Vehicle-mounted HUD dust detection and dust removal method

Abstract

The invention discloses a vehicle-mounted HUD dust detection and dust removal method, which comprises the following steps: after a whole vehicle is powered on, detecting air quality in real time, if the air quality meets a set condition, projecting a calibration picture by an HUD, detecting the brightness of a plurality of feature points on the calibration picture, and judging whether an HUD mask needs dust removal or not according to the brightness of the plurality of feature points; if dust removal is needed, the dust removal equipment is controlled to work for dust removal, and the HUD performs normal projection after dust removal; and if dust removal is not needed, the HUD performs normal projection. Whether dust exists on the HUD mask or not can be automatically detected, dust can be automatically removed, operation is easy and convenient, and the surface of the HUD mask cannot be scratched.

Description

Technical Field

[0001] The invention belongs to the technical field of automobiles, and in particular relates to a method for detecting and removing dust from a vehicle-mounted HUD. Background Art

[0002] With the development of intelligent automobiles, visual applications are increasingly used in car models, and more and more models are equipped with HUD (head-up display). HUD is arranged in the sink in front of the instrument panel, and the HUD mask (i.e. dust cover) is prone to dust accumulation, thus affecting the imaging effect. At present, the dust is removed manually using tools, but since the HUD is arranged relatively forward, manual dust removal is not only inconvenient, but also easy to scratch the outer surface of the HUD mask, thus affecting the projection effect. Summary of the invention

[0003] The purpose of the present invention is to solve the shortcomings of the above-mentioned background technology and provide a vehicle-mounted HUD dust detection and dust removal method.

[0004] The technical solution adopted by the present invention is: a vehicle-mounted HUD dust detection and dust removal method,

[0005] After the vehicle is powered on, the air quality is detected in real time. If the air quality meets the set conditions, the HUD projects a calibration screen and detects the brightness of several feature points on the calibration screen. Based on the brightness of several feature points, it is determined whether the HUD mask needs dust removal.

[0006] If dust removal is required, the dust removal equipment is controlled to perform dust removal, and the HUD is projected normally after dust removal; if dust removal is not required, the HUD is projected normally.

[0007] Furthermore, the air quality is detected by collecting the concentration of PM2.5 in the air. If the concentration of PM2.5 is less than or equal to the set concentration, it is determined that the air quality meets the set conditions, otherwise the air quality does not meet the set conditions.

[0008] Furthermore, if the air quality does not meet the set conditions, it is detected whether this vehicle is powered on for the first time that day. If so, the dust removal equipment is controlled to perform dust removal, and the HUD is projected normally after the third set time of dust removal; if not, the HUD is projected normally.

[0009] Furthermore, the detecting and calibrating the brightness of a plurality of feature points on the screen includes:

[0010] A number of feature points are selected based on the bisection of the standard image, and the brightness of the feature points is determined according to their RGB values.

[0011] Furthermore, the brightness of the feature point is determined by the following formula:

[0012] L=(Cmax+Cmin) / 2,

[0013] Cmax=max(R',G',B'),

[0014] Cmin=min(R',G',B'),

[0015] R'=R / R 0 ,

[0016] G'=G / G 0 ,

[0017] B'=B / B 0 ,

[0018] Among them, L is the brightness of the feature point, Cmax and Cmin are the maximum and minimum values ​​of the three channels after normalization, R', G', and B' are the colors of the red, green, and blue channels of the feature point after normalization, R, G, and B are the colors of the red, green, and blue channels of the feature point, and R 0 , G 0 , B 0 They are the colors of the red, green and blue channels at any point on the standard screen.

[0019] Further, judging whether the HUD mask needs dust removal according to the brightness of a plurality of feature points includes:

[0020] Compare the brightness of each feature point with the brightness standard value. If there are m feature points whose brightness satisfies Li≤a*L0, n is the number of feature points, If it is rounded up, dust removal is required, otherwise dust removal is not required; where Li is the brightness of the i-th feature point, a is the first proportional coefficient, and L0 is the standard brightness value.

[0021] Furthermore, the controlling the dust removal equipment to perform dust removal work comprises the following steps:

[0022] a. Control the dust removal equipment to work for the first set time, detect the brightness of several feature points, and proceed to step b or c;

[0023] b. If the brightness of m feature points satisfies Li>b*L0, the dust removal work is completed and the HUD is projected normally;

[0024] c. If the brightness of m feature points satisfies Li≤b*L0, the dust removal equipment performs dust removal for the second set time, detects the brightness of several feature points again, and performs step b or d;

[0025] d. If the brightness of m feature points satisfies Li≤b*L0, the reminder status position is set to 1 and the HUD is projected normally;

[0026] in, n is the number of feature points, It means rounding up, Li is the brightness of the ith feature point, b is the second proportional coefficient, and L0 is the standard brightness value.

[0027] Furthermore, before detecting the air quality, the reminder status bit is detected first;

[0028] If the reminder status position is 1, when the vehicle speed is less than or equal to the set speed, the dust removal equipment is controlled to work for the fourth set time, and then the HUD projects the calibration screen, detects the brightness of several feature points on the calibration screen, and if the brightness of m feature points satisfies Li≤b*L0, a pop-up window will be displayed to remind the customer that there is dust deposition on the HUD mask, please clean it manually, and the HUD will be projected normally; among them, n is the number of feature points, Indicates rounding up, Li is the brightness of the i-th feature point, b is the second proportional coefficient, and L0 is the standard brightness value;

[0029] If the reminder status is 0, the air quality is detected.

[0030] Furthermore, when the vehicle is powered off, the dust removal device is controlled to operate to perform dust removal for a fifth set time.

[0031] Furthermore, the dust removal device is a dust removal fan installed inside the HUD, and the air outlet of the dust removal fan is aimed at the surface of the HUD mask.

[0032] The beneficial effects of the present invention are:

[0033] When the air quality is good, the present invention controls the HUD to project a calibration picture, detects the brightness of several feature points on the calibration picture, judges whether there is dust on the HUD mask according to the brightness of the several feature points, and then determines whether dust removal is needed. If dust removal is needed, dust removal is performed by arranged dust removal equipment. The method can automatically detect whether there is dust on the HUD mask and can automatically perform dust removal, which is not only easy to operate but also will not scratch the surface of the HUD mask; and dust detection and dust removal are automatically performed each time the whole vehicle is powered on, without manual operation, and the efficiency is higher; at the same time, the present invention performs dust detection when the air quality is good, and the detection result is more accurate.

[0034] The present invention directly performs dust removal when the air quality is poor and the vehicle is powered on for the first time that day. At this time, there is no need to detect the dust situation, which increases the complexity of the operation.

[0035] The present invention controls the HUD to project a calibration picture, uses a specific method to determine the brightness of several feature points on the calibration picture, and compares the brightness of several feature points with the standard brightness value to judge whether there is dust on the HUD mask. It has the advantages of simple feature point brightness determination method, high reliability, and easy dust detection.

[0036] When the present invention determines that the HUD mask needs dust removal, if the dust removal effect cannot be achieved after multiple dust removals, the reminder status position will be set. Dust removal will be performed directly after the whole vehicle is powered on next time, and a pop-up window will be displayed to remind the customer that "there is dust deposition on the HUD mask, please clean it manually", without the need for repeated dust detection. The logic is reasonable and the operation is easier.

[0037] The present invention arranges a dust removal device inside the HUD, aims the air outlet of the dust removal device at the surface of the HUD mask, and automatically removes dust by electric suction or blowing, which has a good dust removal effect and will not damage the surface of the HUD mask. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a flow chart of the present invention.

[0039] Figure 2 Schematic diagram of equipment distribution of the dust detection and dust removal system of the present invention.

[0040] Figure 3 This is a schematic diagram of the distribution of 9 feature points selected for the present invention.

[0041] Figure 4 Schematic diagram of the dust detection and dust removal system of the present invention. DETAILED DESCRIPTION

[0042] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0043] like Figure 1As shown, the present invention provides a vehicle-mounted HUD dust detection and dust removal method. After the vehicle is powered on, the air quality is detected in real time. If the air quality meets the set conditions, the HUD projects a calibration screen, detects the brightness of several feature points on the calibration screen, and judges whether the HUD mask needs dust removal (i.e., judges the dust coverage) according to the brightness of several feature points; if dust removal is required, the dust removal equipment is controlled to work for dust removal, and the HUD is projected normally after dust removal; if dust removal is not required, the HUD is projected normally. The present invention can automatically detect whether there is dust on the HUD mask when the air quality is good, and can automatically remove dust. It is not only easy to operate, but also will not scratch the surface of the HUD mask; and dust detection and dust removal are automatically performed every time the vehicle is powered on, without manual operation, and the efficiency is higher.

[0044] It is understandable that the above-mentioned detection of air quality is achieved by collecting the concentration of PM2.5 in the air, and the detected PM2.5 concentration is the outdoor PM2.5 concentration, that is, the PM2.5 concentration outside the vehicle. When the PM2.5 concentration is less than or equal to the set concentration, the set concentration can be set to 7.5μg / m 3 , the air quality meets the set conditions, that is, the air quality is relatively good, and then the dust detection on the HUD mask is carried out; otherwise, if the air quality is relatively poor, it means that there is a lot of haze or dust, and the dust detection is not very meaningful. At this time, dust removal or normal projection can be carried out directly. The concentration of PM2.5 can be detected by a PM2.5 concentration sensor arranged on the surface of the vehicle.

[0045] It is understandable that the method of detecting air quality is not limited to detecting PM2.5 concentration, but can also be any other method, such as detecting nitrogen oxides or sulfide concentrations in the air, etc. Any factor related to air quality can be used to detect air quality.

[0046] like Figure 2As shown, the components of the HUD system generally include PGU, convex mirror, concave mirror, HUD mask, HUD controller and other structures. The HUD controller is not shown in the figure. In order to realize the dust detection and dust removal method, the present invention is also provided with ADAS camera, dust removal equipment and other structures. The ADAS camera is installed on the rearview mirror and is located on the front side of the rearview mirror, which is convenient for collecting images on the windshield. During normal projection, the driving information is projected onto the front windshield through the cooperation of the HUD controller, PGU, convex mirror and concave mirror. When the above-mentioned dust detection is required, the HUD controller controls the PGU to send a calibration picture, which is projected onto the front windshield through the cooperation of the convex mirror and the concave mirror. The ADAS camera collects the image (GRB format) corresponding to the calibration picture and transmits it to the HUD controller. The HUD controller performs feature point sampling and brightness judgment and comparison, and then determines whether dust removal is required. Due to the dust on the HUD mask, the standard image projected onto the front windshield is not completely consistent with the image captured by the ADAS camera. Therefore, by comparing the brightness of the feature points on the captured image, it can be determined whether there is dust on the HUD mask.

[0047] The above calibration screen generally uses a pure white screen, which can better highlight the dust on the panel and facilitate dust judgment after collecting brightness. The calibration screen is not limited to a pure white screen, and can also be other lighter pure color screens.

[0048] It can be understood that after the HUD controller receives the image corresponding to the calibration screen, it collects a number of feature points from the image. The number of feature points is between 9 and 16, preferably 9, 12, or 16. The selection standard is to select a number of feature points based on bisecting the standard screen. If 9 feature points are selected, the 9 feature points are evenly distributed in three rows and three columns on the image, such as Figure 3 As shown, Figure 3 The size of the feature points in is only for illustration. The three feature points in each row divide the width of the image equally, that is, the width between the upper left feature point and the left border of the image, the width between the upper right feature point and the right border of the image, and the width X between adjacent feature points in the horizontal direction are all the same, and are all 1 / 4 of the image width; similarly, the three feature points in each column divide the height of the image equally, that is, the width between the upper left feature point and the upper border of the image, the width between the lower left feature point and the lower border of the image, and the width Y between adjacent feature points in the vertical direction are all the same, and are all 1 / 4 of the image height. If 12 feature points are selected, the 12 feature points are evenly distributed on the image in three rows and four columns; if 16 feature points are selected, the 16 feature points are evenly distributed on the image in four rows and four columns.

[0049] It can be understood that after the feature points are selected, the brightness of the feature points is determined according to the RGB values ​​of the feature points. Taking 9 feature points as an example, the brightness of the 9 feature points are L1, L2, L3, L4...L9, respectively. The calculation formula for the brightness of the specific feature points is as follows:

[0050] L=(Cmax+Cmin) / 2,

[0051] Cmax=max(R',G',B'),

[0052] Cmin=min(R',G',B'),

[0053] R'=R / R0,

[0054] G'=G / G0,

[0055] B'=B / B0,

[0056] Among them, L is the brightness of the feature point, Cmax and Cmin are the maximum and minimum values ​​of the three channels after normalization, R', G', B' are the colors of the red, green and blue channels of the feature point after normalization, R, G, B are the colors of the red, green and blue channels of the feature point, R0, G0 and B0 are the colors of the red, green and blue channels of any point on the standard screen. When the standard screen selects a pure white screen, the values ​​of R0, G0 and B0 are 255 respectively.

[0057] After confirming the brightness of several feature points, compare the brightness of each feature point with the standard brightness value to determine whether the HUD mask needs dust removal. Because the brightness of the projected image is different under different light intensities, that is, the brightness of the feature points is different, so when collecting feature points and detecting brightness, the current light intensity (or ambient brightness) must be detected at the same time, that is, the brightness of the feature points finally determined corresponds to the current light intensity. When comparing the brightness of feature points, according to the current light intensity, find the standard brightness value under the corresponding light intensity and then compare them. Detecting the current light brightness can be achieved by a brightness sensor arranged on the vehicle.

[0058] Among them, the standard brightness value under the corresponding light intensity needs to be calibrated in advance. The specific process steps for calibrating the standard brightness value under different light intensities are as follows:

[0059] 1. Test the brightness value under different light intensities in a discrete manner: Divide the total light intensity interval into multiple light intensity sub-intervals according to the set light intensity interval. The light intensity intervals for testing the brightness value are different for different light intensity sub-intervals, that is, the smaller the light intensity sub-interval, the smaller the light intensity interval for testing the brightness value, and the larger the light intensity sub-interval, the larger the light intensity interval for testing the brightness value. For example, test the brightness value in the range of 10-40000Lux, where the light intensity is between 10-200Lux, test the brightness value every 20Lux; between 200-1000Lux, test the brightness value every 100Lux; between 1000-20000Lux, test the brightness value every 1000lux; between 20000-40000Lux, test the brightness value every 2000Lux; the light intensity is obtained by the light intensity sensor.

[0060] 2. Before testing, check the vehicle HUD mask to keep it clean and tidy. Perform the test according to the standards divided in step 1 (i.e. project a standard picture under different light intensities and collect the brightness of several feature points). Take 5-10 photos (images) for each test, calculate the brightness value according to the above brightness formula, and finally calculate the average brightness of the 5-10 photos as the brightness standard value under the current light intensity.

[0061] 3. Fit the brightness value data under different light intensities obtained in steps 1 and 2 to form a curve of light brightness-brightness standard value. In subsequent actual driving, the current brightness standard value is found by the current light intensity (linear interpolation).

[0062] It can be understood that after obtaining the brightness of several feature points, it is determined whether the HUD mask needs dust removal according to the set judgment criteria. The specific judgment process is as follows:

[0063] The brightness value of each feature point obtained above is compared with the standard brightness value under the corresponding light intensity. If the brightness of m feature points meets the first preset condition (i.e., less than or equal to the first set value), it is determined that dust removal is required, which means that the dust coverage is high. n is the number of feature points, Indicates rounding up. When n is an even number, n / 2 is an integer; when n is an odd number, n / 2 has a decimal point. In this case, it is necessary to round up, that is, the number of feature points that meet the preset conditions must be at least half of the number of feature points collected. If the brightness of m feature points does not meet the first preset condition, it is determined that dust removal is not required, and the HUD can directly perform normal projection (projecting driving information).

[0064] It can be understood that the first preset condition is set according to actual needs. In this embodiment, the first preset condition is Li≤a*L0, wherein Li is the brightness of the i-th feature point, a is the first proportional coefficient, and the value is 0.8-0.95, preferably 0.9, and L0 is the standard brightness value, that is, if the brightness of m feature points is less than or equal to a*L0, it means that there is dust on the HUD mask and dust removal is required.

[0065] When the HUD mask needs to be dusted according to the brightness of several feature points, the dust removal work is performed according to the following steps:

[0066] a. The HUD controller controls the dust removal equipment to work for the first set time. The first set time is set according to actual needs. In this embodiment, the first set time can be set to 2-10 minutes, preferably 3 minutes or 5 minutes. After the dust removal equipment has been working for 3 minutes, the ADAS camera captures the image corresponding to the projected calibration screen again, and the HUD controller detects the brightness of several feature points; at this time, if there are still m feature points whose brightness values ​​meet the second preset condition (i.e., less than or equal to the second set value, and the feature point brightness value is significantly different from the standard brightness value), it is judged that the dust removal does not meet the requirements or the effect is not good, and dust removal needs to be performed again; if the brightness values ​​of the m feature points do not meet the second preset condition, it means that the dust removal is relatively successful, and the HUD is directly projected normally.

[0067] b. When the first dust removal fails to achieve the preset effect, the dust removal equipment is controlled to work for the second set time, which is less than the first set time, and is generally selected to be 10s-2min, preferably 15s or 20s or 30s; after the second dust removal, the brightness of several feature points is detected in the same way; if there are still m feature points whose brightness values ​​meet the second preset condition after the second dust removal, it means that the second dust removal effect is still not ideal, and there is stubborn dust on the HUD mask that cannot be cleaned by the dust removal equipment, then no dust removal will be done later, and normal projection will be performed, and the reminder status position will be 1, and the dust removal work will be completed until the vehicle is powered off. If the second dust removal can achieve the preset effect (that is, there are m feature points whose brightness values ​​do not meet the second preset condition, and the feature point brightness values ​​are close to the standard brightness values), normal projection will be performed directly.

[0068] It can be understood that the above-mentioned second preset condition is different from the first preset condition. Under normal circumstances, the brightness of the feature point will change after the first dust removal. Therefore, the second set value is calibrated to be greater than the above-mentioned first set value, that is, the second preset condition is Li≤b*L0, b is the second proportional coefficient, and b>a, b value range is 0.9-0.98, and the preferred value is 0.95.

[0069] In some embodiments, because the preset effect cannot be achieved after the above-mentioned multiple dust removals, the reminder status position is set. Therefore, after the vehicle is powered on, before the initial air quality detection, the reminder status position can be detected first to determine whether there is stubborn dust on the HUD mask that cannot be cleaned off. If the reminder status position 1 is detected, it means that there is dust on the HUD mask that cannot be cleaned off by the dust removal equipment. At this time, dust removal can be performed directly without detecting the air quality again, because even if the air quality is detected, the dust removal will not achieve the desired effect in the end. Therefore, the complexity of dust removal can be effectively reduced by detecting the reminder status position.

[0070] If the detection reminder status position is 1, because the vehicle has just been powered on, the speed must be less than or equal to the set speed, then the dust removal equipment is controlled to directly perform a dust removal operation for the fourth set time, which is preferably 15s or 30s. After dust removal, the standard screen is projected again to detect the brightness of several feature points to determine whether manual dust removal is required. If at this time there are still m feature points whose brightness values ​​meet the second preset condition, indicating that stubborn dust still exists on the HUD mask, a pop-up window reminder will be displayed on the vehicle display to remind the customer that "there is dust deposited on the HUD mask, please clean it manually", or a special reminder tone can be set for reminder.

[0071] If the detection reminder status bit is not set to 1 (ie, set to 0), the air quality detection is directly performed, and the dust detection and dust removal are performed in the manner described above.

[0072] It is understandable that when the standard screen is projected after dust removal for feature point brightness detection, normal HUD projection cannot be performed at the same time. Therefore, when there is dust that cannot be removed by the dust removal equipment (i.e., reminder state position 1), dust removal and projection detection are required, the vehicle speed needs to be controlled within a certain range, that is, only when the speed is lower than a certain value can it be performed to ensure driving safety. The set speed of this embodiment is generally 2-10km / h, preferably 3km / h or 5km / h, to ensure that the dust removal operation is performed in a relatively safe condition.

[0073] In some embodiments, when the vehicle is powered on and the air quality is detected to be poor, a judgment is first made as to whether the vehicle is powered on for the first time that day, that is, whether the power-on is the first time that day. If it is the first time that day, the dust removal device is directly controlled to perform dust removal for the third set time, and the HUD performs normal projection after dust removal. The setting of this scheme realizes automatic dust removal after the vehicle is powered on when the air quality is poor. When it is judged that the power-on is not the first time that day, it means that the HUD mask has been dusted before, and then there is no need to remove dust again at this time, which further simplifies the dust removal operation.

[0074] It is understandable that because it is the first dust removal of the day, the third setting time is generally longer than the second setting time and the fourth setting time. The third setting time is generally 30s-5min, preferably 1min.

[0075] In some embodiments, it is also possible to set a dust removal operation when the vehicle is powered off. At this time, the dust removal is set for a fifth time, which is set according to actual needs and is generally set to 15s or 30s. Dust detection is performed when the vehicle is powered on, and dust removal is performed once when the vehicle is powered off, so that the HUD mask can always be in a relatively clean state.

[0076] In some embodiments, the dust removal device may be a dust removal blower or dust removal fan installed inside the HUD system, which is only shown in the figure. Since the HUD mask is concave, one or more through holes may be provided on one or more sides of the mask, and the air outlet of the dust removal blower is docked with the through hole and then aligned with the surface of the HUD mask. The dust removal blower is controlled by the HUD controller, and its operation is controlled when dust removal is required, and the dust on the surface of the HUD mask is cleaned by blowing or sucking to keep it clean.

[0077] In order to realize the above-mentioned dust detection and dust removal method, the present invention also provides a HUD dust detection and dust removal system, such as Figure 4 As shown, it includes a HUD system, a dust removal device, an ADAS camera, an air quality detection sensor, and a light intensity detection sensor, wherein the HUD system includes a PGU, a convex mirror, a concave mirror, a HUD mask, and a HUD controller. During normal projection operation, the HUD controller controls the PGU to project driving information, which is then projected onto the front windshield through the convex mirror, the concave mirror, and the HUD mask. During dust detection, the HUD controller controls the PGU to project a standard image, which is then projected onto the front windshield through the convex mirror, the concave mirror, and the HUD mask. The ADAS camera collects the image corresponding to the standard image, the air quality detection sensor detects the air quality, and the light intensity detection sensor detects the light intensity. The HUD controller determines whether dust removal is required based on the image, air quality, light intensity, and other information corresponding to the standard image. If dust removal is required, the dust removal device is controlled to work. The system can effectively realize dust detection and dust removal operations on the HUD mask, has a simple structure, and is easy to implement.

[0078] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0079] In order to make the description of the present disclosure more detailed and complete, the above description is provided for the implementation and specific embodiments of the present invention; however, this is not the only form of implementing or using the specific embodiments of the present invention. The implementation covers the features of multiple specific embodiments and the method steps and sequences used to construct and operate these specific embodiments. However, other specific embodiments can also be used to achieve the same or equivalent functions and step sequences.

[0080] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0081] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in the field.

Claims

1. A vehicle-mounted HUD dust detection and dust removal method, characterized in that: After the vehicle is powered on, the air quality is detected in real time. If the air quality meets the set conditions, the HUD projects a calibration screen and detects the brightness of several feature points on the calibration screen. Based on the brightness of several feature points, it is determined whether the HUD mask needs dust removal. If dust removal is required, the dust removal equipment is controlled to perform dust removal, and the HUD is projected normally after dust removal; if dust removal is not required, the HUD is projected normally.

2. The vehicle-mounted HUD dust detection and dust removal method according to claim 1, characterized in that: The air quality is detected by collecting the concentration of PM2.5 in the air. If the concentration of PM2.5 is less than or equal to the set concentration, it is determined that the air quality meets the set conditions, otherwise the air quality does not meet the set conditions.

3. The vehicle-mounted HUD dust detection and dust removal method according to claim 1, characterized in that: If the air quality does not meet the set conditions, it will detect whether this vehicle is powered on for the first time that day. If so, the dust removal equipment will be controlled to remove dust. After the third set time of dust removal, the HUD will be projected normally; if not, the HUD will be projected normally.

4. The vehicle-mounted HUD dust detection and dust removal method according to claim 1, characterized in that: The brightness of several feature points on the detection calibration screen includes: A number of feature points are selected based on the bisection of the standard image, and the brightness of the feature points is determined according to their RGB values.

5. The vehicle-mounted HUD dust detection and dust removal method according to claim 1, characterized in that: The brightness of the feature point is determined by the following formula: L=(Cmax+Cmin) / 2, Cmax=max(R',G',B'), Cmin=min(R',G',B'), R'=R / R0, G'=G / G0, B'=B / B0, Among them, L is the brightness of the feature point, Cmax and Cmin are the maximum and minimum values ​​of the three channels after normalization, R', G', B' are the colors of the red, green and blue channels of the feature point after normalization, R, G, B are the colors of the red, green and blue channels of the feature point, R0, G0, B0 are the colors of the red, green and blue channels of any point on the standard screen.

6. The vehicle-mounted HUD dust detection and dust removal method according to claim 1, characterized in that: The step of judging whether the HUD mask needs dust removal according to the brightness of a plurality of feature points includes: Compare the brightness of each feature point with the brightness standard value. If there are m feature points whose brightness satisfies Li≤a*L0, n is the number of feature points, If it is rounded up, dust removal is required, otherwise dust removal is not required; where Li is the brightness of the i-th feature point, a is the first proportional coefficient, and L0 is the standard brightness value.

7. The vehicle-mounted HUD dust detection and dust removal method according to claim 1, characterized in that: The control of the dust removal equipment to perform dust removal work comprises the following steps: a. Control the dust removal equipment to work for the first set time, detect the brightness of several feature points, and proceed to step b or c; b. If the brightness of m feature points satisfies Li>b*L0, the dust removal work is completed and the HUD is projected normally; c. If the brightness of m feature points satisfies Li≤b*L0, the dust removal equipment performs dust removal for a second set time, detects the brightness of several feature points again, and performs step b or d; d. If the brightness of m feature points satisfies Li≤b*L0, the reminder status position is set to 1 and the HUD is projected normally; in, n is the number of feature points, It means rounding up, Li is the brightness of the i-th feature point, b is the second proportional coefficient, and L0 is the standard brightness value.

8. The vehicle-mounted HUD dust detection and dust removal method according to claim 1, characterized in that: Before testing the air quality, first test the reminder status bit; If the reminder status position is 1, when the vehicle speed is less than or equal to the set speed, the dust removal equipment is controlled to work for the fourth set time, and then the HUD projects the calibration screen, detects the brightness of several feature points on the calibration screen, and if the brightness of m feature points satisfies Li≤b*L0, a pop-up window will be displayed to remind the customer that there is dust deposition on the HUD mask, please clean it manually, and the HUD will be projected normally; among them, n is the number of feature points, Indicates rounding up, Li is the brightness of the i-th feature point, b is the second proportional coefficient, and L0 is the standard brightness value; If the reminder status is 0, the air quality is detected.

9. The vehicle-mounted HUD dust detection and dust removal method according to claim 1, characterized in that: When the vehicle is powered off, the dust removal equipment is controlled to operate for the fifth set time.

10. The vehicle-mounted HUD dust detection and dust removal method according to claim 1, characterized in that: The dust removal device is a dust removal fan installed inside the HUD, and the air outlet of the dust removal fan is aimed at the surface of the HUD mask.

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