Head-up display control method, system and device, vehicle, medium and program product

Abstract

The invention relates to a head-up display control method, system and device, a vehicle, a medium and a program product. The head-up display control method comprises the following steps: acquiring a vehicle image of a second vehicle in front of a first vehicle; according to the vehicle image, adjusting a display position of a display object of the head-up display system, so that the display object is not overlapped with a halo area formed by vehicle lamp light of the second vehicle; according to the embodiment of the invention, the display object can be displayed in the area which is not influenced by the headlight by adjusting the display position of the display object, so that the problems that the projection image of the HUD is easily interfered by the taillight of the headlight, becomes fuzzy and is difficult to identify can be effectively avoided.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicles, and in particular, to a head-up display control method, system, device, vehicle, medium and program product. Background Art

[0002] HUD (Head Up Display) is a device that projects the driving information, navigation information, etc. of a vehicle or aircraft directly into the driver's field of view. Currently, HUD technology has become a hot topic of research in the field of automotive intelligent technology, but the existing HUD head-up display system has not yet solved the problem of light interference with HUD image projection in dark environments. For example, when driving in tunnels or at night, due to the influence of the taillights of the vehicle in front, the clarity of the HUD projected image is easily reduced, and the rendered motion effects become blurred and difficult to recognize, which cannot effectively guide and warn the driver, and may even increase the driver's sense of dizziness. Therefore, how to prevent the HUD projected image from being blurred and difficult to recognize due to light interference is a problem that the industry urgently needs to solve. Summary of the invention

[0003] The purpose of the present disclosure is to provide a head-up display control method, system, device, vehicle, medium and program product.

[0004] In order to achieve the above object, a first aspect of the present disclosure provides a head-up display control method, which is applied to a head-up display system, wherein the head-up display system is provided in a first vehicle, and the method comprises:

[0005] Acquire a vehicle image of a second vehicle in front of the first vehicle;

[0006] According to the vehicle image, a display position of a display object of the head-up display system is adjusted so that the display object does not overlap with a halo area formed by light from the headlights of the second vehicle.

[0007] Optionally, the operation of adjusting the display position of the display object of the head-up display system according to the vehicle image so that the display object does not overlap with the halo area formed by the headlights of the second vehicle is performed only when the vehicle position of the second vehicle, the observation position of the head-up display system and the image display area of ​​the head-up display system on a preset display plane meet preset position conditions.

[0008] Optionally, the preset position condition includes that the distance between the intersection point of an observation straight line on the display plane and the image display area is less than a preset distance threshold, and the observation straight line is a straight line passing through the vehicle position and the observation position.

[0009] Optionally, the preset position condition includes that the intersection point of the observation straight line on the display plane is located in the image display area.

[0010] Optionally, the observation position includes an eye position of a user of the first vehicle or an eye box position of the head-up display system.

[0011] Optionally, adjusting the display position of the display object of the head-up display system according to the vehicle image so that the display object does not overlap with a halo area formed by light from the headlights of the second vehicle includes:

[0012] Determining, according to the vehicle image, a halo region formed by light from the headlights of the second vehicle;

[0013] When an object display area of ​​a display object of the head-up display system overlaps with the halo area, a display position of the display object is adjusted so that the object display area does not overlap with the halo area.

[0014] Optionally, the object display area is an object projection area, and the halo area is a halo projection area, the object projection area is an area where the display object is projected onto the display plane of the head-up display system, and the halo projection area is an area where the halo of the headlight is projected onto the display plane; or,

[0015] The object display area is the object physical area, and the halo area is the halo physical area. The object physical area is the area corresponding to the plane where the display object is mapped to the scene depth corresponding to the second vehicle, and the halo physical area is the area corresponding to the plane where the halo of the headlight is mapped to the scene depth corresponding to the second vehicle.

[0016] Optionally, the halo physical area is obtained by performing a coordinate system transformation on the headlight halo pixel area in the vehicle image based on a preset transformation relationship, and the preset transformation relationship includes a transformation relationship between a pixel coordinate system corresponding to the vehicle image and a world coordinate system.

[0017] Optionally, adjusting the display position of the display object so that the display object does not overlap with a halo area formed by light from a headlight of the second vehicle includes:

[0018] The display position of the displayed object is adjusted according to a first distance, a second distance and a third distance so that the object display area does not overlap with the halo area, wherein the first distance is the distance between a first center point of the object display area and a determined first boundary point, the second distance is the distance between a second center point of the halo area and a determined second boundary point, and the third distance is the distance between the first center point and the second center point.

[0019] Optionally, the overlap between the object display area and the halo area includes: a sum of the first distance and the second distance is greater than the third distance.

[0020] Optionally, the first boundary point is a boundary point in the object display area that is closest to the second center point, and the second boundary point is a boundary point in the halo area that is closest to the first center point.

[0021] Optionally, adjusting the display position of the display object according to the first distance, the second distance, and the third distance so that the object display area does not overlap with the halo area includes:

[0022] According to the first coordinate value of the first center point on the preset coordinate axis and the second coordinate value of the second center point on the first coordinate axis, the display position of the display object is moved along the preset coordinate axis by a first target distance so that the object display area does not overlap with the halo area, and the first target distance is determined by the first distance, the second distance and the third distance.

[0023] Optionally, the moving the display position of the display object by a first target distance along the preset coordinate axis according to a first coordinate value of the first center point on the preset coordinate axis and a second coordinate value of the second center point on the first coordinate axis so that the object display area does not overlap with the halo area includes:

[0024] In the case where the first coordinate value is smaller than the second coordinate value, the display position of the display object is configured to move along the negative direction of the preset coordinate axis; and / or,

[0025] When the first coordinate value is greater than the second coordinate value, the display position of the display object is configured to move along the positive direction of the preset coordinate axis.

[0026] Optionally, the first target distance is greater than or equal to the difference in projection lengths, the difference in projection lengths is the difference between the sum of the first projection length and the second projection length and a third projection length, the first projection length is the length of the first distance projected onto the preset coordinate axis, the second projection length is the length of the second distance projected onto the preset coordinate axis, and the third projection length is the length of the third distance projected onto the preset coordinate axis.

[0027] Optionally, the first target distance is a difference between a sum of the first distance and the first distance and the third distance.

[0028] Optionally, the operation of adjusting the display position of the display object of the head-up display system according to the vehicle image so that the display object does not overlap with the halo area formed by the headlights of the second vehicle is only performed when the ambient light intensity of the environment in which the first vehicle is located is less than a preset light intensity threshold.

[0029] A second aspect of the present disclosure provides an electronic device, comprising a processor, wherein the processor is connected to a memory, wherein the memory stores a computer program, and the processor is used to call the computer program stored in the memory to execute the steps of the method described in the first aspect above.

[0030] A third aspect of the present disclosure provides a head-up display system, applied to a first vehicle, comprising an image acquisition device and a head-up display device, wherein:

[0031] The image acquisition device is configured to acquire a vehicle image of a second vehicle in front of the first vehicle;

[0032] The head-up display device is configured to adjust a display position of a display object of the head-up display system so that the display object does not overlap with a halo area formed by light from the headlights of the second vehicle, wherein the halo area is determined based on the vehicle image.

[0033] A fourth aspect of the present disclosure provides a vehicle, comprising the electronic device described in the second aspect above, or comprising the head-up display system described in the first aspect above.

[0034] A fifth aspect of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method described in the first aspect when executed by a processor.

[0035] A sixth aspect of the present disclosure provides a computer program product, characterized in that it includes a computer program that implements the steps of the method described in the first aspect when the computer program is executed by a processor.

[0036] The above technical solution obtains a vehicle image of the second vehicle in front of the first vehicle; and adjusts the display position of the display object of the head-up display system according to the vehicle image so that the display object does not overlap with the halo area formed by the headlights of the second vehicle; in this way, by adjusting the display position of the display object, the display object can be displayed in an area not affected by the headlights of the front vehicle, thereby effectively avoiding the problem that the projection image of the HUD is easily affected by the taillights of the front vehicle and becomes blurred and difficult to identify.

[0037] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0039] Figure 1 is a flow chart of a head-up display control method shown in an exemplary embodiment of the present disclosure;

[0040] Figure 2 is a schematic diagram of a head-up display control method shown in an exemplary embodiment of the present disclosure;

[0041] Figure 3 is based on Figure 1 A flowchart of a head-up display control method shown in the illustrated embodiment;

[0042] Figure 4 is a schematic diagram of coordinate system conversion shown in an exemplary embodiment of the present disclosure;

[0043] Figure 5a for Figure 2 A top view of Figure 5b for Figure 2 Side view of

[0044] Figure 6 is a schematic diagram of another head-up display control method shown in an exemplary embodiment of the present disclosure;

[0045] Figure 7 The figure is a block diagram showing a head-up display system according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0046] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0047] Figure 1 is a flowchart of a head-up display control method shown in an exemplary embodiment of the present disclosure; Figure 1 As shown, the head-up display control method is applied to a head-up display system, and the head-up display system is arranged in a first vehicle. The method may include:

[0048] Step 101: Acquire a vehicle image of a second vehicle in front of the first vehicle.

[0049] The vehicle image may be captured by a camera module disposed on the first vehicle. The second vehicle may be a moving vehicle or a parked vehicle, and the vehicle image may include a rear view and / or a head view of the second vehicle. The second vehicle may be a vehicle traveling in the same direction as the first vehicle or in a different direction. When the second vehicle is a vehicle traveling in the same direction as the first vehicle, the vehicle image may include a rear view of the second vehicle. When the second vehicle is a vehicle traveling in a different direction from the first vehicle, the vehicle image may include a head view and / or a rear view of the second vehicle.

[0050] Step 102: adjusting a display position of a display object of the head-up display system according to the vehicle image so that the display object does not overlap with a halo area formed by the headlights of the second vehicle.

[0051] The display object of the head-up display system may be any object in the projection image output by the head-up display system. The projection image output by the head-up display system may include navigation indicators (e.g., 3D navigation guide arrows), obstacles ahead, dangerous objects, traffic signs, blind spot images, and instrument panel data, etc. In some embodiments, the display object may be one or more of navigation indicators, obstacles ahead, dangerous objects, traffic signs, blind spot images, and instrument panel data. In other embodiments, display objects whose display positions can be adjusted may be pre-set. For example, a navigation indicator (3D navigation guide arrow) may be used as a display object whose display position can be adjusted.

[0052] The above technical solution can adjust the display position of the display object and display the display object in an area not affected by the headlights of the front vehicle, thereby effectively avoiding the problem that the projection image of the HUD is easily affected by the taillights of the front vehicle and becomes blurred and difficult to identify.

[0053] Optionally, the operation of adjusting the display position of the display object of the head-up display system according to the vehicle image so that the display object does not overlap with the halo area formed by the headlights of the second vehicle is performed only when the vehicle position of the second vehicle, the observation position of the head-up display system and the image display area of ​​the head-up display system on a preset display plane meet preset position conditions.

[0054] In this way, when the vehicle position of the second vehicle, the observation position of the head-up display system and the image display area of ​​the head-up display system on the preset display plane meet the preset position conditions, the display position of the display object of the head-up display system is adjusted according to the vehicle image so that the display object does not overlap with the halo area formed by the headlights of the second vehicle; this can ensure that when the vehicle position of the second vehicle affects the display image of the head-up display system seen by the user, the display position of the display object of the head-up display system is adjusted in time.

[0055] Optionally, the preset position condition includes that the distance between the intersection point of an observation straight line on the display plane and the image display area is less than a preset distance threshold, and the observation straight line is a straight line passing through the vehicle position and the observation position.

[0056] In some embodiments, the vehicle position may be the center point of the rear axle or the front axle of the vehicle; in other embodiments, the vehicle position may be the center of the vehicle; in still other embodiments, the vehicle position may be a specified position in the vehicle, such as the center point of the vehicle headlights or taillights.

[0057] The above technical scheme can determine whether the vehicle position of the second vehicle affects the display image of the head-up display system by observing the distance between the intersection of the straight line and the display plane and the image display area, and can effectively and accurately determine whether the position of the second vehicle affects the display image of the head-up display system.

[0058] Optionally, the preset position condition includes that the intersection point of the observation straight line on the display plane is located in the image display area.

[0059] It should be noted that when the intersection of the observation straight line on the display plane is located in the image display area, it can be determined that the halo area formed by the vehicle headlights will affect the clarity of the image displayed by the head-up display system. When the preset position condition is met, the display position of the display object of the head-up display system is adjusted, which can further accurately identify the situation that the halo area formed by the vehicle headlights affects the image displayed by the head-up display system, thereby ensuring that the display effect of the head-up display system is not affected by the second vehicle headlights.

[0060] Optionally, the observation position includes an eye position of a user of the first vehicle or an eye box position of the head-up display system.

[0061] For example, Figure 2 is a schematic diagram of a head-up display control method shown in an exemplary embodiment of the present disclosure, such as Figure 2 As shown, the first coordinate axis of the vehicle coordinate system is Xcar axis, the second coordinate axis is Y car The axis and the third coordinate axis are Z car axis, point P is the center position of the rear of the second vehicle, E is the position of the driver's eyes, and the four vertices of the image display area of ​​the head-up display system are V lt 、V rt 、V lb 、V rb , the observation line passing through the center of the rear of the car (point P) and the eye position (point E) is EP, and EP is parallel to the image display area V lt V rt V lb V rb The intersection point of the display plane is P″. When determining whether the intersection point of the observation straight line on the display plane is located in the image display area, it can be determined whether the following inequality holds:

[0062] V lt .x≤P″.x≤V rt .x

[0063] V lb .y≤P″.y≤V rb .y

[0064] Among them, V lt .x is the vertex V lt X car Axis coordinates, P″.x is the X of point P″ car Axis coordinate, V rt .x is the vertex V rt X car Axis coordinates. If the above inequality holds, then the intersection point P″ is in the image display area V lt V rt V lb V rb If the above inequality does not hold, then the intersection point P″ is not in the image display area V lt V rt V lb V rb .

[0065] The above technical solution can determine whether the vehicle position of the second vehicle affects the clarity of the image displayed by the head-up display system through the eye position of the user of the first vehicle or the eye box position of the head-up display system, thereby improving the reliability of the determination result.

[0066] Figure 3 is based on Figure 1 The embodiment shown is a flowchart of a head-up display control method; Figure 3 As shown, Figure 1The implementation of adjusting the display position of the display object of the head-up display system according to the vehicle image so that the display object does not overlap with the halo area formed by the headlights of the second vehicle in step 102 may include:

[0067] Step 1021: Determine a halo area formed by the headlights of the second vehicle based on the vehicle image.

[0068] In one embodiment, the halo area includes a halo projection area, and the halo projection area is an area where the halo of the headlight is projected onto the display plane.

[0069] In another embodiment, the halo area includes a halo physical area, and the halo physical area is an area corresponding to the halo of the headlight light mapped to the plane corresponding to the scene depth of the second vehicle.

[0070] Step 1022 , when an object display area of ​​a display object of the head-up display system overlaps with the halo area, adjusting a display position of the display object of the head-up display system so that the object display area does not overlap with the halo area.

[0071] In one embodiment, the object display area is an object projection area, and the halo area is a halo projection area. The object projection area is an area where the display object is projected onto the display plane of the head-up display system, and the halo projection area is an area where the halo of the headlight is projected onto the display plane.

[0072] In another embodiment, the object display area is an object physical area, and the halo area is a halo physical area. The object physical area is an area corresponding to the plane where the display object is mapped to the scene depth of the second vehicle, and the halo physical area is an area corresponding to the plane where the halo of the headlight is mapped to the scene depth of the second vehicle.

[0073] In this way, whether the display area of ​​the displayed object overlaps with the halo area formed by the headlights of the second vehicle can be effectively and accurately determined through the object projection area and the halo projection area, or through the object physical area and the halo physical area.

[0074] It should be noted that the halo physical area can be obtained by performing a coordinate system transformation on the headlight halo pixel area in the vehicle image based on a preset transformation relationship, and the preset transformation relationship includes the transformation relationship between the pixel coordinate system corresponding to the vehicle image and the world coordinate system.

[0075] The headlight halo pixel area in the vehicle image can be determined by a preset recognition model, wherein the preset recognition model can be a model based on a YOLOv8 (You Only Look Once version 8, the name of the YOLO series model) network, and the preset recognition model is trained through the steps shown in S11 and S12:

[0076] S11, acquiring a plurality of vehicle headlight image sample data, wherein the vehicle headlight image sample data includes vehicle headlight halo pixel region annotation data;

[0077] S12, training a preset initial model using the plurality of vehicle headlight image sample data as training data to obtain the preset recognition model.

[0078] In this step, the preset initial model is the YOLOv8 network initial model. When obtaining the headlight image sample data, the front camera on the vehicle can be used to collect the image of the headlight of the front vehicle when driving at night; and the image annotation tool, such as LabelImg, is used to annotate the bounding box (Bounding_Box) of the headlight halo pixel area of ​​the collected image to obtain an XML file in VOC format; then the XML file in VOC format is converted into a TXT file in YOLO format; the training set, validation set and test set are divided according to the ratio of 7:2:1, and a YAML file of the category label is given; a YOLOv8 network is built for training; the model with the best performance in the validation set is used for inference, and the vehicle image of the front vehicle is input. Through model inference, the pixel bounding box of the identified headlight halo pixel area can be obtained.

[0079] In addition, the process of determining the conversion relationship between the pixel coordinate system and the world coordinate system corresponding to the vehicle image may include: conversion from the pixel coordinate system to the image physical coordinate system, then conversion from the image physical coordinate system to the camera coordinate system, and conversion from the camera coordinate system to the world coordinate system. The above specific conversion process is widely documented in the prior art, and the present disclosure does not limit this.

[0080] Optionally, the halo physical area can also be obtained by performing a coordinate system transformation on the headlight halo pixel area in the vehicle image based on a specified transformation relationship, and the specified transformation relationship may include a transformation relationship between the pixel coordinate system corresponding to the vehicle image and the vehicle coordinate system.

[0081] In some embodiments, the origin of the self-vehicle coordinate system can be the center point of the rear axle of the first vehicle. The self-vehicle coordinate system includes a first coordinate axis corresponding to the longitudinal axis of the vehicle body, a second coordinate axis corresponding to the lateral axis of the vehicle, and a third coordinate axis in the vertical direction, wherein the first coordinate axis, the second coordinate axis and the third coordinate axis are perpendicular to each other.

[0082] In some other embodiments, the origin of the vehicle coordinate system may be the center point of the front axle of the first vehicle, or the center point of the bounding box of the first vehicle.

[0083] It should be noted that the specific process of determining the halo physical area according to the vehicle light halo pixel area and the specified conversion relationship may be as shown in S21 to S23, including:

[0084] S21, obtaining camera parameters of the vehicle camera module.

[0085] The camera parameters may include an intrinsic parameter matrix and an extrinsic parameter matrix, and the extrinsic parameter matrix may include a rotation matrix R and a translation matrix T.

[0086] It should be noted that the vehicle camera module can be calibrated to obtain the internal and external parameters of the camera, which may include focal length, optical center coordinates, camera position and orientation, etc., and the internal and external parameters of the camera can be obtained according to the internal and external parameters. The process of calibrating the camera module and determining the internal and external parameter matrix here can refer to the implementation details in the prior art, and the present disclosure does not limit this.

[0087] S22, determining a conversion relationship between a pixel coordinate system and the vehicle coordinate system according to the camera parameters.

[0088] The conversion relationship between the pixel coordinate value and the vehicle coordinate system coordinate value can be:

[0089]

[0090] In the above conversion relationship, is the external parameter matrix, is the internal parameter matrix, where R is a 3×3 rotation matrix and T is a 3×1 translation matrix.

[0091] It should be noted that the process of determining the conversion relationship from the vehicle coordinate system to the pixel coordinate system is as follows:

[0092] First, the vehicle coordinate system is converted to the camera coordinate system using the following formula (1). It should be noted that the conversion from the vehicle coordinate system to the camera coordinate system only involves rotation and translation, so the conversion can be done using only the rigid body transformation formula.

[0093]

[0094] In the above formula (1), R is a 3×3 rotation matrix, T is a 3×1 translation matrix, (X cam , Y cam , Z cam ) is the coordinate in the camera coordinate system, (Xcar , Y car , Z car ) is the coordinate in the vehicle coordinate system.

[0095] Secondly, the camera coordinate system is converted to the image coordinate system using formula (2). From the camera coordinate system to the image coordinate system, it is a perspective projection relationship, which converts 3D to 2D, as shown in Figure 4 As shown, the image coordinates are obtained by the similar triangle theorem:

[0096]

[0097] In the above formula (2), f is the focal length of the camera, (X cam , Y cam , Z cam ) is the coordinate in the camera coordinate system, and (x, y) is the coordinate in the image coordinate system.

[0098] Then, the image coordinate system is converted to the pixel coordinate system using formula (3). It should be noted that both the image coordinate system and the pixel coordinate system are on the imaging plane, but their origins and measurements are different. If the coordinates of the origin O of the image coordinate system in the pixel coordinate system are (u0, v0), then the conversion relationship between the image coordinate system and the pixel coordinate system is:

[0099]

[0100] In the above formula (3), (u, v) is the coordinate in the pixel coordinate system, and (x, y) is the coordinate in the image coordinate system.

[0101] Through the above formulas (1) to (3), the conversion relationship from the vehicle coordinate system to the pixel coordinate system can be obtained as formula (4):

[0102]

[0103]

[0104] Transforming formula (4) can obtain the transformation relationship from the pixel coordinate system to the vehicle coordinate system as formula (5):

[0105]

[0106] in, is the camera’s intrinsic parameter matrix, is the intrinsic parameter matrix of the camera.

[0107] Therefore, the conversion relationship between the pixel coordinate value and the vehicle coordinate value is:

[0108]

[0109] S23, determining the coordinate value of each pixel in the vehicle coordinate system according to the conversion relationship and the pixel coordinates of the vehicle light halo pixel area to obtain the halo physical area.

[0110] For example, still taking the example shown in S22 as an example, if the pixel coordinate value of the headlight halo pixel area is: (u car ,v car ,1), then the coordinate value of the halo physical area is:

[0111] (X car ,Y car ,Z car ,1)=Z cam ·f pix2car ·(u car ,v car ,1).

[0112] The above S21 to S23 can obtain the physical area of ​​the halo of the headlight according to the vehicle image, and can provide a reliable data basis for adjusting the display position of the display object so that the display object is displayed in an area not affected by the headlight.

[0113] In addition, it should be noted that the object physical area is the area corresponding to the mapping of the display object on the plane corresponding to the scene depth of the second vehicle, wherein the scene depth corresponding to the second vehicle may be the depth of the rear of the second vehicle, and the determination process of the object physical area may be as shown in S31 to S34, including:

[0114] S31, determining a first coordinate difference between the eye position and the rear boundary position of the second vehicle on the third coordinate axis.

[0115] Among them, the third coordinate axis is Z car Axis, such as Figure 5a and Figure 5b As stated, Figure 5a for Figure 2 The top view (XOZ plane) of Figure 5b for Figure 2 The eye position is E(X e ,Y e Z e ), the rear center position P, at this Z car The first coordinate difference between the on-axis eye position and the rear boundary position is obj2eye, which is Figure 5a It can be seen that obj2eye=Pz-Z e , Pz is the Z value of point P at the center of the rear of the vehicle car Axis coordinate values.

[0116] S32, determining a second coordinate difference between the eye position and the image display area on the third coordinate axis.

[0117] For example. Figure 2 For example, the second coordinate difference is Figure 2 The distance vid.

[0118] S33, determining a first ratio of the first coordinate difference to the second coordinate difference.

[0119] Among them, the first ratio is

[0120] S34: determining an image projection area according to the first ratio and the image display area.

[0121] For example, Figure 2 , Figure 5a and 5b As an example, firstly, according to the similar triangle theorem, the image projection area V is obtained. lt ′V rt ′V lb ′V rb The dimensions of ′ are:

[0122] L′ v =(V rt .xV lt .x)*scale_factor

[0123] W′ v =(V lt .yV lb .y)*scale_factor

[0124] Then, according to the image projection area V lt ′V rt ′V lb ′V rb The size of ′ can be used to obtain the image projection area V lt ′V rt ′V lb ′V rb 'X car Axis coordinates:

[0125] t=|Ex|

[0126] V rt ′.x=V rb ′.x=L′ v / 2-t

[0127] V lt ′.x=V lb '.x = -L' v / 2-t

[0128] Next, we can use the trigonometric relationship to find V lt ′V rt ′V lb ′V rb Y car Coordinates, the specific process is as follows:

[0129] Depend on Figure 5b visible, Given the vertical field of view VFOV of AR-HUD, θ = VFOV + α, according to the trigonometric function: s = (obj2eye-vid) * tanθ, V lt ′V rt ′V lb ′V rb Y car Coordinates: V lb ′.y=V rb ′.y=V rb .ys,V lt ′.y=V rt ′.y=W v ′+V rb ′.y.

[0130] S35, determining the physical shape parameters of the object projection area in the image display area.

[0131] In this step, the pixel length and pixel width of the image display area and the physical length and physical width of the image display area can be obtained; a second ratio of the physical length to the pixel length, and a third ratio of the pixel width to the physical width can be determined; and the physical shape parameters can be determined based on the target pixel area of ​​the object projection area, the second ratio, and the third ratio.

[0132] For example, let the physical length and width of the 3D navigation guide arrow in the image display area be L a , W a , the corresponding coordinates are: A(L a , W a ). According to the known pixel length and width of the 3D navigation arrow: a 、v a , image display area V lt V rt V lb V rb The pixel length and width are: u v 、v v , physical dimensions: L v , W v The mapping relationship from pixel size to physical size is: f1 = L v / uv 、f2=W v / v v , wherein the second ratio of the physical length to the pixel length is f1, and the third ratio of the pixel width to the physical width is f2. The physical bounding box B of the final rendered 3D navigation guide arrow can be obtained according to the target pixel area of ​​the object projection area, the second ratio, and the third ratio. a Length L a =u a f1, width W a =v a f2 and the corresponding coordinate values.

[0133] S36, determining a physical area of ​​the object at the depth of the second vehicle according to the image display area, the image projection area and the physical shape parameters.

[0134] For example, the physical length and width of the 3D navigation guidance arrow at the depth of the tail of the second vehicle is: L′ a , W′ a , and the corresponding coordinates are A′(L′ a ,W′ a ). Based on the above calculation, the coverage area V of the projection area of ​​the depth image of the rear of the front vehicle in the vehicle coordinate system is obtained. lt ′V rt ′V lb ′V rb ′ and the image display area V lt V rt V lb V rb The actual physical size mapping relationship is f′1=L′ v / L v , f′2=(W′ v +s) / W v , the physical bounding box B′ of the 3D navigation guidance arrow at the depth of the front vehicle’s rear can be obtained a Length L′ a =L a f′1, width W′ a =W a f′2 and the corresponding coordinate values.

[0135] In this way, the physical area of ​​the object can be effectively determined through S31 to S36, and a reliable data basis can be provided for adjusting the display position of the display object so that the display object is displayed in an area not affected by the headlights of the front vehicle.

[0136] Through the above steps 1021 to 1022, the halo area formed by the headlights of the second vehicle can be determined based on the vehicle image, thereby providing a reliable data basis for adjusting the display position of the display object so that the display object is displayed in an area not affected by the headlights.

[0137] Optionally, the implementation of adjusting the display position of the display object in step 1022 so that the display object does not overlap with the halo area formed by the headlights of the second vehicle may be:

[0138] The display position of the displayed object is adjusted according to a first distance, a second distance and a third distance so that the object display area does not overlap with the halo area, wherein the first distance is the distance between a first center point of the object display area and a determined first boundary point, the second distance is the distance between a second center point of the halo area and a determined second boundary point, and the third distance is the distance between the first center point and the second center point.

[0139] It should be noted that, when the object display area is a rectangle, the first boundary point may be any vertex on the boundary of the object display area, and when the object display area is a circle, the first boundary point may be any point in the boundary of the object display area. According to the first distance, the second distance and the third distance, it can be effectively determined whether the object display area overlaps with the halo area, and reliable data basis can be provided for moving the display position of the display object.

[0140] Optionally, when the object display area is an irregular shape, the first boundary point is the boundary point in the object display area that is closest to the second center point, and the second boundary point is the boundary point in the halo area that is closest to the first center point. When the object display area and the halo area are irregular shapes, it can be effectively ensured that the object display area and the halo area do not overlap when moving according to the first target distance.

[0141] Optionally, the overlap between the object display area and the halo area includes: a sum of the first distance and the second distance is greater than the third distance.

[0142] When the sum of the first distance and the second distance is greater than the third distance, it can be effectively determined that the object display area overlaps with the halo area.

[0143] Optionally, adjusting the display position of the display object according to the first distance, the second distance, and the third distance so that the object display area does not overlap with the halo area includes:

[0144] According to the first coordinate value of the first center point on the preset coordinate axis and the second coordinate value of the second center point on the preset coordinate axis, the display position of the display object is moved along the preset coordinate axis by a first target distance so that the object display area does not overlap with the halo area, and the first target distance is determined by the first distance, the second distance and the third distance.

[0145] The preset coordinate axis may be a second coordinate axis corresponding to the horizontal axis of the vehicle in the vehicle coordinate system or a third coordinate axis in the vertical direction. By moving according to the first target distance, it is possible to effectively achieve that the object display area does not overlap with the halo area.

[0146] In one embodiment, when the first coordinate value is less than the second coordinate value, the display position of the display object is configured to move along the negative direction of the preset coordinate axis; and / or, when the first coordinate value is greater than the second coordinate value, the display position of the display object is configured to move along the positive direction of the preset coordinate axis.

[0147] In another embodiment, when the first coordinate value is less than the second coordinate value, the display position of the display object is configured to move along the positive direction of the preset coordinate axis; and / or, when the first coordinate value is greater than the second coordinate value, the display position of the display object is configured to move along the negative direction of the preset coordinate axis.

[0148] It should be noted that, in order to achieve the effect that the object display area and the halo area do not overlap, when the first coordinate value is less than the second coordinate value, the distance that the display position of the display object moves along the negative direction of the preset coordinate axis is less than the distance that moves along the positive direction of the preset coordinate axis. In order to achieve the effect that the object display area and the halo area do not overlap, when the first coordinate value is greater than the second coordinate value, the distance that moves along the positive direction of the preset coordinate axis is less than the distance that moves along the negative direction of the preset coordinate axis. The above technical scheme can effectively obtain the moving direction of the display position of the display object. In this way, by moving along the negative direction or positive direction of the preset coordinate axis, the object display area and the halo area are effectively avoided from overlapping.

[0149] The first target distance is the difference between the sum of the first distance and the first distance and the third distance. Taking the difference between the sum of the first distance and the first distance and the third distance as the first target distance can not only ensure the halo area formed by the display object and the headlights of the second vehicle, but also avoid waste of resources due to excessive movement.

[0150] Optionally, the first target distance may be greater than or equal to the difference in projection lengths, the difference in projection lengths being the difference between the sum of the first projection length and the second projection length and a third projection length, the first projection length being the length of the first distance projected onto the preset coordinate axis, the second projection length being the length of the second distance projected onto the preset coordinate axis, and the third projection length being the length of the third distance projected onto the preset coordinate axis.

[0151] The above technical solution determines the first target distance of the movement of the display object by the first projection length and the second projection length, which can not only effectively determine the first target distance, but also ensure the reliability of the first target distance, thereby providing a reliable data basis for avoiding the headlights of the second vehicle affecting the display effect of the head-up display system.

[0152] For example, Figure 6 is a schematic diagram of a head-up display control method shown in an exemplary embodiment of the present disclosure, such as Figure 6 As shown, the coordinates of the center point of the target adjustment area of ​​the 3D navigation guidance arrow are: O′ ba , the distance from the vertex to the center is: r ba ; The coordinates of the center point of the physical area of ​​the car light halo are: O′ b1 , the distance from the vertex to the center is: r b1 . And O′ ba To O' b1 The distance is: d. If O′ ba .x <O′ b1 .x, and d <r ba +r b1 , the target adjustment area showing the 3D navigation guide arrow moves to the left (r ba +r b1 -d) unit length; or O′ ba .y <O′ b1 .y, and d <r ba +r b1 , the target adjustment area showing the 3D navigation guide arrow moves upward (r ba +r b1 -d) unit length, on the contrary, if O′ ba .x>O′ b1 .x, and d <r ba +r b1 , the target adjustment area showing the 3D navigation guide arrow moves to the right (r ba +r b1 -d) unit length; or O′ ba .y>O′ b1 .y, and d <r ba +rb1 , the target adjustment area showing the 3D navigation guide arrow moves downward (r ba +r b1 -d) unit length. In this way, the display position of the 3D navigation guide arrow is adjusted dynamically in real time in the rendering engine program, so that the rendering result of the 3D navigation guide arrow does not overlap with the taillight and halo area of ​​the preceding vehicle, thereby reducing the probability of users seeing the overlapping area of ​​the rendering effect and the halo of the preceding vehicle's taillight, and reducing the dizziness caused by AR-HUD.

[0153] Optionally, the operation of adjusting the display position of the display object of the head-up display system according to the vehicle image so that the display object does not overlap with the halo area formed by the headlights of the second vehicle is performed only when the ambient light intensity of the environment in which the first vehicle is located is less than a preset light intensity threshold.

[0154] The above technical scheme can, when the ambient light intensity of the environment in which the first vehicle is located is less than a preset light intensity threshold, adjust the display position of the display object to display the display object in an area not affected by the headlights of the front vehicle. This not only effectively improves the clarity of the HUD projection image when the ambient light intensity is low, and effectively avoids the problem that the HUD projection image is easily affected by the taillights of the front vehicle and becomes blurred and difficult to identify when driving in a tunnel or at night, but also avoids the waste of resources caused by adjusting the display position of the display object when the ambient light intensity is strong and the headlights of the second vehicle have little effect on the clarity of the HUD projection image.

[0155] Figure 7 is a block diagram of a head-up display system shown in an exemplary embodiment of the present disclosure. Figure 7 As shown, the head-up display system is applied to a first vehicle, including an image acquisition device 801 and a head-up display device 802, wherein:

[0156] The image acquisition device 801 is configured to acquire a vehicle image of a second vehicle in front of the first vehicle;

[0157] The head-up display device 802 is configured to adjust a display position of a display object of the head-up display system so that the display object does not overlap with a halo area formed by the headlights of the second vehicle, wherein the halo area is determined based on the vehicle image.

[0158] The above technical solution can adjust the display position of the display object and display the display object in an area not affected by the headlights of the front vehicle, thereby effectively improving the clarity of the HUD projection image when the ambient light intensity is low, and further effectively avoiding the problem that the HUD projection image is easily affected by the taillights of the vehicle ahead and becomes blurred and difficult to identify when driving in tunnels or at night.

[0159] Another exemplary embodiment of the present disclosure provides an electronic device, the electronic device includes a processor, the processor is connected to a memory, the memory stores a computer program, the processor is used to call the computer program stored in the memory to execute the above Figures 1 to 6 The steps of the method.

[0160] A fourth aspect of the present disclosure provides a vehicle, comprising the electronic device described in the second aspect above, or comprising the head-up display system described in the first aspect above.

[0161] Another exemplary embodiment of the present disclosure provides a vehicle, comprising the electronic device described in the above embodiment, or comprising the above embodiment. Figure 7 The head-up display system.

[0162] In another exemplary embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, Figures 1 to 6 Any of the steps of the method.

[0163] In another exemplary embodiment of the present disclosure, a computer program product is provided, including a computer program, which implements the right when the computer program is executed by a processor. Figures 1 to 6 Any of the steps of the method.

[0164] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0165] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0166] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A head-up display control method, applied to a head-up display system, wherein the head-up display system is arranged in a first vehicle, characterized in that: The method comprises: Acquire a vehicle image of a second vehicle in front of the first vehicle; According to the vehicle image, a display position of a display object of the head-up display system is adjusted so that the display object does not overlap with a halo area formed by light from the headlights of the second vehicle.

2. The method according to claim 1, characterized in that The operation of adjusting the display position of the display object of the head-up display system according to the vehicle image so that the display object does not overlap with the halo area formed by the headlights of the second vehicle is performed only when the vehicle position of the second vehicle, the observation position of the head-up display system and the image display area of ​​the head-up display system on the preset display plane meet the preset position conditions.

3. The method according to claim 2, characterized in that The preset position condition includes that the distance between the intersection point of an observation straight line on the display plane and the image display area is less than a preset distance threshold, and the observation straight line is a straight line passing through the vehicle position and the observation position.

4. The method according to claim 2, characterized in that: The preset position condition includes that the intersection point of the observation straight line on the display plane is located in the image display area.

5. The method according to claim 2, characterized in that: The observation position includes an eye position of a user of the first vehicle or an eye box position of the head-up display system.

6. The method according to any one of claims 1 to 5, characterized in that: The step of adjusting the display position of the display object of the head-up display system according to the vehicle image so that the display object does not overlap with a halo area formed by light from the headlights of the second vehicle includes: Determining, according to the vehicle image, a halo region formed by light from the headlights of the second vehicle; When an object display area of ​​a display object of the head-up display system overlaps with the halo area, a display position of the display object is adjusted so that the object display area does not overlap with the halo area.

7. The method according to claim 6, characterized in that The object display area is an object projection area, and the halo area is a halo projection area. The object projection area is an area where the display object is projected onto the display plane of the head-up display system, and the halo projection area is an area where the halo of the headlight is projected onto the display plane; or The object display area is the object physical area, and the halo area is the halo physical area. The object physical area is the area corresponding to the plane where the display object is mapped to the scene depth corresponding to the second vehicle, and the halo physical area is the area corresponding to the plane where the halo of the headlight is mapped to the scene depth corresponding to the second vehicle.

8. The method according to claim 7, characterized in that The halo physical area is obtained by performing a coordinate system transformation on the headlight halo pixel area in the vehicle image based on a preset transformation relationship, and the preset transformation relationship includes a transformation relationship between a pixel coordinate system corresponding to the vehicle image and a world coordinate system.

9. The method according to claim 6, characterized in that The adjusting the display position of the display object so that the display object does not overlap with a halo area formed by the light of the headlights of the second vehicle comprises: The display position of the displayed object is adjusted according to a first distance, a second distance and a third distance so that the object display area does not overlap with the halo area, wherein the first distance is the distance between a first center point of the object display area and a determined first boundary point, the second distance is the distance between a second center point of the halo area and a determined second boundary point, and the third distance is the distance between the first center point and the second center point.

10. The method according to claim 9, characterized in that The overlap between the object display area and the halo area includes: the sum of the first distance and the second distance is greater than the third distance.

11. The method according to claim 9, characterized in that The first boundary point is a boundary point in the object display area that is closest to the second center point, and the second boundary point is a boundary point in the halo area that is closest to the first center point.

12. The method according to any one of claims 9 to 11, characterized in that: The step of adjusting the display position of the display object according to the first distance, the second distance, and the third distance so that the object display area does not overlap with the halo area includes: According to the first coordinate value of the first center point on the preset coordinate axis and the second coordinate value of the second center point on the preset coordinate axis, the display position of the display object is moved along the preset coordinate axis by a first target distance so that the object display area does not overlap with the halo area, and the first target distance is determined by the first distance, the second distance and the third distance.

13. The method according to claim 12, characterized in that The step of moving the display position of the display object by a first target distance along the preset coordinate axis according to the first coordinate value of the first center point on the preset coordinate axis and the second coordinate value of the second center point on the first coordinate axis so that the object display area does not overlap with the halo area includes: In the case where the first coordinate value is smaller than the second coordinate value, the display position of the display object is configured to move along the negative direction of the preset coordinate axis; and / or, When the first coordinate value is greater than the second coordinate value, the display position of the display object is configured to move along the positive direction of the preset coordinate axis.

14. The method according to claim 12, characterized in that The first target distance is greater than or equal to the difference in projection lengths, the difference in projection lengths is the difference between the sum of the first projection length and the second projection length and the third projection length, the first projection length is the length of the first distance projected onto the preset coordinate axis, the second projection length is the length of the second distance projected onto the preset coordinate axis, and the third projection length is the length of the third distance projected onto the preset coordinate axis.

15. The method according to claim 12, characterized in that The first target distance is a difference between a sum of the first distance and the first distance and the third distance.

16. The method according to any one of claims 1 to 15, characterized in that: The operation of adjusting the display position of the display object of the head-up display system according to the vehicle image so that the display object does not overlap with the halo area formed by the headlights of the second vehicle is only performed when the ambient light intensity of the environment in which the first vehicle is located is less than a preset light intensity threshold.

17. An electronic device, characterized in that: The electronic device comprises a processor, the processor is connected to a memory, the memory stores a computer program, and the processor is used to call the computer program stored in the memory to execute the steps of the method according to any one of claims 1 to 16.

18. A head-up display system, characterized in that: Applied to a first vehicle, comprising an image acquisition device and a head-up display device, wherein: The image acquisition device is configured to acquire a vehicle image of a second vehicle in front of the first vehicle; The head-up display device is configured to adjust a display position of a display object of the head-up display system so that the display object does not overlap with a halo area formed by light from the headlights of the second vehicle, wherein the halo area is determined based on the vehicle image.

19. A vehicle, characterized in that: Includes the electronic device according to claim 17, or includes the head-up display system according to claim 18.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 16 are implemented.

21. A computer program product, characterized in that The invention comprises a computer program, which implements the steps of the method according to any one of claims 1 to 16 when being executed by a processor.

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