Pixel updating method for head-up display system and vehicle

Abstract

The invention discloses a pixel updating method for a head-up display system and a vehicle, and the method comprises the steps: respectively obtaining the spatial position coordinates of a left eyeball and the spatial position coordinates of a right eyeball; judging whether the spatial position coordinates of the left eyeball and the spatial position coordinates of the right eyeball are changed or not, and if yes, updating the spatial position coordinates of the corresponding eyeballs; corresponding pixel points of an image source assembly in the head-up display system are updated according to the updated space position coordinates of the left eyeball and the right eyeball, and the pixel points corresponding to the space position coordinates of the left eyeball are different from the pixel points corresponding to the space position coordinates of the right eyeball. According to the pixel updating method provided by the invention, the image source is dynamically adjusted in real time according to the spatial position change of the eyeballs of the left eye and the right eye, so that a 3D stereoscopic visual effect can be realized in a specified range of the eyeballs, and a stereoscopic visual image perfectly fused with a real environment in vision can be presented.

Description

Technical Field

[0001] The present invention relates to the field of vehicle intelligent driving technology, and in particular to a pixel updating method for a head-up display system and a vehicle. Background Art

[0002] It is pointed out in the relevant technology that there are still many aspects of AR-HUD experience that need to be overcome. Based on the principle of AR-HUD, the HUD image needs to be visually integrated with the real environment in order to give the observer a good visual experience. However, when observing, human eyes will produce horizontal parallax between objects and images, resulting in the inability of the HUD projected image to be visually integrated with the real environment; moreover, the closer the HUD image is to the human eye, the more serious the parallax will be. Therefore, in the process of the driver observing the image presented by the image source, due to the close distance between the driver and the image presented by the image source, the driver finds that there is a horizontal parallax between the image seen by the left eye or the image seen by the right eye and the real environment when observing the image, causing the image presented by the image source seen by the driver to deviate from the real environment, reducing the driver's experience of using AR-HUD; especially in driving scenarios, the driver's eye position changes frequently, which makes it easier for the presented image to deviate from the real environment. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention is to propose a pixel update method for a head-up display system, which can improve the driver's experience of observing imaging effects.

[0004] The present invention also provides a pixel updating device for a head-up display system.

[0005] The present invention also provides a computer-readable storage medium.

[0006] The invention also provides a control device.

[0007] The present invention also provides a vehicle.

[0008] According to the first aspect of the present invention, the pixel update method for a head-up display system includes: respectively obtaining the spatial position coordinates of a left eyeball and the spatial position coordinates of a right eyeball; determining whether the spatial position coordinates of the left eyeball and the spatial position coordinates of the right eyeball have changed, and if so, updating the spatial position coordinates of the corresponding eyeballs; and updating the corresponding pixel points of the image source component in the head-up display system according to the updated spatial position coordinates of the left eyeball and the right eyeball, wherein the pixel points corresponding to the spatial position coordinates of the left eyeball and the right eyeball are different.

[0009] The head-up display system according to the present invention tracks the changes in the position of the human eyes and dynamically adjusts the image source in real time according to the changes in the spatial position of the left and right eyeballs, so that a 3D stereoscopic visual effect can be achieved within the range specified by the eyeballs, and a stereoscopic visual image that is visually perfectly integrated with the real environment can be presented, thereby improving the driver's experience in observing imaging effects.

[0010] In some embodiments, updating the corresponding pixel points of the image source component in the head-up display system according to the updated eyeball spatial position coordinates specifically includes: determining the target viewing position according to the updated eyeball spatial position coordinates, and updating the pixel points of the image source component in the head-up display system according to the target viewing position; wherein the target viewing position is the intersection of the line connecting the spatial position coordinates of the left eyeball and the spatial position coordinates of the right eyeball and the virtual image and the front windshield.

[0011] In some embodiments, updating the corresponding pixel points of the image source component in the head-up display system according to the updated eyeball spatial position coordinates specifically includes: calculating the left eye virtual image coordinates and the right eye virtual image coordinates according to the updated left eyeball spatial position coordinates and the right eyeball spatial coordinates, and updating the pixel points, wherein the formula for calculating the left eye virtual image coordinates is:

[0012] y l =y0-(z0 / (z 左 -z0))*(y 左 -y0);

[0013] x l =x0-(z0 / (z 左 -z0))*(x 左 -x0);

[0014] The formula for calculating the coordinates of the right eye virtual image is:

[0015] y r =y0-(z0 / (z 右 -z0))*(y 右 -y0);

[0016] x r =x0-(z0 / (z 右 -z0))*(x 右 -x0);

[0017] Among them, x0, y0, z0 are the coordinates of the center of the virtual image, and the virtual image plane equation z=0.

[0018] In some embodiments, the image source assembly includes: a light source and a blocking member, the light source and the blocking member are arranged at intervals, and the light beam is emitted by the light source and is projected onto the reflective assembly through the blocking member.

[0019] In some embodiments, the light source has odd pixels and even pixels, the odd pixels pass through a blocking member to one of the left eye and the right eye, and the even pixels pass through a blocking member to the other of the left eye and the right eye.

[0020] In some embodiments, the odd pixels and the even pixels are spaced apart from each other.

[0021] According to the second aspect of the present invention, a pixel updating device for a head-up display system includes: an acquisition module, used to respectively acquire the spatial position coordinates of a left eyeball and the spatial position coordinates of a right eyeball; a judgment module, used to judge whether the spatial position coordinates of the left eyeball and the spatial position coordinates of the right eyeball have changed, and if so, update the spatial position coordinates of the corresponding eyeball; an updating module, used to update the pixel points of the image source component in the head-up display system according to the updated eyeball spatial position coordinates, wherein the pixel points corresponding to the spatial position coordinates of the left eyeball and the spatial coordinates of the right eyeball are different.

[0022] According to the third aspect of the present invention, a computer-readable storage medium stores a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the pixel update method for a head-up display system according to the first aspect of the present invention.

[0023] According to a fourth aspect of the present invention, the control device comprises: a processor; a memory, wherein the memory is suitable for storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by the processor to execute the pixel update method for a head-up display system according to the first aspect of the present invention.

[0024] A vehicle according to a fifth aspect of the present invention comprises a pixel updating device for a head-up display system according to the second aspect of the present invention and a control device according to the fourth aspect of the present invention.

[0025] According to the vehicle of the present invention, the pixel updating device for the head-up display system of the second aspect and the control device of the fourth aspect are provided, thereby improving the overall performance of the vehicle and enhancing the driving experience of the vehicle.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of a pixel updating device for a head-up display system according to an embodiment of a second aspect of the present invention;

[0028] Figure 2 yes Figure 1A schematic diagram of the image source assembly shown in ;

[0029] Figure 3 is a schematic diagram of a pixel updating method according to an embodiment of the first aspect of the present invention;

[0030] Figure 4 is used Figure 3 Schematic diagram of adjusting the pixel update method shown in ;

[0031] Figure 5 It is a flowchart of a pixel updating method according to an embodiment of the first aspect of the present invention.

[0032] Reference numerals:

[0033] 100. Head-up display system; 1. Image source component; 11. Light source; 111. Light beam; 12. Blocking element; 13. Odd pixel; 14. Even pixel; 2. Reflection component; 21. Reflector; 22. Free-form mirror; 3. Eye monitoring camera; 4. Virtual image; 5. Object; 200. Front windshield. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0035] Reference below Figure 1-Figure 5 A pixel updating method for a head-up display system 100 according to an embodiment of the first aspect of the present invention is described.

[0036] like Figure 1-Figure 5 As shown, a pixel updating method for a head-up display system 100 according to an embodiment of the first aspect of the present invention includes:

[0037] Obtain the spatial position coordinates of the left eyeball and the right eyeball respectively;

[0038] Determine whether the spatial position coordinates of the left eyeball and the spatial position coordinates of the right eyeball have changed, and if so, update the spatial position coordinates of the corresponding eyeballs;

[0039] According to the updated left eyeball spatial position coordinates and right eyeball spatial coordinates, the corresponding pixel points of the image source component 1 in the head-up display system 100 are updated, wherein the pixel points corresponding to the left eyeball spatial position coordinates and the right eyeball spatial position coordinates are different.

[0040] According to the pixel update method of the embodiment of the present invention, by applying the pixel update method to the head-up display system 100, the position changes of the human eyes are tracked, and the image source is dynamically adjusted in real time according to the changes in the spatial positions of the left and right eyeballs, so that a 3D stereoscopic visual effect can be achieved within the range specified by the eyeballs, and a stereoscopic visual image that is visually perfectly integrated with the real environment can be presented, thereby improving the driver's experience of observing imaging effects.

[0041] Specifically, updating corresponding pixel points of the image source component in the head-up display system 100 according to the updated eyeball spatial position coordinates specifically includes: determining a target viewing position according to the updated eyeball spatial position coordinates, and updating the pixel points of the image source component in the head-up display system according to the target viewing position; wherein the target viewing position is the intersection of the line connecting the spatial position coordinates of the left eyeball and the spatial position coordinates of the right eyeball and the virtual image and the front windshield.

[0042] Further, updating the corresponding pixel points of the image source component 1 in the head-up display system 100 according to the updated eyeball spatial position coordinates specifically includes: calculating the left eye virtual image coordinates and the right eye virtual image coordinates according to the updated left eyeball spatial position coordinates and the right eyeball spatial coordinates, and updating the pixel points,

[0043] Among them, the formula for calculating the left eye virtual image coordinates is:

[0044] y l =y0-(z0 / (z 左 -z0))*(y 左 -y0);

[0045] x l =x0-(z0 / (z 左 -z0))*(x 左 -x0);

[0046] The formula for calculating the coordinates of the right eye virtual image is:

[0047] y r =y0-(z0 / (z 右 -z0))*(y 右 -y0);

[0048] x r =x0-(z0 / (z 右 -z0))*(x 右 -x0);

[0049] Among them, x0, y0, z0 are the coordinates of the center of the virtual image, and the virtual image plane equation z=0.

[0050] For example Figure 3 and Figure 4As shown, A and B are the virtual images of the right eye and the left eye, respectively, and a and b represent the positions where the marking points should appear on the right eye virtual image and the left eye virtual image when the pixels on the virtual image 4 are merged with the object 5 in the real world. Specifically, a is the intersection of the line connecting the right eye and the object 5 and the right eye virtual image plane, and b is the intersection of the line connecting the left eye and the object 5 and the left eye virtual image plane.

[0051] Furthermore, if Figure 3 and Figure 4 As shown, when the head moves, in order to let the driver accurately perceive whether the object 5 currently aimed at by the virtual image 4 after binocular fusion is still the original object 5 or position, it moves from a and b to the corresponding a' and b'.

[0052] Combined with the figure, specifically, x0, y0, z0 are the coordinates of the center of the virtual image, the virtual image plane equation z = 0, the left and right eyes are (x left, y left, z left), (x right, y right, z right), and the pupil distance of the human eye is assumed to be 65mm.

[0053] The formula for the left eye virtual image coordinates is:

[0054] y l =y0-(z0 / (z 左 -z0))*(y 左 -y0);

[0055] x l =x0-(z0 / (z 左 -z0))*(x 左 -x0);

[0056] The formula for the right eye virtual image coordinates is;

[0058] y r =y0-(z0 / (z 右 -z0))*(y 右 -y0);

[0059] x r =x0-(z0 / (z 右 -z0))*(x 右 -x0);

[0060] This ensures that the position information of the two eyes is provided in real time at a frame rate of 60fps, and the virtual image positions of the left and right eyes are calculated in real time from a visual perspective, and then the specific position to be determined is obtained through the system optical magnification β. Figure 2 The position to be moved on the image source shown in .

[0061] More preferably, β can be a matrix mapping table.

[0062] Furthermore, the head-up display system 100 projects an image onto the front windshield 200, the image source component 1 is used to emit a light beam 111, the reflection component 2 is used to reflect the light beam 111 at least once and then project it onto a preset viewing position of the front windshield 200, the eye monitoring camera 3 is electrically connected to the head-up display system 100, and is used to monitor the spatial position of the driver's left and right eyes, and the control module is electrically connected to both the eye monitoring camera 3 and the reflection component 2, and is used to adjust the preset viewing position.

[0063] The head-up display system 100 according to the embodiment of the present invention tracks the changes in the position of the human eyes and dynamically adjusts the image source in real time according to the changes in the spatial position of the left and right eyeballs, so that a 3D stereoscopic visual effect can be achieved within the range specified by the eyeballs, and a stereoscopic visual image that is visually perfectly integrated with the real environment can be presented, thereby improving the driver's experience in observing imaging effects.

[0064] Preferably, the eye monitoring camera 3 is integrated inside the head-up display system 100 , and the camera monitors the driver's eye position through reflection of the front windshield 200 . The overall structure is compact, saving the assembly space of the vehicle.

[0065] In some embodiments of the present invention, the image source assembly 1 includes: a light source 11 and a blocking member 12, the light source 11 and the blocking member 12 are arranged at intervals, and the light beam 111 is emitted by the light source 11 and projects to the reflection assembly 2 through the blocking member 12. Figure 2 As shown, the blocking member 12 is composed of a plurality of blocking units, and the blocking units can block part of the light emitted by the light source 11 . The blocking units are arranged at a certain distance from the light source 11 .

[0066] Furthermore, the light source 11 has odd pixels 13 and even pixels 14. The odd pixels 13 pass through the barrier 12 to one of the left eye and the right eye, and the even pixels 14 pass through the barrier 12 to the other of the left eye and the right eye. Figure 2 As shown, the odd pixel 13 enters the right eye and the even pixel 14 enters the left eye, so that the right eye can only see the light emitted by the odd pixel 13 and the left eye can only see the light emitted by the even pixel 14. When displaying images, two images with parallax are formed by the light emitted by the odd pixel 13 and the even pixel 14 of the light source 11, respectively, so that there is parallax between the image viewed by the left eye and the image viewed by the right eye of the observer, thereby allowing the observer to see the visual effect of stereoscopic imaging.

[0067] like Figure 2 As shown, odd pixels 13 and even pixels 14 are arranged at intervals from each other.

[0068] In some embodiments of the present invention, the reflective assembly 2 includes: a reflector 21 and a free-form mirror 22, and the light beam 111 is reflected by the reflector 21 and the free-form mirror 22 in sequence to the front windshield 200. Figure 1 As shown, the setting of the reflector 21 and the free-form surface mirror 22 ensures the clarity and position of the final image, and has a simple structure and is easy to operate.

[0069] A pixel updating device for a head-up display system 100 according to an embodiment of a second aspect of the present invention includes:

[0070] An acquisition module, used to respectively acquire the spatial position coordinates of the left eyeball and the right eyeball;

[0071] A judgment module, used to judge whether the spatial position coordinates of the left eyeball and the spatial position coordinates of the right eyeball have changed, and if so, update the spatial position coordinates of the corresponding eyeballs;

[0072] The updating module is used to update the pixel points of the image source component in the head-up display system according to the updated eyeball spatial position coordinates, wherein the pixel points corresponding to the left eyeball spatial position coordinates and the right eyeball spatial position coordinates are different.

[0073] According to the computer-readable storage medium of the third aspect embodiment of the present invention, a plurality of program codes are stored, wherein the program codes are suitable for being loaded and run by a processor to execute the pixel update method for the head-up display system 100 according to the first aspect embodiment of the present invention.

[0074] The control device according to the fourth aspect of the embodiment of the present invention is characterized in that the control device includes: a processor; a memory, the memory is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the pixel update method for the head-up display system 100 described in the embodiment of the first aspect of the present invention.

[0075] The vehicle according to the fifth embodiment of the present invention comprises: a pixel updating device for the head-up display system 100 according to the second embodiment of the present invention and a control device according to the third embodiment of the present invention.

[0076] The vehicle according to the embodiment of the present invention improves the overall performance of the vehicle and enhances the driving experience of the vehicle by providing the control device of the third aspect embodiment mentioned above.

[0077] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0078] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0079] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0080] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0081] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A pixel updating method for a head-up display system, characterized in that: include: Obtain the spatial position coordinates of the left eyeball and the right eyeball respectively; Determine whether the spatial position coordinates of the left eyeball and the spatial position coordinates of the right eyeball have changed, and if so, update the spatial position coordinates of the corresponding eyeballs; According to the updated left eyeball spatial position coordinates and right eyeball spatial coordinates, the corresponding pixel points of the image source component in the head-up display system are updated, wherein the pixel points corresponding to the left eyeball spatial position coordinates and the right eyeball spatial position coordinates are different.

2. The pixel updating method for a head-up display system according to claim 1, characterized in that: The updating of corresponding pixel points of the image source component in the head-up display system according to the updated eyeball space position coordinates specifically includes: Determine a target viewing position according to the updated eyeball space position coordinates, and update the pixel points of the image source component of the head-up display system according to the target viewing position; The target viewing position is the intersection of the spatial position coordinates of the left eyeball, the spatial position coordinates of the right eyeball, the line connecting the virtual image and the front windshield.

3. The pixel updating method for a head-up display system according to claim 1, characterized in that: The updating of the corresponding pixel points of the image source component in the head-up display system according to the updated eyeball spatial position coordinates specifically includes: calculating the left eye virtual image coordinates and the right eye virtual image coordinates according to the updated left eyeball spatial position coordinates and the right eyeball spatial coordinates, and updating the pixel points, wherein the formula for calculating the left eye virtual image coordinates is: y l =y0-(z0 / (z 左 -z0))*(y 左 -y0); x l =x0-(z0 / (z 左 -z0))*(x 左 -x0); The formula for calculating the coordinates of the right eye virtual image is: y r =y0-(z0 / (z 右 -z0))*(y 右 -y0); x r =x0-(z0 / (z 右 -z0))*(x 右 -x0); Among them, x0, y0, z0 are the coordinates of the center of the virtual image, and the virtual image plane equation z=0.

4. The pixel updating method for a head-up display system according to any one of claims 1 to 3, characterized in that: The image source assembly comprises: a light source and a blocking member, wherein the light source and the blocking member are arranged at intervals, and a light beam is emitted by the light source and is projected to the reflection assembly through the blocking member.

5. The pixel updating method for a head-up display system according to claim 4, characterized in that: The light source has odd pixels and even pixels. The odd pixels pass through a blocking member to one of the left eye and the right eye, and the even pixels pass through the blocking member to the other of the left eye and the right eye.

6. The pixel updating method for a head-up display system according to claim 5, characterized in that: The odd pixels and the even pixels are arranged at intervals from each other.

7. A pixel updating device for a head-up display system, characterized in that: include: An acquisition module, used to respectively acquire the spatial position coordinates of the left eyeball and the right eyeball; A judgment module, used to judge whether the spatial position coordinates of the left eyeball and the spatial position coordinates of the right eyeball have changed, and if so, update the spatial position coordinates of the corresponding eyeballs; The updating module is used to update the pixel points of the image source component in the head-up display system according to the updated eyeball spatial position coordinates, wherein the pixel points corresponding to the left eyeball spatial position coordinates and the right eyeball spatial position coordinates are different.

8. A computer-readable storage medium storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by a processor to execute the pixel updating method for a head-up display system according to any one of claims 1 to 6.

9. A control device, characterized in that: The control device comprises: a processor; a memory, wherein the memory is suitable for storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by the processor to execute the pixel updating method for a head-up display system according to any one of claims 1 to 6.

10. A vehicle, characterized in that: include: The pixel updating device for a head-up display system as claimed in claim 7 and the control device as claimed in claim 9.

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