment, when the vehicle posture changes, the first position transformation matrix between the on-board first camera coordinate system and the vehicle coordinate system in the world coordinate system, and the second position transformation matrix between the rendering space coordinate system and the virtual camera coordinate system in the rendering space are corrected. When the virtual image is drawn using the corrected first position transformation matrix, the corrected second position transformation and the projection matrix, the position of the virtual image and the position of the target object in the virtual image can be adjusted accordingly as the vehicle posture changes. That is, when the vehicle posture changes, the position of the target object in the virtual image can also be aligned with the actual position of the target object, thereby avoiding the problem of driver dizziness caused by the misalignment between the target object in the virtual image and the actual target object, and improving the driver's riding experience.

[0144] Embodiment 2

[0145] Figure 4 A structural block diagram of an image adjustment device for a vehicle head-up display HUD provided in the second embodiment of the present invention, such as Figure 4 As shown, the device includes: a posture conversion matrix determination module 210, a first correction module 220, a visual transformation matrix determination module 230, a second correction module 240 and an image position adjustment module 250, wherein:

[0146] The posture conversion matrix determination module 210 is configured to determine the posture conversion matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments;

[0147] The first correction module 220 is configured to correct the first position transformation matrix between the vehicle-mounted first camera coordinate system and the vehicle coordinate system in the world coordinate system according to the posture conversion matrix to obtain a corrected first position transformation matrix, wherein the first position transformation matrix is ​​used to convert the position information of the target object in the vehicle-mounted first camera coordinate system to the vehicle coordinate system;

[0148] The visual transformation matrix determination module 230 is configured to determine the visual transformation matrix of the driver's eyes in the vehicle coordinate system according to the position transformation relationship of the driver's sight lines at adjacent moments, wherein the driver's eyes are recognized by the second vehicle-mounted camera;

[0149] A second correction module 240 is configured to correct a second position transformation matrix between the rendering space coordinate system of the virtual image and the virtual camera coordinate system in the rendering space according to the visual transformation matrix to obtain a corrected second position transformation matrix, wherein the second position transformation matrix is ​​used to transform the position of the target object in the rendering space coordinate system to the virtual camera coordinate system, and the rendering space coordinate system is consistent with the vehicle coordinate system;

[0150] The image position adjustment module 250 is configured to adjust the position of the virtual image rendered by the HUD and the position of the target object in the virtual image based on the corrected first position transformation matrix and the corrected second position transformation matrix.

[0151] Optionally, the posture conversion matrix determination module 210 includes:

[0152] A posture information determination unit is configured to determine the current posture information of the current vehicle in the world coordinate system at the current moment, and obtain the historical posture information of the current vehicle in the world coordinate system at the previous moment of the current moment;

[0153] The posture conversion matrix determining unit is configured to determine the posture conversion matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments according to the current posture information and the historical posture information.

[0154] Optionally, the posture information determination unit includes:

[0155] The posture information determination subunit is configured to determine the current posture information of the current vehicle in the world coordinate system at the current moment based on the posture change of the inertial measurement unit IMU at the current moment.

[0156] Optionally, the posture information determination subunit is specifically configured as follows:

[0157] Based on the attitude change of the IMU at the current moment, determine the first rotation matrix around the X axis, the second rotation matrix around the Y axis, and the third rotation matrix around the Z axis of the current vehicle in the world coordinate system at the current moment, where the X axis, Y axis and Z axis are perpendicular to each other;

[0158] The third rotation matrix, the second rotation matrix and the first rotation matrix are multiplied in sequence to obtain the current posture information of the current vehicle in the world coordinate system at the current moment.

[0159] Optionally, the visual transformation matrix determination module 230 includes:

[0160] The visual transformation matrix determination unit is configured to determine the visual transformation matrix of the driver's eyes in the vehicle coordinate system based on the position transformation of the driver's sight lines at adjacent moments, the rotation matrix of the direction in which the eyes are looking, and the position transformation matrix of the driver's eyes.

[0161] Optionally, a visual transformation matrix determination unit comprises:

[0162] The eye position information determination subunit is configured to convert the position information of the driver's eyes in the coordinate system of the second on-board camera to the vehicle coordinate system based on the relative position relationship between the second on-board camera and the current vehicle, so as to obtain the position information of the driver's eyes based on the vehicle coordinate system;

[0163] The eye position transformation matrix determination subunit is configured to use the difference of the position information of the driver's eyes at adjacent moments as the position transformation matrix of the driver's eyes at adjacent moments;

[0164] The gaze direction rotation matrix determination subunit is configured to determine the rotation matrix of the gaze direction of the driver's eyes at adjacent moments according to the rotation axis and rotation angle between the current gaze vector corresponding to the gaze direction of the driver's eyes at the current moment and the historical gaze vector at the previous moment;

[0165] The visual transformation matrix forming subunit is configured to combine the rotation matrix of the direction in which the driver's eyes are looking at at adjacent moments and the position transformation matrix of the driver's eyes at adjacent moments to form a visual transformation matrix of the driver's eyes in the vehicle coordinate system.

[0166] Optionally, the gaze direction rotation matrix determination subunit is specifically configured as follows:

[0167] Based on the Rodriguez formula, the rotation axis and rotation angle between the current gaze vector corresponding to the driver's eye gaze direction at the current moment and the historical gaze vector at the previous moment are used to form a rotation matrix of the driver's eye gaze direction at adjacent moments;

[0168] The rotation axis and rotation angle between the current gaze vector corresponding to the driver's eye gaze direction at the current moment and the historical gaze vector at the previous moment are obtained by the following formulas:

[0169] i=z(t-1)×z(t)

[0170]

[0171] Among them, z(t) represents the current gaze vector corresponding to the driver's eye gaze direction at the current moment, z(t-1) represents the historical gaze vector corresponding to the driver's eye gaze direction at the previous moment, i represents the rotation axis between the current gaze vector and the historical gaze vector at the previous moment; δ represents the rotation angle between the current gaze vector and the historical gaze vector at the previous moment.

[0172] Optionally, the first correction module 220 is specifically configured to:

[0173] According to the following formula, the first position transformation matrix between the first onboard camera coordinate system and the vehicle coordinate system in the world coordinate system is corrected:

[0174]

[0175] Among them, M′ M represents the modified first position transformation matrix, MM represents the first position transformation matrix before correction, Represents the attitude transformation matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments;

[0176] The second correction module 240 is specifically configured to:

[0177] According to the following formula, the second position transformation matrix between the rendering space coordinate system of the virtual image and the virtual camera coordinate system in the rendering space is corrected:

[0178]

[0179] Among them, M′ V represents the modified second position transformation matrix, M V represents the second position transformation matrix before correction, Represents the visual transformation matrix of the driver's eyes in the vehicle coordinate system at adjacent moments.

[0180] Embodiment 3

[0181] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided by Embodiment 3 of the present invention. Figure 5 As shown, the electronic device may include:

[0182] A memory 701 storing executable program codes;

[0183] a processor 702 coupled to the memory 701;

[0184] The processor 702 calls the executable program code stored in the memory 701 to execute the image adjustment method of the vehicle head-up display HUD provided in any embodiment of the present invention.

[0185] An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the image adjustment method of a vehicle-mounted head-up display (HUD) provided in any embodiment of the present invention.

[0186] In various embodiments of the present invention, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0187] In the embodiments provided by the present invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0188] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0189] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for a computer device (which can be a personal computer, a server or a network device, etc., specifically a processor in a computer device) to perform some or all of the steps of the above methods of various embodiments of the present invention.

[0190] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0191] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of an embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0192] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0193] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting a vehicle head-up display (HUD) image, wherein: The HUD is used to display vehicle operation information and driving assistance information through virtual images, and is characterized in that the method includes: Determine the attitude transformation matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments; According to the posture conversion matrix, a first position transformation matrix between the vehicle-mounted first camera coordinate system and the vehicle coordinate system in the world coordinate system is corrected to obtain a corrected first position transformation matrix, wherein the first position transformation matrix is ​​used to convert the position information of the target object in the vehicle-mounted first camera coordinate system to the vehicle coordinate system; Determining a visual transformation matrix of the driver's eyes in the vehicle coordinate system according to a position transformation relationship of the driver's sight lines at adjacent moments, wherein the driver's eyes are recognized by a second vehicle-mounted camera; According to the visual transformation matrix, a second position transformation matrix between the rendering space coordinate system of the virtual image and the virtual camera coordinate system in the rendering space is corrected to obtain a corrected second position transformation matrix, wherein the second position transformation matrix is ​​used to transform the position of the target object in the rendering space coordinate system to the virtual camera coordinate system, and the rendering space coordinate system is consistent with the vehicle coordinate system; Based on the corrected first position transformation matrix and the corrected second position transformation matrix, the position of the virtual image rendered by the HUD and the position of the target object in the virtual image are adjusted.

2. The method according to claim 1, characterized in that The step of determining a posture conversion matrix of the current vehicle coordinate system at adjacent moments based on the world coordinate system includes: Determine the current posture information of the current vehicle in the world coordinate system at the current moment, and obtain the historical posture information of the current vehicle in the world coordinate system at the moment before the current moment; According to the current posture information and the historical posture information, a posture conversion matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments is determined.

3. The method according to claim 2, characterized in that The determining of the current posture information of the current vehicle at the current moment in the world coordinate system includes: Based on the attitude change of the inertial measurement unit IMU at the current moment, determine the first rotation matrix around the X axis, the second rotation matrix around the Y axis, and the third rotation matrix around the Z axis of the current vehicle in the world coordinate system at the current moment, wherein the X axis, the Y axis, and the Z axis are perpendicular to each other; The third rotation matrix, the second rotation matrix and the first rotation matrix are multiplied in sequence to obtain the current posture information of the current vehicle in the world coordinate system at the current moment.

4. The method according to any one of claims 1 to 3, characterized in that: Determining the visual transformation matrix of the driver's eyes in the vehicle coordinate system according to the position transformation relationship of the driver's sight lines at adjacent moments includes: The visual transformation matrix of the driver's eyes in the vehicle coordinate system is determined according to the rotation matrix of the direction in which the driver's eyes are looking at at adjacent moments and the position transformation matrix of the driver's eyes.

5. The method according to claim 4, characterized in that The method of determining the visual transformation matrix of the driver's eyes in the vehicle coordinate system according to the rotation matrix of the direction in which the driver's eyes are looking at at adjacent moments and the position transformation matrix of the driver's eyes comprises: Based on the relative position relationship between the on-board second camera and the current vehicle, the position information of the driver's eyes in the on-board second camera coordinate system is converted to the vehicle coordinate system to obtain the position information of the driver's eyes based on the vehicle coordinate system; Taking the difference of the position information of the driver's eyes at adjacent moments as the position transformation matrix of the driver's eyes at adjacent moments; Determine the rotation matrix of the driver's eye gaze direction at adjacent moments according to the rotation axis and rotation angle between the current gaze vector corresponding to the driver's eye gaze direction at the current moment and the historical gaze vector at the previous moment; The rotation matrix of the direction in which the driver's eyes are looking at at adjacent moments and the position transformation matrix of the driver's eyes at adjacent moments are combined to form a visual transformation matrix of the driver's eyes in the vehicle coordinate system.

6. The method according to claim 5, characterized in that The method of determining the rotation matrix of the driver's eye gaze direction at adjacent moments according to the rotation axis and rotation angle between the current gaze vector corresponding to the driver's eye gaze direction at the current moment and the historical gaze vector at the previous moment includes: Based on the Rodriguez formula, the rotation axis and rotation angle between the current gaze vector corresponding to the driver's eye gaze direction at the current moment and the historical gaze vector at the previous moment are used to form a rotation matrix of the driver's eye gaze direction at adjacent moments; The rotation axis and rotation angle between the current gaze vector corresponding to the driver's eye gaze direction at the current moment and the historical gaze vector at the previous moment are obtained by the following formulas: i=z(t-1)×z(t) Among them, z(t) represents the current gaze vector corresponding to the driver's eye gaze direction at the current moment, z(t-1) represents the historical gaze vector corresponding to the driver's eye gaze direction at the previous moment, i represents the rotation axis between the current gaze vector and the historical gaze vector at the previous moment; δ represents the rotation angle between the current gaze vector and the historical gaze vector at the previous moment.

7. The method according to any one of claims 1 to 6, characterized in that: The step of correcting a first position transformation matrix between a first onboard camera coordinate system and a vehicle coordinate system in the world coordinate system according to the posture conversion matrix includes: According to the following formula, the first position transformation matrix between the first onboard camera coordinate system and the vehicle coordinate system in the world coordinate system is corrected: Among them, M′ M represents the modified first position transformation matrix, M M represents the first position transformation matrix before correction, Represents the attitude transformation matrix of the current vehicle coordinate system based on the world coordinate system at adjacent moments; The step of correcting a second position transformation matrix between a rendering space coordinate system of the virtual image and a virtual camera coordinate system in the rendering space according to the visual transformation matrix comprises: According to the following formula, the second position transformation matrix between the rendering space coordinate system of the virtual image and the virtual camera coordinate system in the rendering space is corrected: Among them, M′ V represents the modified second position transformation matrix, M V represents the second position transformation matrix before correction, Represents the visual transformation matrix of the driver's eyes in the vehicle coordinate system at adjacent moments.

8. An image adjustment device for a vehicle head-up display (HUD), wherein: The HUD is used to display vehicle operation information and driving assistance information through virtual images, and is characterized in that the device includes: A posture conversion matrix determination module is configured to determine a posture conversion matrix of a current vehicle coordinate system based on a world coordinate system at adjacent moments; A first correction module is configured to correct a first position transformation matrix between the vehicle-mounted first camera coordinate system and the vehicle coordinate system in the world coordinate system according to the posture conversion matrix to obtain a corrected first position transformation matrix, wherein the first position transformation matrix is ​​used to convert the position information of the target object in the vehicle-mounted first camera coordinate system to the vehicle coordinate system; A visual transformation matrix determination module is configured to determine a visual transformation matrix of the driver's eyes in the vehicle coordinate system according to a position transformation relationship of the driver's sight lines at adjacent moments, wherein the driver's eyes are identified by a second vehicle-mounted camera; A second correction module is configured to correct a second position transformation matrix between the rendering space coordinate system of the virtual image and the virtual camera coordinate system in the rendering space according to the visual transformation matrix to obtain a corrected second position transformation matrix, wherein the second position transformation matrix is ​​used to transform the position of the target object in the rendering space coordinate system to the virtual camera coordinate system, and the rendering space coordinate system is consistent with the vehicle coordinate system; The image position adjustment module is configured to adjust the position of the virtual image rendered by the HUD and the position of the target object in the virtual image based on the corrected first position transformation matrix and the corrected second position transformation matrix.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the image adjustment method for the vehicle head-up display HUD as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the image adjustment method of the vehicle head-up display (HUD) as described in any one of claims 1 to 7 is implemented.

Images