Head-up display anti-shake control method, system and equipment

Abstract

The invention provides a head-up display anti-shake control method. The method comprises the steps that the amplitude of road surface unevenness under a certain frequency and the suspension rigidity, the damping coefficient and the angular frequency of a vehicle are obtained; according to the amplitude of the road surface unevenness under a certain frequency, the suspension rigidity, the damping coefficient and the angular frequency, the bumping amplitude of the vehicle body is calculated; a kinetic equation is established, the human body shaking amplitude is calculated according to the kinetic equation and the vehicle body bumping amplitude, and the kinetic equation is related to the vehicle vibration model; calculating shaking displacement according to the vehicle body bumping amplitude and the human body shaking amplitude; and adjusting the imaging position of the head-up display according to the shake displacement to perform shake compensation. The invention further provides a head-up display anti-shake control system and device. By means of the mode, shaking of the head-up display can be effectively prevented, distraction of a driver caused by sight transfer can be reduced, and driving safety and driving comfort are greatly improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a head-up display anti-shake control method, system and device. Background Art

[0002] As part of the vehicle's intelligent cockpit, the head-up display brings many benefits. First, it greatly improves driving safety. By projecting key driving data such as navigation information and vehicle speed onto the windshield, the driver does not need to look down at the dashboard, thereby reducing line of sight and reducing the risk of accidents. Second, the head-up display technology improves the convenience and comfort of driving, allowing the driver to focus more on the road conditions. Since the head-up display is rigidly connected to the vehicle body, when the vehicle passes over bumpy roads, body vibrations will inevitably occur. If the head-up display shakes, the projected information may become blurred or unstable, making it difficult for the driver to read the information accurately, thereby increasing the difficulty and risk of driving. Second, the shaking of the head-up display will distract the driver's attention and prevent him from focusing on the road and traffic conditions ahead. In addition, the shaking of the head-up display will also affect the driver's driving experience. Summary of the invention

[0003] The present application provides a head-up display anti-shake control method, system and device, which can at least solve some of the problems caused by the shaking of the head-up display.

[0004] In a first aspect, the present application provides a head-up display anti-shake control method, the method comprising:

[0005] Obtain the amplitude of road roughness at a certain frequency, and the vehicle's suspension stiffness, damping coefficient, and angular frequency;

[0006] The body bump amplitude is calculated based on the amplitude of road roughness at a certain frequency, suspension stiffness, damping coefficient and angular frequency;

[0007] A dynamic equation is established, and the amplitude of human body shaking is calculated based on the dynamic equation and the amplitude of vehicle body bumping, wherein the dynamic equation is related to the vehicle vibration model;

[0008] Calculate the sway displacement according to the body bump amplitude and the human body sway amplitude;

[0009] The imaging position of the head-up display is adjusted according to the shaking displacement to compensate for the jitter.

[0010] In some embodiments, the method for calculating the shaking displacement according to the vehicle body bump amplitude and the human body shaking amplitude includes:

[0011] Calculate the sway displacement of the vehicle in the first direction and the second direction according to the body bump amplitude and the human body sway amplitude, where the first direction is the vehicle driving direction and the second direction is the horizontal direction perpendicular to the vehicle driving direction.

[0012] In some embodiments, the calculation formula for the sway displacement Δx in the first direction is:

[0013] Where are the phases of the body bump and the human body sway respectively, A is the body bump amplitude, X is the human body sway amplitude, and ω is the angular frequency.

[0014] In some embodiments, the calculation formula for the sway displacement Δy in the second direction is:

[0015] Where are the phases of the body bump and the human body sway respectively, A is the body bump amplitude, X is the human body sway amplitude, and ω is the angular frequency.

[0016] In some embodiments, the method for calculating the body bump amplitude according to the amplitude of road surface unevenness at a certain frequency, the suspension stiffness, the damping coefficient, and the angular frequency includes:

[0017] Calculate the body bump amplitude through the following formula:

[0018]

[0019] Where H is the amplitude of road surface unevenness at a certain frequency, K s is the suspension stiffness, and C is the damping coefficient.

[0020] In some embodiments, establish a dynamic equation, and calculate the human body sway amplitude according to the dynamic equation and the body bump amplitude. The methods related to the dynamic equation and the vehicle vibration model include:

[0021] Establish a human body sway vibration equation, and the formula is x(t)=Xcos(ωt - φ), where φ is the phase difference of the human body sway relative to the body bump, and t is time;

[0022] Establish a body bump vibration equation, and the formula is F v (t)=Acos(ωt);

[0023] Establish a dynamic equation, where the vehicle vibration model is a single-degree-of-freedom vibration model, and the formula of the dynamic equation is: Where m is the equivalent mass of the human body, c is the equivalent damping coefficient of the seat, and k is the equivalent stiffness coefficient of the seat;

[0024] After substituting the human body sway vibration equation and the body bump vibration equation into the dynamic equation respectively, calculate the human body sway amplitude.

[0025] In some embodiments, after substituting the human body shaking vibration equation and the vehicle body bumping vibration equation into the dynamic equation respectively, the method for calculating the human body shaking amplitude includes:

[0026] Define t = 0, φ = 0 to obtain the human body shaking amplitude

[0027] In some embodiments, the method for adjusting the imaging position of the head-up display according to the shaking displacement for jitter compensation includes:

[0028] According to the magnitude of the shaking displacement, adjust the reflection unit in the head-up display to move in the opposite direction of the shaking position to change the imaging position.

[0029] In a second aspect, the present application provides a head-up display anti-shake control system, which includes:

[0030] A data acquisition module for obtaining the amplitude of road surface unevenness at a certain frequency, and the suspension stiffness, damping coefficient, and angular frequency of the vehicle;

[0031] A vehicle body bumping amplitude module for calculating the vehicle body bumping amplitude according to the amplitude of road surface unevenness at a certain frequency, suspension stiffness, damping coefficient, and angular frequency;

[0032] A human body shaking amplitude calculation module for establishing a dynamic equation and calculating the human body shaking amplitude according to the dynamic equation and the vehicle body bumping amplitude, wherein the dynamic equation is related to the vehicle vibration model;

[0033] A shaking displacement calculation module for calculating the shaking displacement according to the vehicle body bumping amplitude and the human body shaking amplitude;

[0034] An anti-shake execution module for adjusting the imaging position of the head-up display according to the shaking displacement for jitter compensation.

[0035] In a third aspect, the present application provides an electronic device, which includes: a processor and a memory storing computer program instructions;

[0036] When the processor executes the computer program instructions, it implements the head-up display anti-shake control method as described in any one of the above.

[0037] The beneficial effects of the present application are: Compared with the prior art, the present application provides a head-up display anti-shake control method, system and device. In this way, the present application predicts the shaking trajectory of the head-up display by combining vehicle body bumping and human body shaking, and adjusts the imaging position of the head-up display according to the shaking displacement for jitter compensation, thereby preventing the shaking of the head-up display, helping to reduce driver distraction caused by line-of-sight transfer, and greatly improving driving safety and driving comfort. Description of the Drawings

[0038] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings required for use in the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0039] Figure 1 It is a schematic flowchart of an embodiment of the anti-shake control method for a head-up display in the present application;

[0040] Figure 2 is Figure 1 a schematic flowchart of step S13 in

[0041] Figure 3 It is a schematic structural diagram of an embodiment of the anti-shake control system for a head-up display in the present application;

[0042] Figure 4 It is a schematic structural diagram of an embodiment of an electronic device in the present application. Specific embodiments

[0043] In order to better understand the above-mentioned objects, features, and advantages of the present disclosure, the following will further describe the solutions of the present disclosure. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0044] Many specific details are set forth in the following description in order to fully understand the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all of the embodiments.

[0045] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article, or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the existence of additional identical elements in the process, method, article, or device comprising the element.

[0046] As a part of the vehicle intelligent cockpit, the head-up display brings many benefits. First of all, it greatly improves driving safety. By projecting key driving data such as navigation information and vehicle speed onto the windshield, the driver does not need to look down at the instrument panel, thus reducing the line-of-sight transfer and lowering the accident risk. Secondly, the head-up display technology enhances driving convenience and comfort, enabling the driver to focus more on the road conditions. Since the head-up display is rigidly connected to the vehicle body, when the vehicle passes over a bumpy road surface, the vehicle body vibration phenomenon will inevitably occur. If the head-up display shakes, the projected information may become blurred or unstable, making it difficult for the driver to accurately read the information, thus increasing the driving difficulty and risk. Secondly, the head-up display shake will distract the driver's attention and prevent them from concentrating on the road conditions and traffic ahead. In addition, the head-up display shake will also affect the driver's driving experience.

[0047] To solve the above technical problems, the embodiments of the present application provide a head-up display anti-shake control method, system and device. First, the head-up display anti-shake control method provided by the embodiments of the present application will be introduced below.

[0048] Figure 1 The flowchart of an embodiment of the head-up display anti-shake control method of the present application is shown. As Figure 1 shown, the method may specifically include the following steps:

[0049] S11: Obtain the amplitude of the road surface unevenness at a certain frequency, and the suspension stiffness, damping coefficient, and angular frequency of the vehicle;

[0050] Specifically, the amplitude of the road surface unevenness at a certain frequency is the eigenvalue at a specific frequency obtained by performing frequency-domain analysis on the road surface unevenness, and can be measured by an accelerometer installed on the vehicle chassis. The suspension stiffness, damping coefficient, and angular frequency of the vehicle can be obtained through the accelerometer and speed sensor. The acquisition of these parameters can also be achieved by setting up an active suspension and equipping multiple sensors to monitor the vehicle's motion state and road conditions in real time.

[0051] S12: Calculate the vehicle body bump amplitude according to the amplitude of the road surface unevenness at a certain frequency, suspension stiffness, damping coefficient, and angular frequency;

[0052] Specifically, the vehicle body bump amplitude refers to the maximum displacement of the vehicle body relative to its equilibrium position when the vehicle body vibrates due to road surface unevenness or other factors during driving. The magnitude of the vehicle body bump amplitude is positively correlated with the amplitude of the road surface unevenness at a certain frequency and negatively correlated with the suspension stiffness, damping coefficient, and angular frequency. The smaller the value of the vehicle body bump amplitude, the smoother the vehicle body will feel.

[0053] S13: establishing a dynamic equation, and calculating the amplitude of human body shaking according to the dynamic equation and the amplitude of vehicle body bumping, wherein the dynamic equation is related to the vehicle vibration model;

[0054] Specifically, the vehicle vibration model usually simplifies the vehicle into a system with mass, springs, dampers and other components, including single-degree-of-freedom models, two-degree-of-freedom models or multi-degree-of-freedom models, etc. For example, the single-degree-of-freedom model regards the vehicle body as a concentrated mass connected to the ground through springs and dampers, ignoring some complex structures and components of the vehicle.

[0055] In practical applications, the vehicle vibration model is selected according to the needs. Different vehicle vibration models have different corresponding dynamic equations. The dynamic equation contains parameters related to the amplitude of human body shaking and the amplitude of vehicle body bumping. The amplitude of human body shaking can be obtained by calculating the parameters.

[0056] S14: Calculating the shaking displacement according to the vehicle body bump amplitude and the human body shaking amplitude;

[0057] Specifically, body bumps and human body swaying are factors that affect the jitter of the head-up display. Based on the body bump amplitude and human body swaying amplitude calculated above, the possible shaking displacement in various directions is calculated and predicted. In this way, the jitter caused by factors such as road unevenness and human body swaying is comprehensively considered, thereby providing an adjustment basis for avoiding a series of problems caused by jitter.

[0058] S15: adjusting an imaging position of the head-up display according to the shaking displacement to perform jitter compensation.

[0059] Specifically, based on the shake displacement obtained by the above calculation, the imaging position of the head-up display is adjusted. For example, the imaging position of the head-up display can be adjusted in the opposite direction to offset the predicted shake displacement and perform shake compensation so that passengers cannot feel the occurrence of shake and it will not affect the driver's driving experience.

[0060] In one embodiment, the above step S12 may specifically perform the following steps:

[0061] The body bump amplitude is calculated using the following formula:

[0062]

[0063] Where A is the amplitude of vehicle body bumps, H is the amplitude of road roughness at a certain frequency, K s is the suspension stiffness, C is the damping coefficient, and ω is the angular frequency.

[0064] In one embodiment, if Figure 2 As shown, the above step S13 can specifically perform the following steps:

[0065] S131: Establish the human body shaking vibration equation, and the formula is x(t) = Xcos(ωt - φ), where X is the amplitude of human body shaking, φ is the phase difference between human body shaking and vehicle body bump, and t is time;

[0066] Specifically, under the steady-state response, the human body shaking is a simple harmonic motion, and the human body shaking vibration equation formula is x(t) = Xcos(ωt - φ).

[0067] S132: Establish the vehicle body bump vibration equation, and the formula is F v (t) = Acos(ωt);

[0068] Specifically, the vehicle body bump is a simple harmonic motion, and the formula is F v (t) = Acos(ωt), where A is the amplitude of vehicle body bump in the formula.

[0069] S133: Establish the dynamic equation. The vehicle vibration model is a single-degree-of-freedom vibration model, and the formula of the dynamic equation is: where m is the equivalent mass of the human body, c is the equivalent damping coefficient of the seat, and k is the equivalent stiffness coefficient of the seat;

[0070] Specifically, define the vehicle vibration model as a single-degree-of-freedom vibration model, then the formula of the dynamic equation is:

[0071]

[0072] S134: After substituting the human body shaking vibration equation and the vehicle body bump vibration equation into the dynamic equation respectively, calculate the amplitude of human body shaking.

[0073] Specifically, take the first derivative and the second derivative of the human body shaking vibration equation respectively to obtain the velocity and acceleration expressions as follows:

[0074]

[0075] Substitute into the dynamic equation to obtain the following expression:

[0076] -mω 2 Xcos(ωt - φ) + cωXsin(ωt - φ) + kXcos(ωt - φ) = Acos(ωt)

[0077] In the specific application scenario of this Embodiment 1, in order to simplify the problem, under the steady-state response, the system response frequency is the same as the excitation frequency, and the equation holds for all t. Let t = 0. Since the shaking under the steady-state response is considered and there is no external force to change the phase, it is reasonably assumed that φ = 0, then the expression of the amplitude of human body shaking is obtained as follows:

[0078]

[0079] In one embodiment, step S14 may specifically perform the following steps:

[0080] Calculate the sway displacement of the vehicle in the first direction and the second direction according to the body bump amplitude and the human body sway amplitude, where the first direction is the vehicle driving direction and the second direction is the horizontal direction perpendicular to the vehicle driving direction.

[0081] In a specific application scenario, the calculation formula for the sway displacement Δx in the first direction is:

[0082] Where are the phases of the body bump and the human body sway respectively.

[0083] In a specific application scenario, the calculation formula for the sway displacement Δy in the second direction is:

[0084] Where are the phases of the body bump and the human body sway respectively.

[0085] In one embodiment, step S15 may specifically perform the following steps:

[0086] According to the magnitude of the sway displacement, adjust the reflection unit in the head-up display to move in the opposite direction of the sway position to change the imaging position.

[0087] Specifically, according to the magnitude of the sway displacement, the moving device inside the head-up display drives the reflection unit to move in the opposite direction of the head-up display sway, so as to compensate for the sway displacement of the head-up display and achieve anti-shake.

[0088] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of an embodiment of the head-up display anti-shake control system of the present application. The system includes:

[0089] A data acquisition module 101, configured to obtain the amplitude of the road surface unevenness at a certain frequency, and the suspension stiffness, damping coefficient, and angular frequency of the vehicle;

[0090] A body bump amplitude module 102, which calculates the body bump amplitude according to the amplitude of the road surface unevenness at a certain frequency, the suspension stiffness, damping coefficient, and angular frequency;

[0091] A human body sway amplitude calculation module 103, configured to establish a dynamic equation and calculate the human body sway amplitude according to the dynamic equation and the body bump amplitude, where the dynamic equation is related to the vehicle vibration model;

[0092] A sway displacement calculation module 104, configured to calculate the sway displacement according to the body bump amplitude and the human body sway amplitude;

[0093] The anti-shake execution module 105 is configured to adjust the imaging position of the head-up display according to the shaking displacement for shake compensation.

[0094] It should be noted that those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated herein.

[0095] Please refer to Figure 4 , Figure 4 which is a schematic diagram of the hardware structure of an embodiment of the electronic device of this application. The device includes: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the corresponding process of the foregoing method embodiment is implemented.

[0096] The electronic device may include a processor 401 and a memory 402 storing program instructions.

[0097] When the processor 401 executes the program, the steps in any of the foregoing method embodiments are implemented.

[0098] Exemplarily, the program can be divided into one or more modules / units. One or more modules / units are stored in the memory 402 and executed by the processor 401 to complete this application. One or more modules / units can be a series of program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the program in the device.

[0099] Specifically, the foregoing processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0100] The memory 402 may include a mass storage for data or instructions. By way of example and not limitation, the memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 402 may include removable or non-removable (or fixed) media. Where appropriate, the memory 402 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, the memory 402 is a non-volatile solid-state memory.

[0101] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, generally, the memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0102] The processor 401 implements any of the methods in the above embodiments by reading and executing the program instructions stored in the memory 402.

[0103] In one example, the electronic device may further include a communication interface 403 and a bus 410. Among them, the processor 401, the memory 402, and the communication interface 403 are connected through the bus 410 to complete communication with each other.

[0104] The communication interface 403 is mainly used to implement communication between the various modules, devices, units, and / or devices in the embodiments of the present application.

[0105] The bus 410 includes hardware, software, or both, and couples the components of the online data flow metering device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, the bus 410 may include one or more buses. Although the embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0106] In addition, in combination with the processes of the foregoing method embodiments, the embodiments of the present application may be implemented by providing a storage medium. Program instructions are stored on the storage medium; when the program instructions are executed by a processor, any one of the methods in the foregoing embodiments is implemented.

[0107] The embodiments of the present application further provide a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is configured to run programs or instructions to implement each process of the foregoing method embodiments, and can achieve the same technical effects. To avoid repetition, details are not described herein again.

[0108] It should be understood that the chip mentioned in the embodiments of the present application may also be referred to as a system-on-chip, a system chip, a chip system, or a system-on-chip.

[0109] The embodiments of the present application provide a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement each process of the foregoing method embodiments, and can achieve the same technical effects. To avoid repetition, details are not described herein again.

[0110] It should be clear that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present application.

[0111] The functional modules shown in the above structural block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, and so on. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium or transmitted via a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical discs, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, and so on.

[0112] It should also be noted that in the exemplary embodiments mentioned in the present application, some methods or systems are described based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be executed in the order mentioned in the embodiments, can be different from the order in the embodiments, or several steps can be executed simultaneously.

[0113] As described above with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and program products according to embodiments of the present disclosure. It should be understood that each block in the flowchart and / or block diagram, and the combinations of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more blocks of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It is also understood that each block in the block diagram and / or flowchart, and the combinations of blocks in the block diagram and / or flowchart, can also be implemented by dedicated hardware that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0114] The above are only specific embodiments of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, modules, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein. It should be understood that the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present application.

Claims

1. A head-up display anti-shake control method, characterized in that, The method includes: Obtain the amplitude of road roughness at a certain frequency, and the vehicle's suspension stiffness, damping coefficient, and angular frequency; Calculating a vehicle body bump amplitude according to an amplitude of the road surface roughness at a certain frequency, the suspension stiffness, the damping coefficient and the angular frequency; Establishing a dynamic equation, and calculating the amplitude of human body shaking according to the dynamic equation and the amplitude of vehicle body shaking, wherein the dynamic equation is related to the vehicle vibration model; Calculating the shaking displacement according to the vehicle body bump amplitude and the human body shaking amplitude; The imaging position of the head-up display is adjusted according to the shaking displacement to perform jitter compensation.

2. The anti-shake control method for a head-up display according to claim 1, wherein, The method for calculating the shaking displacement according to the vehicle body bump amplitude and the human body shaking amplitude comprises: The shaking displacement of the vehicle in a first direction and a second direction is calculated according to the vehicle body bump amplitude and the human body shaking amplitude, wherein the first direction is the vehicle driving direction, and the second direction is a horizontal direction perpendicular to the vehicle driving direction.

3. The anti-shake control method for a head-up display according to claim 2, characterized in that, The calculation formula of the sway displacement Δx in the first direction is: wherein are respectively the phases of the vehicle body bump and the human body sway, A is the amplitude of the vehicle body bump, X is the amplitude of the human body sway, ω is the angular frequency, and t is the time.

4. The anti-shake control method for a head-up display according to claim 2, characterized in that The calculation formula of the sway displacement Δy in the second direction is: wherein are respectively the phases of the vehicle body jolting and the human body swaying, A is the amplitude of the vehicle body jolting, X is the amplitude of the human body swaying, ω is the angular frequency, and t is the time.

5. The anti-shake control method for a head-up display according to claim 3 or 4, characterized in that, The method for calculating the vehicle body bump amplitude according to the amplitude of the road surface roughness at a certain frequency, the suspension stiffness, the damping coefficient and the angular frequency comprises: The body bump amplitude is calculated by the following formula: where H is the amplitude of the road surface unevenness at a certain frequency, and K s is the suspension stiffness and C is the damping coefficient.

6. The anti-shake control method for a head-up display according to claim 3 or 4, characterized in that, The method of establishing a dynamic equation and calculating the human body shaking amplitude according to the dynamic equation and the vehicle body bump amplitude, wherein the method of correlating the dynamic equation with the vehicle vibration model includes: The human body shaking vibration equation is established, the formula is x(t) = Xcos(ωt-φ), where φ is the phase difference between the human body shaking and the vehicle body bumping; Establish the vehicle body bump vibration equation, and the formula is F v (t) = Acos(ωt); Establish the dynamic equation. The vehicle vibration model is a single-degree-of-freedom vibration model, and the formula of the dynamic equation is as follows: where m is the equivalent mass of the human body, c is the equivalent damping coefficient of the seat, and k is the equivalent stiffness coefficient of the seat; After the human body shaking vibration equation and the vehicle body bumping vibration equation are respectively substituted into the dynamic equation, the human body shaking amplitude is calculated.

7. The anti-shake control method for a head-up display according to claim 6, wherein The method of calculating the amplitude of the human body shaking after the human body shaking vibration equation and the vehicle body bumping vibration equation are respectively substituted into the dynamic equation comprises: Define \(t = 0\) and \(\varphi=0\) to obtain the amplitude of the human body sway 8. The anti-shake control method for a head-up display according to claim 1, characterized in that, The method for adjusting the imaging position of the head-up display according to the shaking displacement to perform jitter compensation includes: According to the magnitude of the shaking displacement, the reflection unit in the head-up display is adjusted to move in the opposite direction of the shaking position to change the imaging position.

9. A head-up display anti-shake control system, characterized in that, The system includes: The data acquisition module is used to obtain the amplitude of road roughness at a certain frequency, and the vehicle's suspension stiffness, damping coefficient, and angular frequency; A vehicle body bump amplitude module, which calculates the vehicle body bump amplitude according to the amplitude of the road surface roughness at a certain frequency, the suspension stiffness, the damping coefficient and the angular frequency; A human body shaking amplitude calculation module, used to establish a dynamic equation, and calculate the human body shaking amplitude according to the dynamic equation and the vehicle body bump amplitude, wherein the dynamic equation is related to the vehicle vibration model; A sway displacement calculation module, used for calculating the sway displacement according to the vehicle body bump amplitude and the human body sway amplitude; The anti-shake execution module is used to adjust the imaging position of the head-up display according to the shaking displacement to perform shake compensation.

10. An electronic device, characterized in that, The device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the head-up display anti-shake control method according to any one of claims 1-8.

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