Display control method and device, head-up display device and computer storage medium

Abstract

The invention provides a display control method and device, a head-up display device and a computer storage medium, and belongs to the technical field of display regulation and control. The display control method comprises the steps that an environment image in front of a vehicle is divided into a plurality of detection sub-images of different sizes, the detection sub-image with the larger size in any two detection sub-images completely contains the detection sub-image with the smaller size; determining the driving environment of the vehicle based on the change of the brightness of the detected sub-image along with the size; and adjusting the display brightness of a head-up display device of the vehicle according to the driving environment of the vehicle. According to the embodiment of the invention, the information displayed in the HUD can be kept clear and distinguishable in different driving environments.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of display control, and particularly relates to a display control method and device, a head-up display device and a computer storage medium. BACKGROUND

[0002] A head-up display (HUD) device projects light from an image source to a windshield or a special imaging panel through a reflective optical design, so that vehicle status (such as vehicle speed, fuel level) and navigation, warning and other key information are presented in front of the driver's field of view. This technology aims to allow the driver to obtain driving data without shifting his gaze, thereby improving driving safety and operation experience.

[0003] However, current HUD systems mostly use fixed display brightness, which may lead to insufficient adaptation of display brightness to the scene in different driving environments, affecting the intuitive recognition efficiency of the driver for key information. SUMMARY

[0004] The present disclosure provides a display control method and device, a head-up display device and a computer storage medium, which can keep the information displayed in the HUD clear and distinguishable in different driving environments.

[0005] The technical solution of the present disclosure is implemented as follows: In a first aspect, the present disclosure provides a display control method, which includes: dividing an environment image in front of a vehicle into multiple detection sub-images with different sizes, wherein a larger size detection sub-image in any two detection sub-images completely contains a smaller size detection sub-image; determining a driving environment of the vehicle based on the change of the brightness of the detection sub-image with the size; and adjusting the display brightness of a head-up display device of the vehicle according to the driving environment of the vehicle.

[0006] In a second aspect, the present disclosure provides a display control device, which includes a division module, a determination module and an adjustment module; the division module is configured to divide an environment image in front of a vehicle into multiple detection sub-images with different sizes, wherein a larger size detection sub-image in any two detection sub-images completely contains a smaller size detection sub-image; the determination module is configured to determine a driving environment of the vehicle based on the change of the brightness of the detection sub-image with the size; and the adjustment module is configured to adjust the display brightness of a head-up display device of the vehicle according to the driving environment of the vehicle.

[0007] In a third aspect, the present disclosure provides an electronic device, which includes a processor and a memory; the processor is configured to execute instructions stored in the memory to implement the display control method according to the first aspect.

[0008] In a fourth aspect, the present disclosure provides a computer-readable storage medium storing at least one instruction for execution by a processor to implement the display control method according to the first aspect.

[0009] In a fifth aspect, the present disclosure provides a head-up display device, comprising a display control unit and a display unit; wherein the display control unit is configured to divide an environment image in front of a vehicle into a plurality of detection sub-images with different sizes, wherein any two detection sub-images with a larger size completely contain a detection sub-image with a smaller size; determine a driving environment of the vehicle based on the change of the brightness of the detection sub-image with the size; adjust the display brightness of the head-up display device of the vehicle according to the driving environment of the vehicle; and the display unit is configured to display on the windshield of the vehicle according to the adjusted display brightness.

[0010] In a sixth aspect, the present disclosure provides a vehicle comprising the head-up display device according to the fifth aspect.

[0011] The present disclosure provides a display control method, which divides a frame of environment image into a plurality of detection sub-images with increasing sizes, determines a driving environment of the vehicle based on the change of the brightness of the detection sub-image with the size, and finally adjusts the display brightness of the head-up display device of the vehicle according to the driving environment of the vehicle. Since the change of external environmental light is the core variable affecting the visibility of HUD display, the present disclosure determines the change of light intensity in the driving environment of the vehicle by analyzing the change relationship of the brightness of the detection sub-image with the size in real time, and adaptively adjusts the display brightness of the HUD based thereon, so as to ensure that the driver can clearly obtain key driving information in scenes such as tunnel entry and exit and backlight driving, and avoid the problem of overexposure or overdarkness of the display content caused by sudden change of environmental light. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 A schematic diagram of a vehicle-mounted system according to the present disclosure is provided.

[0013] Figure 2 An exemplary perspective view from a driver's seat of a vehicle according to the present disclosure is provided.

[0014] Figure 3 A schematic diagram of the architecture of a head-up display device according to the present disclosure is provided.

[0015] Figure 4 A flowchart of a display control method according to the present disclosure is provided.

[0016] Figure 5 A schematic diagram of an environment image before entering a tunnel according to the present disclosure is provided.

[0017] Figure 6A detection sub-image division schematic diagram provided by the present disclosure.

[0018] Figure 7 Another detection sub-image division schematic diagram provided by the present disclosure.

[0019] Figure 8 Still another detection sub-image division schematic diagram provided by the present disclosure.

[0020] Figure 9 A detection sub-image luminance determination schematic diagram before entering a tunnel provided by the present disclosure.

[0021] Figure 10 A flowchart of a display control method provided by the present disclosure.

[0022] Figure 11 A detection sub-image schematic diagram before driving out of a tunnel provided by the present disclosure.

[0023] Figure 12 A detection sub-image luminance determination schematic diagram before driving out of a tunnel provided by the present disclosure.

[0024] Figure 13 A detection sub-image schematic diagram before entering a tunnel provided by the present disclosure.

[0025] Figure 14 Another flowchart of a display control method provided by the present disclosure.

[0026] Figure 15 Still another flowchart of a display control method provided by the present disclosure.

[0027] Figure 16 A schematic diagram of an icon displayed by a display region and an external environment observed at a vehicle windshield provided by the present disclosure.

[0028] Figure 17 A sub-environment image schematic diagram in an environment image provided by the present disclosure.

[0029] Figure 18 A composition schematic diagram of a display control device provided by the present disclosure.

[0030] Figure 19 A structural schematic diagram of an electronic device provided by the present disclosure. DETAILED DESCRIPTION

[0031] The technical solutions in the present disclosure will be described clearly and completely in combination with the drawings in the present disclosure.

[0032] Reference Figure 1An example of an in-vehicle system 100 to which the technical solution of the present disclosure can be applied is shown. In some examples, the vehicle on which the in-vehicle system 100 is mounted can be an internal combustion engine vehicle that uses an engine as a power source, a hybrid vehicle that uses an engine and an electric motor as a power source, an electric vehicle that uses an electric motor as a power source, and other types of vehicles.

[0033] As shown in FIG. 1, Figure 1 The in-vehicle system 100 includes an environment detection device group 110 that acquires an environment in which the vehicle is located during travel of the vehicle, a display control section 120, and a display section 130. The above-described components or device groups are coupled together through a communication bus 12. In some examples, the communication bus 12 is used for connection communication between the above-described components or device groups. Note that, Figure 1 Only a part of the in-vehicle system 100 is shown, and not all of the components of the in-vehicle system 100.

[0034] In Figure 1 The environment detection device group 110 can include a vehicle-mounted communication device 111, a radar 112, a laser range finder 113, and a camera 114. These devices are capable of acquiring environment information indicating an environment in or outside the vehicle.

[0035] The vehicle-mounted communication device 111 can wirelessly communicate with one or more devices directly or via a communication network. The devices with which the vehicle-mounted communication device 111 can communicate can be other vehicles, road side units or roadside stations, mobile terminal devices used by a person in the vehicle, and the like. In some examples, the vehicle-mounted communication device 111 can use 3G cellular communication, such as code division multiple access (CDMA), EVDO (Evolution-Data Only), global system for mobile communications (GSM) / general packet radio service (GPRS), or 4G cellular communication, such as long term evolution (LTE), or 5G cellular communication. In some examples, the vehicle-mounted communication device 111 can also communicate with a wireless local area network (WLAN) using WiFi. In some embodiments, the vehicle-mounted communication device 111 can also communicate directly with devices using an infrared link, Bluetooth, or ZigBee. In some examples, the vehicle-mounted communication device 111 can also communicate with devices using other wireless protocols.

[0036] Radar 112 is used to sense objects in the vehicle's surrounding environment and may also be used to sense the speed and / or direction of these objects. In some examples, radar 112 may use electromagnetic waves or lasers as a medium to detect objects based on a time-of-flight (TOF) or phase-shift method, and detect the position, distance, and relative speed of the detected object. In some examples, radar 112 may be configured at an appropriate location on the exterior of the vehicle to detect objects located in front of, behind, or to the side of the vehicle.

[0037] The laser rangefinder 113 may utilize laser light to sense objects in the environment in which the host vehicle is located. In some embodiments, the laser rangefinder 113 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

[0038] Camera 114 can be used to capture multiple images of the vehicle's surroundings. Camera 114 can be a still camera or a video camera. In some examples, to capture exterior images of the vehicle, camera 114 can be located at a suitable location on the vehicle's exterior. For example, to capture images of the front of the vehicle, camera 114 can be positioned within the vehicle's interior, near the front windshield. Alternatively, camera 114 can be positioned around the front bumper or radiator grille. In some examples, to capture images of the rear of the vehicle, camera 114 can be positioned within the vehicle's interior, near the rear window. Alternatively, camera 114 can be positioned around the rear bumper, trunk, or tailgate. In some examples, to capture images of the sides of the vehicle, camera 114 can be positioned within the vehicle's interior, near at least one of the side windows. Alternatively, camera 114 can be positioned around a side mirror, fender, or door. In some examples, to capture images of the vehicle's foreground that are in the same field of view as the driver's, camera 114 can be positioned around the steering wheel.

[0039] exist Figure 1 In the figure, as shown in the dotted box, the display control unit 120 and the display unit 130 can serve as the main body of the head-up display device 140. After receiving data from the environment detection device group 110, the display control unit 120 can process the received data to obtain a display setting to be displayed, and then project the display setting onto the windshield of the vehicle through the display unit 130 for display.

[0040] exist Figure 2 In the embodiment of the present invention, the windshield 204 is visually located above the vehicle dashboard 206. The driver can turn the steering wheel 210 in the passenger cabin to steer the vehicle, such as changing lanes, merging lanes, and parking the vehicle. In some embodiments, the steering wheel 210 can be retracted or omitted.

[0041] The head-up display device 140 (see Figure 3 ) projects a display image 212 (e.g., a virtual image) onto a portion of the windshield 204 through one or more apertures (e.g., aperture 216) in the dashboard 206. While Figure 2 An example size of the display image 212 is shown, but the display image 212 can be presented on a larger or smaller area. Examples of the display image 212 include various vehicle information, such as a current vehicle speed, a current gear of a vehicle transmission, an engine speed, a direction of the vehicle, current infotainment system settings, and / or other vehicle information. The head-up display device 140 provides information to a driver of the vehicle without requiring the driver to remove his or her gaze from objects in front of the vehicle.

[0042] Referring to Figure 3 the example implementation architecture of the head-up display device 140 shown, the display control section 120 generates a signal 412 based on data 420 transmitted by the environmental detection apparatus group 110 or other modules. The display section 130 can include a light source 131 and a light path assembly 132. The light source 131 outputs light (e.g., a virtual image) based on the signal 412 from the display control section 120 to be displayed on the windshield 204. For example, the light source 131 can include one or more lasers and output red, green, and blue light.

[0043] The light path assembly 132 can reflect the output of the light source 131 through the aperture 216 onto the windshield 204. A viewer (e.g., a driver) can view the display image 212 in a display area of the windshield 204. In some examples, the light path assembly 132 can include one or more than one mirror (flat mirror) and a concave mirror (magnifying mirror). The output of the light source 131 is reflected to the windshield 204 via a foldback by the mirror and magnification by the concave mirror to form a virtual image 40 that can be visually observed by the driver, which presents a visual effect that the virtual image 40 is projected onto a projection surface 41 at a set distance in front of the vehicle, but passes through the projection surface 41, and the real environment remains visible. In some examples, the light path assembly 132 can also be omitted, and the light source 131 can project the display image 212 directly onto the windshield 204 to form the virtual image 40 on the projection surface 41.

[0044] In conjunction with Figures 1 to 3As shown, during the driving process of the vehicle, the display control unit 120 can accurately map the key information such as real-time vehicle speed, navigation guidance, and collision warning, etc. to the preset visual field area of the windshield 204 through the optical projection system of the display unit 130, so that the driver can clearly obtain the information without shifting the line of sight when looking at the front. However, the current system uses fixed brightness to project information, and when the external light intensity or ambient color temperature changes dramatically, the visibility of the projected information may decrease significantly. For example, when the vehicle enters the tunnel, the external light environment becomes dark, and the high brightness of the HUD display will cause the information spot to be dazzling; on the contrary, if the projection brightness is too low, the key information may be covered by the ambient light due to insufficient reflection of the windshield 204, which affects the timely identification of the driver and forms a safety hazard.

[0045] Based on the above description, the present disclosure aims to provide a display control method, such as Figure 4 As shown, it shows an example of a display control method provided by the present disclosure, which can be executed by the aforementioned head-up display device 140, especially by the display control unit 120 in the aforementioned head-up display device 140. Figure 4 The method shown includes steps S401 to S403.

[0046] In step S401, the environment image in front of the vehicle is divided into multiple detection sub-images of different sizes.

[0047] The environment image in front of the vehicle refers to the image collected by the camera in the camera of the vehicle for shooting the road scene image in front of the vehicle during the driving process of the vehicle, which covers the area in front of the driver's field of view. As shown Figure 5 As shown, it is an example of an environment image collected by a camera in front of the vehicle, in which the square filling represents that the light inside the tunnel is darker than outside the tunnel.

[0048] The shapes of the multiple detection sub-images can be the same or different, such as all the multiple detection sub-images being rectangular, or some of the multiple detection sub-images being rectangular and some being trapezoidal, and the specific shape is not limited.

[0049] The size of the plurality of detection sub-images can increase by a preset step size. For example, the detection sub-images are rectangular, and each time the length and width are increased by 2. The size of the first detection sub-image is 1*3, the size of the second detection sub-image is 3*5, and the size of the third detection sub-image is 5*7. Alternatively, the size of the plurality of detection sub-images can increase by an indefinite step size. For example, the size of the first detection sub-image is 1*3, the size of the second detection sub-image is 2*4, and the size of the third detection sub-image is 3*5. Alternatively, the size of the plurality of detection sub-images can increase based on the center point of the environment image as a reference and cover a center visual angle range. For example, the first detection sub-image covers a 10% range of the center visual angle, the second detection sub-image covers a 30% range of the center visual angle, and the third detection sub-image covers a 50% range of the center visual angle. The specific increasing strategy is not limited.

[0050] The larger detection sub-image in any two detection sub-images completely contains the smaller detection sub-image. That is, the detection sub-images are sorted in ascending order of size, and the smaller detection sub-image is nested in the larger detection sub-image in adjacent two detection sub-images.

[0051] In some possible implementations, the environment image is divided into a plurality of detection sub-images in a concentric radial manner. For example, as shown in FIG. 6, the environment image is divided into a plurality of detection sub-images 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, and 80. Figure 6 As shown in FIG. 6, the detection sub-images 60, 61, and 62 have the same geometric center O, and the detection sub-image 60 is enlarged along the radial direction to obtain the detection sub-images 61 and 62. In other possible implementations, one side of the plurality of detection sub-images overlaps. For example, as shown in FIG. 7, the sides S of the detection sub-images 70, 71, and 72 overlap. Figure 7 As shown in FIG. 7, the sides S of the detection sub-images 70, 71, and 72 overlap. In yet other possible implementations, the sides of some of the plurality of detection sub-images overlap. For example, as shown in FIG. 8, the sides of the detection sub-images 81 and 82 overlap, and any side of the detection sub-image 80 does not overlap with any side of the detection sub-images 81 and 82. The division of the detection sub-images described above is only an example, and the environment image can be divided in other manners according to actual needs, which are not limited in the present disclosure. Figure 8 As shown in FIG. 8, the sides of the detection sub-images 81 and 82 overlap, and any side of the detection sub-image 80 does not overlap with any side of the detection sub-images 81 and 82. The division of the detection sub-images described above is only an example, and the environment image can be divided in other manners according to actual needs, which are not limited in the present disclosure.

[0052] The brightness of the detection sub-images of different sizes can reflect the environment illumination at different distances from the vehicle. The brightness of the smallest detection sub-image reflects the environment illumination closest to the vehicle, the brightness of the largest detection sub-image reflects the environment illumination farthest from the vehicle, and the brightness of the detection sub-image of a middle size reflects the environment illumination at a middle distance from the vehicle.

[0053] In some embodiments, a plurality of target frames with different sizes are determined according to the setting position and camera parameters of the image acquisition device in front of the vehicle, wherein the larger target frame of any two target frames completely contains the smaller target frame; and the environment image in front of the vehicle is divided into a plurality of detection sub-images with different sizes by the plurality of target frames.

[0054] The target frame refers to a closed curve centered at a specific position in the environment image, and the size and center position are determined by the camera parameters (focal length f, field of view FOV) and the installation position (pitch angle θ, height from the ground H). All target frames are arranged in order of area from small to large, and the large target frame completely contains the small target frame, so as to ensure that the detection sub-image covers the continuous space area in front of the vehicle from far to near.

[0055] The generation rule of the target frame is that the center of the camera imaging plane is taken as the anchor point, the initial size is W0xH0 (such as the area coinciding with the orthographic projection of the display area of the HUD), and the corresponding farthest detection distance D_max (such as 150 meters); the subsequent target frames are enlarged by the area increment coefficient k (such as k = 1.5) step by step, and the increment coefficient in the enlargement process can be different.

[0056] Exemplarily, the camera parameters of a certain vehicle model are f = 4 mm, FOV = 120°, H = 1.2 m, and θ = 10°, three nested target frames are generated, target frame 1 (smallest): size 200x150 pixels, covering the far distance 80-150 meters area (such as the long-range view of the tunnel entrance); target frame 2 (medium): 300x225 pixels, covering the medium distance 50-80 meters area (such as the close-range view of the tunnel entrance); and target frame 3 (largest): 450x337.5 pixels, covering the near distance 0-50 meters area (such as the road in front of the vehicle).

[0057] The target frames corresponding to different models of vehicles are different, so that the brightness change of the detection sub-image finally divided according to the target frame can accurately reflect the actual brightness change in the driving environment of the vehicle.

[0058] In step S402, the driving environment of the vehicle is determined based on the brightness change of the detection sub-image with the size.

[0059] In some embodiments, for each detection sub-image, the average brightness of all pixels included in the detection sub-image is determined as the brightness of the detection sub-image.

[0060] Since the brightness of all pixels in the detection sub-image is considered, more noise will be introduced, and therefore, in other embodiments, the average brightness of the pixels in at least part of the boundary region of the detection sub-image is determined as the brightness of the detection sub-image.

[0061] The boundary area of ​​the detection sub-image refers to a boundary of a preset width, such as a boundary of four pixels. In one case, the brightness of the detection sub-image is determined as the average brightness of the pixels in all boundary areas of the detection sub-image. In another case, the brightness of the detection sub-image is determined as the average brightness of the pixels in the “∩” or “∪” boundary area of ​​the detection sub-image. In another case, the brightness of the detection sub-image is determined as the average brightness of the pixels in the “L”, “ "," "or" The brightness average of the pixels in the "-shaped boundary area" is determined as the brightness of the detection sub-image. The specific determined boundary area is not limited in this disclosure, but the shape of at least part of the boundary area determined for each detection sub-image in the multiple detection sub-images is the same.

[0062] Combine Figure 8 ,like Figure 9 As shown, the ∩-shaped boundary region corresponding to detection sub-image 80 is 801, the ∩-shaped boundary region corresponding to detection sub-image 81 is 811, and the ∩-shaped boundary region corresponding to detection sub-image 82 is 821. w1 and w2 represent the widths of the boundary regions. The average brightness of each pixel in boundary region 801 is used as the brightness of detection sub-image 80, the average brightness of each pixel in boundary region 811 is used as the brightness of detection sub-image 81, and the average brightness of each pixel in boundary region 821 is used as the brightness of detection sub-image 82.

[0063] Since the brightness change of the environment at different distances from the vehicle can reflect the driving environment of the vehicle, and the detection sub-images of different sizes represent the distance difference from the vehicle through their coverage. When all pixel brightness of the detection sub-image is used, the larger detection sub-image (e.g. Figure 8 The detection sub-image 80 in will completely contain the detection sub-image of smaller size (e.g. Figure 8 The detection sub-image 81 in the image is mixed with the local environment information, causing its brightness data to mix the local and long-range environment information, thereby introducing cross-region noise in the distance representation.

[0064] In order to eliminate this type of noise, the brightness of the boundary area of ​​each detection sub-image is extracted to perform environmental analysis, such as Figure 9 As shown, boundary region 801 of detection sub-image 80 and boundary region 811 of detection sub-image 81 correspond to independent spatial regions in the real environment at different distances from the vehicle, and there is no overlap between the boundary regions. Because the boundary regions are physically located at the outer edges of the detection sub-images, the real environment area they cover only maps a single distance level (for example, boundary region 801 corresponds to the short-range environment, while boundary region 811 corresponds to the long-range environment). Therefore, calculating the average brightness value of the boundary regions eliminates interference from environmental signals at adjacent levels and accurately captures changes in light intensity at corresponding distances, thereby improving the accuracy of vehicle driving environment assessment.

[0065] The vehicle's driving environment is determined by establishing a pattern in which the brightness of a detection sub-image changes with size. There are two specific implementation methods: one is to pre-store the corresponding relationship between the change pattern of size and brightness and the driving environment in the vehicle; the other is to use a trained neural network model to learn the relationship between the change pattern between size and corresponding brightness and the corresponding vehicle driving environment, thereby predicting the driving environment based on the input of each size and corresponding brightness.

[0066] When the lighting conditions of the external environment in which the vehicle is traveling change, the brightness value of each pixel in the corresponding environment image will also change. For example, when the vehicle is about to enter a dark environment from a bright environment, Figures 6 to 9 As shown in the figure, the area closest to the vehicle is outside the tunnel and has ample light. Since the detection sub-image closest to the vehicle is the largest, the brightness of the largest detection sub-image is the highest. The area farthest from the vehicle or in the middle corresponds to the tunnel edge or tunnel interior, where light is reduced. Since the detection sub-images that reflect the medium or farthest distance from the vehicle are the medium or smallest, the brightness of the medium or smallest detection sub-image is lower than that of the largest detection sub-image. The process of a vehicle entering a bright environment from a dark environment is exactly the opposite of the process of entering a dark environment from a bright environment, and will not be further described here.

[0067] For example, the pre-stored relationship between size and brightness changes and the driving environment is as follows: when the brightness of the largest detection sub-image is the highest, the vehicle is judged to be in a transition zone to a dark environment (e.g., entering a tunnel); when the brightness of the smallest detection sub-image is the highest, the vehicle is judged to be in a transition zone to a bright environment (e.g., exiting a tunnel); if the brightness change does not exceed a preset threshold when the size increases, the current driving environment judgment is maintained; when there is no significant correlation between size and brightness, the vehicle is identified as a complex lighting scene (e.g., a tree shading the road). A transition zone refers to an area where the external lighting is about to transition from a bright environment to a dark environment, or vice versa.

[0068] It should be noted that to further improve the accuracy of determining the vehicle's driving environment, the vehicle's driving environment can be determined based on the size and brightness changes in multiple consecutive frames of environmental images. For example, if the brightness of the largest detection sub-image is the highest in three consecutive frames of environmental images, it is determined to be a transition zone into a dark environment. This can avoid incorrect adjustments caused by an abnormality in a single frame of environmental image.

[0069] In step S403 , the display brightness of the head-up display device of the vehicle is adjusted according to the driving environment of the vehicle.

[0070] The display brightness of the HUD refers to the luminous intensity of the virtual image projected onto the windshield or transparent display screen in the driver's field of view through the optical system. According to the determined driving environment in front of the vehicle, the display brightness of the HUD is dynamically adjusted, so that the prompt information displayed in the HUD is intuitive and clear under different driving environments. For example, if the driving environment is a transition area entering a dark environment, the brightness of the HUD is gradually reduced to a preset dark light mode value; if the driving environment is a transition area entering a bright environment, the brightness is gradually increased to a preset high light mode value.

[0071] The change of external environmental light is a core variable affecting the visibility of the HUD display. The present disclosure determines the change of the light intensity in the driving environment of the vehicle by real-time analysis of the relationship between the brightness and the size of the detection sub-image, and adjusts the display brightness of the HUD adaptively based on this, thereby ensuring that the driver can clearly obtain key driving information in scenes such as tunnel entry and exit and driving against the light, and avoiding the problem of overexposure or overdarkness of the display content caused by sudden changes in the environmental light.

[0072] In addition, the present disclosure is a horizontal comparison of a frame of environment image, that is, determining detection sub-images capable of representing different distances from the vehicle in a frame of environment image, so as to determine the driving environment of the vehicle according to the brightness of the detection sub-image. Compared with the longitudinal comparison of continuous multiple frames of images, the single frame horizontal comparison directly determines the light change direction through the brightness difference of different regions at the same time (such as the light and dark contrast of close-up and long shot), without relying on historical frame data, avoiding misjudgment caused by time sequence noise of multiple frames of environment images (such as cloud cover, leaf shaking); single frame analysis is based on spatial information at the same time, and is not affected by frame misregistration or blur, while multi-frame longitudinal comparison relies on the accuracy of frame registration (such as optical flow method), which is easy to introduce errors in dynamic blur scenes, such as bumpy road conditions, multiple frame method is difficult to align due to image shaking, which may misjudge the light change trend; single frame determines more stably through the brightness distribution of different regions in the current frame. In addition, the multi-frame longitudinal comparison needs to process continuous multiple frames of images, so the time delay is larger and the calculation complexity is higher.

[0073] In some embodiments, as shown in Figure 10 The display control method includes the following steps S1001 to S1003.

[0074] In step S1001, the environment image in front of the vehicle is divided into multiple detection sub-images with different sizes.

[0075] In step S1002, in the case that the brightness of the detection sub-image corresponding to the size extremum in the multiple detection sub-images is the largest, it is determined that the driving environment of the vehicle is a transition area of light intensity change.

[0076] The maximum size value refers to the largest size or the smallest size, and the detection sub-image corresponding to the maximum size value refers to the detection sub-image with the largest size or the detection sub-image with the smallest size.

[0077] Specifically, if the brightness of the largest detection sub-image is the highest (greater than the brightness of any other detection sub-image), the vehicle's driving environment is determined to be in a transition zone from bright to dark (where the light intensity decreases). If the brightness of the smallest detection sub-image is the highest, the vehicle's driving environment is determined to be in a transition zone from dark to bright (where the light intensity increases). A transition zone refers to an area where the light intensity is currently unchanged but is about to change.

[0078] Specifically, if the largest detection sub-image (such as Figure 8 If the brightness of the detection sub-image 80 in the image is greater than that of all other detection sub-images (such as detection sub-image 81 and detection sub-image 82), the vehicle is determined to be in the transition area from a bright environment to a dark environment. At this time, the external light intensity tends to decrease. Typical scenes include entering a tunnel entrance, an underground garage entrance, an overpass tunnel, or entering an area without street lights from a street-lit section. Figure 9 Taking the environmental image of a vehicle about to enter a tunnel as an example, the brightness of detection sub-image 80 is determined by the average brightness of its boundary region 801. Because boundary region 801 contains many bright white areas (representing a brightly lit external environment), while boundary regions 811 and 821 of detection sub-image 81 and 82 are primarily filled with low-brightness squares (representing the dark environment inside the tunnel), the brightness of the largest detection sub-image 80 is the highest, and the driving environment is determined to be in the transition zone from a bright environment to a dark environment.

[0079] On the contrary, if the smallest detection sub-image (such as Figure 11 If the brightness of the detection sub-image 13) is the largest, it is determined that the vehicle is in the transition area from dark environment to bright environment. At this time, the external light intensity is increasing. Typical scenes include leaving a tunnel, a garage, or entering a road section with street lights from an unlit area. Figure 11 ,like Figure 12 In the tunnel exit scenario shown, boundary region 131 of detection sub-image 13 contains a large, bright white area, while boundary regions 111 and 121 of detection sub-image 11 and 12 are primarily low-brightness checkered areas. Consequently, detection sub-image 13, the smallest in size, has the highest brightness, indicating that the driving environment is transitioning from dark to bright. While ambient light intensity doesn't change immediately in these transitional regions, the correlation between detection sub-image size and brightness gradients allows for a prediction of an impending increase or decrease in light intensity, enabling proactive adjustment of HUD brightness.

[0080] In some embodiments, in the case that the brightness of the detection sub-image corresponding to the size extreme value in the plurality of detection sub-images is the largest, the driving environment of the vehicle is determined to be a transition region of illumination intensity change, including: in the case that the brightness of the plurality of detection sub-images monotonically changes with the increase of the size, the driving environment of the vehicle is determined to be a transition region of illumination intensity change.

[0081] Monotonic change refers to monotonic increase or monotonic decrease. For example, if the brightness increases with the increase of the size of the detection sub-image, the change rule of the brightness with respect to the size is monotonic increase; if the brightness decreases with the increase of the size of the detection sub-image, the change rule of the brightness with respect to the size is monotonic decrease.

[0082] Specifically, in combination with Figure 11 , the vehicle is about to drive out of the tunnel, which is from a dark environment to a bright environment. The detection sub-image 11 corresponds to the image of the region far away from the tunnel entrance and close to the vehicle, and the ambient illumination of this region is low at this time. Therefore, the brightness of the detection sub-image 11 with the largest size is the smallest. The detection sub-image 13 corresponds to the image of the region close to the tunnel entrance and far away from the vehicle, and the ambient illumination of this region is close to the ambient illumination outside the tunnel at this time. Therefore, the brightness of the detection sub-image 13 with the smallest size is the largest. The detection sub-image 12 corresponds to the image of the region close to the tunnel entrance and close to the vehicle, and the ambient illumination of this region is higher than that of the region far away from the tunnel entrance but lower than that outside the tunnel. Therefore, the brightness of the detection sub-image 12 with the medium size is medium. That is, from the dark environment to the bright environment, the brightness of the detection sub-image monotonically decreases with the increase of the size of the detection sub-image.

[0083] In combination with Figure 13 , the vehicle is about to drive into the tunnel, which is from a bright environment to a dark environment. The detection sub-image 30 corresponds to the image of the region far away from the tunnel entrance and close to the vehicle, and the ambient illumination of this region is the highest due to the inclusion of the environment outside the tunnel. Therefore, the brightness of the detection sub-image 30 with the largest size is the largest. The detection sub-image 32 corresponds to the image of the region close to the tunnel entrance and far away from the vehicle, and the ambient illumination of this region is close to the ambient illumination inside the tunnel at this time. Therefore, the brightness of the detection sub-image 32 with the smallest size is the smallest. The detection sub-image 31 corresponds to the image of the region close to the tunnel entrance and close to the vehicle, and the ambient illumination of this region is higher than that of the region far away from the tunnel entrance but lower than that outside the tunnel. Therefore, the brightness of the detection sub-image 31 with the medium size is medium. That is, from the bright environment to the dark environment, the brightness of the detection sub-image monotonically increases with the increase of the size of the detection sub-image.

[0084] Therefore, according to the change of the size of the sub-image on the brightness, it can be accurately determined that the vehicle is entering a bright environment from a dark environment or entering a dark environment from a bright environment.

[0085] In step S1003, in the transition area of the change of the illumination intensity, the display brightness of the head-up display device is gradually adjusted to the brightness corresponding to the changed illumination intensity.

[0086] In the transition area of the change of the illumination intensity, the HUD display brightness is gradually adjusted based on the predicted change trend of the ambient illumination intensity. Since the collected environment images cover the area in front of the vehicle that has not been reached (such as the entrance of a tunnel or the entrance of a basement), the system can identify the area of the change of the illumination intensity (such as the dark environment inside the tunnel or the external bright environment after driving out) that will be entered in advance, and dynamically set the brightness adjustment time length according to the current vehicle speed and the distance between the current vehicle and the area of the change of the illumination intensity.

[0087] In some embodiments, the adjustment distance D is calibrated in advance, that is, when the distance between the vehicle and the area of the change of the illumination intensity is D, the display brightness of the HUD is started to be adjusted. The calibration process is as follows: the positions and sizes of a plurality of detection sub-images are fixed, such as three target boxes, which are target box 1, target box 2 and target box 3. Under various illumination environments (such as overcast, sunny, etc.), when the distance between the vehicle and the area of the change of the illumination intensity is D, the standard deviation of the difference in brightness of the detection sub-image corresponding to the target box 2 under various illumination environments and the standard deviation of the difference in brightness of the detection sub-image corresponding to the target box 3 under various illumination environments are determined, and the absolute value L of the difference between the standard deviation corresponding to the target box 2 and the standard deviation corresponding to the target box 3 is determined. L is determined as the standard for determining whether the distance between the current vehicle and the area of the change of the illumination intensity is the distance D (within the allowable deviation range). It should be noted that different models of vehicles (the parameters of the camera may be different, the setting position may be different, etc.) have different Ls due to different target boxes. The above-mentioned three target boxes and the calibration of L using the target box 2 and the target box 3 are only exemplary descriptions, and other different numbers of target boxes can be set in practice, and L is calibrated using any two target boxes.

[0088] In the actual driving process of the vehicle, when it is determined that the vehicle is in the transition area of the change of the illumination intensity, the difference between the brightness of the detection sub-image corresponding to the target box 3 and the brightness of the detection sub-image corresponding to the target box 2 is determined, and when the brightness difference is greater than or equal to L, it is determined that the distance between the vehicle and the area of the change of the illumination intensity is D, and the display brightness of the HUD is started to be adjusted. The adjustment distance D is divided by the current vehicle speed to obtain the adjustment time length T (for example, the distance is 100 meters and the vehicle speed is 10 meters / second, T = 10 seconds), and then the HUD brightness is smoothly transitioned from the initial brightness to the brightness corresponding to the changed illumination intensity within the time length T.

[0089] Exemplarily, the adjusting distance of the vehicle entering the tunnel entrance is 100, L is 100, the brightness of the detection sub-image corresponding to the target frame 3 is 200, the brightness of the detection sub-image corresponding to the target frame 2 is 90, the difference between the two is 110, which is greater than 100, at this time, it is determined that the adjusting distance between the vehicle and the tunnel entrance is 100, and the display brightness of the HUD is started to be adjusted.

[0090] In some other embodiments, when it is determined that the vehicle is in the transition region of the light intensity change, the distance between the vehicle and the region of the light intensity change is measured by a ranging device such as a radar.

[0091] The specific adjustment process is as follows: The brightness adjustment supports both linear and nonlinear modes. Linear adjustment means that the brightness is increased or decreased at a fixed rate. For example, the distance is 100 m, the vehicle speed is 10 m / s, the adjustment time is 10 s, the brightness is decreased when entering the tunnel, and the specific process is as follows: the current display brightness of the HUD is 10000 nit, the display brightness of the HUD corresponding to the changed light intensity is 5000 nit, and the display brightness of the HUD is reduced at a rate of (10000-5000) / 10=500 nit per second; the brightness is increased when driving away from the tunnel, and the specific process is as follows: the current brightness is 5000 nit, the brightness corresponding to the changed light intensity is 10000 nit, and the display brightness of the HUD is increased at a rate of (10000-5000) / 10=500 nit per second.

[0092] Nonlinear adjustment means that the brightness is changed according to a preset function curve. For example, the entering tunnel is taken as an example, a quadratic function decay model is used, wherein, is the brightness value to be adjusted at the current time, L 0 is the initial brightness value, L min is the minimum brightness value to be finally adjusted, , t 0 is the time (seconds) elapsed since the start of adjustment, T is the adjustment time. For example, if L 0 is 1000 nit, L min is 200 nit, T is 5 s, then L 0- L min = 1000-200=800, at the first second, =800×(1-0.2) 2 +200=800×0.64+200=712 nit; at the third second, =800×(1-0.6) 2+ 200 = 800 x 0.16 + 200 = 328 nit, at the 5th second = 800 x (1 - 1) 2 + 200 = 200 nit. The reverse function is used when driving out of the tunnel, which can be , wherein, is the brightness value to be adjusted at the current time, L max is the maximum brightness value to be finally adjusted, , and the remaining parameters are the same as in the dimming process described above. For example, if L 0 is 200 nit, L max is 1000 nit, T is 5s, then at the 1st second = (1000 - 200) x 0.04 + 200 = 232 nit; at the 3rd second = 800 x 0.36 + 200 = 488 nit, at the 5th second = 800 x 1 + 200 = 1000 nit.

[0093] It should be noted that the description of step S1001 can refer to the above step S401.

[0094] The adjustment mechanism in the present disclosure ensures that the HUD display content is always clear and readable when the driver is driving through a tunnel, basement or other high dynamic light scene, by pre-judgment brightness fade (rather than sudden change after reaching the environment change area), while avoiding visual discomfort caused by sudden changes in brightness. In addition, the sensitivity of the human eye to brightness changes is nonlinear, especially in the initial stage of light-dark adaptation, the perception is strong, and gradually slows down later. By using a nonlinear adjustment method, such as a quadratic function decay model, the brightness is quickly reduced at the initial stage when entering the tunnel (the brightness change rate decreases with time) to match the physiological response curve of pupil contraction, and the brightness is slowly changed at the later stage to avoid excessive stimulation; the reverse function (brightness increases rapidly) when driving out of the tunnel matches the dynamic delay characteristics of pupil dilation, so that the brightness adjustment is synchronized with the human eye adaptation process, significantly reducing visual fatigue.

[0095] In some embodiments of the present disclosure, as shown in Figure 14 , the display control method comprises the following steps S1401 to S1405.

[0096] In step S1401, the environment image in front of the vehicle is divided into multiple detection sub-images of different sizes.

[0097] In step S1402, based on the environment image, the ratio of dark area to bright area is determined.

[0098] Specifically, the dark area and bright area ratio is calculated based on the environment image: first, the environment image in RGB format is converted to YUV color space, and the value of the luminance channel (Y channel) is extracted by the formula Y = 0.299R + 0.587G + 0.114B, wherein R, G and B respectively correspond to the red, green and blue components of the original environment image.

[0099] Subsequently, at least part of the region in the environment image is determined as the region of interest, which can be the largest detection sub-image, or the central region of the environment image (for example, a region centered on the center point of the environment image and occupying 30% of the area of the entire environment image), or the smallest detection sub-image, which is not limited in the present disclosure.

[0100] For the selected region of interest, the luminance histogram data is counted. The dark area refers to a continuous pixel region with low luminance in the environment image, which usually corresponds to the inside of the tunnel, underground garage and other low-illumination environments; the bright area refers to a continuous pixel region with high luminance in the environment image, which corresponds to sunny outdoor, well-lit road section and other high-illumination environments. For example, the pixels with luminance value greater than the bright area threshold value are combined to determine the bright area, and the pixels with luminance value less than the dark area threshold value are combined to determine the dark area, such as pixels with luminance value less than 50 belonging to the dark area and pixels with luminance value greater than 200 belonging to the bright area, and the bright area threshold value is greater than the dark area threshold value. Alternatively, a quantile division method is used to sort the luminance of each pixel, and the first preset percentage of pixels with the lowest luminance are determined as the dark area, and the second preset percentage of pixels with the highest luminance are determined as the bright area, such as 40% of the pixels with the lowest luminance being determined as the dark area and 30% of the pixels with the highest luminance being determined as the dark area. The ratio of the total number of dark area pixels to the total number of bright area pixels is determined, for example, when the region of interest is the largest detection sub-image, if the dark area pixel ratio is 60% and the bright area pixel ratio is 20%, the ratio of the dark area to the bright area is 3:1, which is used to quantify the area weight of the low-illumination and high-illumination regions in the current field of view, and provides a quantitative basis for subsequent environment determination.

[0101] In step S1403, when the ratio is greater than or equal to the first preset threshold value and the luminance of the largest detection sub-image among the plurality of detection sub-images is the largest, it is determined that the driving environment of the vehicle is the transition area entering the target object.

[0102] In step S1404, when the ratio is less than the second preset threshold value and the luminance of the smallest detection sub-image among the plurality of detection sub-images is the largest, it is determined that the driving environment of the vehicle is the transition area leaving the target object.

[0103] Target objects refer to roadside structures that cause sudden changes in ambient lighting, such as tunnels, underground garage entrances, overpass tunnels, and streetlights. The first and second preset thresholds are empirical or experimentally calibrated values. The first threshold represents the critical condition for dark areas to dominate; the second threshold represents the critical condition for bright areas to dominate. The first threshold is greater than or equal to the second threshold.

[0104] In step S1405 , within the transition region where the light intensity changes, the display brightness of the head-up display device is gradually adjusted to a brightness corresponding to the changed light intensity.

[0105] It should be noted that, for step S1401, reference may be made to the description of step S401 above, and for the description of step S1405, reference may be made to the description of step S1003 above, which will not be repeated here.

[0106] The present disclosure improves the accuracy of vehicle driving environment assessment through a dual verification mechanism: dark-to-light-area ratio analysis and size-dependent brightness changes in detection sub-images. This mechanism rapidly identifies overall lighting distribution trends based on the dark-to-light-area ratio of the ambient image. Subsequently, the direction of sudden lighting changes is precisely located by detecting sub-image brightness changes as they change in size (the brightness of the largest sub-image is highest at the transition from a bright to a dark environment, while the brightness of the smallest sub-image is highest at the transition from a dark to a bright environment). Working together, these two mechanisms effectively distinguish between true gradual changes in lighting intensity (such as entering or exiting a tunnel) and localized changes in brightness caused by temporary occlusion (such as cloud shadows or tree shading). For example, when a vehicle passes through a tree-shaded section of road, although a local detection sub-image may exhibit a high dark-area ratio due to the shadows, the transition area assessment will not be triggered because the brightness change with size does not meet the requirements (e.g., there is no significant difference in brightness between multiple detection sub-images), thereby preventing incorrect HUD brightness adjustment.

[0107] In some embodiments, as Figure 15 As shown, the display control method includes the following steps S1501 to S1505.

[0108] In step S1501 , the environment image in front of the vehicle is divided into a plurality of detection sub-images of different sizes.

[0109] It should be noted that step S1501 can refer to the description of step S401 above and will not be repeated here.

[0110] In step S1502, when the brightness of the largest detection sub-image is greater than the brightness of any other detection sub-image and the brightness of the largest detection sub-image is greater than the strong light threshold, it is determined that the vehicle's driving environment is facing a strong light source.

[0111] Strong light source refers to a light source with abnormally high brightness in a local area of an environment image, which is significantly higher than the surrounding environment (such as the noon sun or the high beam of an oncoming vehicle). In the collected environment image including the strong light source, the brightness of the area corresponding to the strong light source is abnormally high, and the strong light threshold is a critical point for determining such abnormally high brightness. The strong light threshold is calibrated according to experience or experiment, such as a strong light threshold of 200.

[0112] When the brightness of the largest size detection sub-image (representing the nearest distance environment) is greater than the brightness of any other detection sub-image, and the brightness of the largest size detection sub-image is greater than the strong light threshold, the directly facing strong light source determination is triggered. For example, the vehicle is driving on a road directly facing the sun, and the brightness of the largest size detection sub-image reaches 240 due to direct sunlight, while the brightness of other detection sub-images (covering the distant road) is 150 and 120 respectively, and it is determined that the vehicle is directly facing the strong light source.

[0113] In step S1503, the display brightness of the head-up display device of the vehicle is adjusted based on the brightness of the strong light source.

[0114] Based on the actual brightness of the strong light source, the brightness of the HUD corresponding to the brightness is determined by looking up a table, or the HUD brightness is dynamically adjusted using a piecewise function. For example, if the brightness of the strong light source is greater than or equal to the intensity threshold, the HUD brightness is increased to the product of the brightness of the strong light source and a first coefficient, and if the brightness of the strong light source is less than the intensity threshold, the HUD brightness is increased to the product of the brightness of the strong light source and a second coefficient, and the first coefficient is less than the second coefficient.

[0115] In step S1504, when the brightness of the detection sub-image presents non-monotonic change with the increase of the size, and the change amount of the brightness of the detection sub-image with adjacent size is greater than the difference threshold, it is determined that the driving environment of the vehicle is the alternating light and dark environment.

[0116] Non-monotonic change refers to the average brightness of the detection sub-image presenting irregular fluctuations (such as the brightness first increasing and then decreasing with the increase of the size) rather than continuously increasing or decreasing. Alternating light and dark environment refers to the existence of periodically or randomly distributed light and dark areas (such as shaded roads or building projection alternating road sections) on the driving path of the vehicle.

[0117] Calculate the brightness sequence of all detection sub-images, if the monotonicity test fails (such as the Spearman correlation coefficient |p|<0.3), calculate the difference value of the brightness of any two detection sub-images adjacent in size, if the brightness change of all size adjacent detection sub-images is greater than the difference value threshold, it means that the brightness difference of two size adjacent detection sub-images is large, and then it can be inferred that the environment brightness alternates, so it is judged as a light and dark alternating environment. The difference value threshold is a critical value for measuring the significant change of the environment brightness at different distances from the vehicle, which can be calibrated by experiment. For example, the brightness of three detection sub-images is 100 (smallest size), 250 (medium size), and 150 (largest size), and the difference value threshold is 50. The size of 100 (smallest size) and 250 (medium size) is adjacent, and the change is 250-100=150, which is greater than 50. The size of 250 (medium size) and 150 (largest size) is adjacent, and the change is 250-150=100, which is greater than 50. It presents non-monotonic change and the change is greater than the difference value threshold, and it is judged as a light and dark alternating environment.

[0118] In step S1505, based on the average brightness of the light and dark alternating environment, the display brightness of the head-up display device of the vehicle is adjusted.

[0119] The average brightness of the light and dark alternating environment is the average brightness of the plurality of detection sub-images, which is used as the basis for adjusting the HUD. This can avoid frequent changes in the display brightness of the HUD in a light and dark alternating environment, and the display brightness corresponding to the average value can be suitable for bright or light environments in a light and dark alternating environment. In addition, after determining the light and dark alternating environment, the frequency of adjusting the display brightness of the HUD can be reduced to avoid flickering of the HUD.

[0120] The present disclosure identifies the special driving environment of the vehicle facing a strong light source (such as noon sunlight or opposite vehicle high beam), and adjusts the display brightness of the HUD in real time to a preset anti-glare threshold, so as to overcome the problem of white display and sudden contrast reduction of the display content caused by strong environmental light, and to ensure the clear readability of the projected image.

[0121] For light and dark alternating environments such as tree-lined roads and building projections, the system analyzes the non-monotonicity of the brightness of the detection sub-images with respect to the size, determines that the current is in a light and dark alternating environment, and sets the display brightness of the HUD based on the average brightness of the plurality of detection sub-images. This average processing makes the brightness adjustment value suitable for both instantaneous bright environment (such as 5000 nit) and dark environment (such as 3000 nit), and avoids visual discomfort caused by frequent brightness jumps.

[0122] In some embodiments, the display control method further comprises: determining a dominant color of a sub-environment image in the environment image that coincides with a normal projection of the display region of the head-up display; and adjusting a background of the display region and the display icon to a color combination corresponding to the dominant color.

[0123] The sub-environment image that coincides with the normal projection of the display region of the HUD refers to an image region that completely overlaps the external environment actually covered by the display region of the HUD in the field of view of the driver, which is calculated through a geometric projection transformation. For example, if the projection region of the HUD corresponds to a 10° field of view range in front of the vehicle on the windshield, the normal projection coinciding region is a sub-environment image within a 10° field of view range in the center of the environment image. According to the optical parameters (projection angle a, virtual image distance D VID) of the HUD and the intrinsic parameters (focal length f, distortion coefficient) of the camera, the accurate projection range of the display region of the HUD in the environment image is calculated. For example, when D VID = 2.5 meters and a = 12°, the projection region is a rectangular region corresponding to 480 x 320 pixels in the center of the environment image.

[0124] The dominant color refers to a dominant color of the sub-environment image in the H (hue) S (saturation) V (lightness) color space. For example, the dominant color in a forest road scene is green, and the dominant color in a dusk scene is orange red. The dominant color extraction is to convert the projection region image to the HSV color space, and to respectively count the hue (H), S (saturation), and V (lightness) channel histograms. The histograms are subjected to Gaussian smoothing filtering, and the peak value is taken as the dominant color.

[0125] The color combination refers to a pairing scheme including the background transparency and the color of the icon. The background transparency is dynamically adjusted according to the brightness (V) of the dominant color, such as being set to semi-transparent (transparency 60%) when V > 50%, and being set to low transparent (transparency 30%) when V ≤ 50%; the icon color can be selected to be a complementary color that is separated from the dominant hue by 180° ± 15°. For example, the dominant hue is H = 120° for green, and the corresponding icon hue is H = 300° for magenta, and the dominant hue is H = 30° for orange, and the corresponding icon hue is H = 210° for blue.

[0126] As shown in FIG. 1, Figure 16 As shown in FIG. 1, Figure 17As shown, it is an acquired environment image, and the dashed box in the environment image is a sub-environment image 171, which is coincident with the normal projection of the display area 161. Since the sky in the distance is included in the sub-environment image 171, the color of the sky in the image is highlighted and white, and the color space range of white is: H∈[0°, 30°] and S≤0.2 and V≥0.9. It is determined that the proportion of the main color of the sub-environment image 171 belonging to the color space range of white is 70%, that is, the main color is white, and it is determined that the background of the display area and the display icon correspond to the color combination of white.

[0127] Since the color combination of the display area of the HUD is usually fixed, it is the combination of a 100% transparent background and a white icon, but in the case where the main color of the external environment is white, the white icon will be submerged in the external white environment, causing the driver to be unable to intuitively obtain key information. Therefore, in the present scheme, by determining the main color of the external environment corresponding to the display area, the color combination of the background and the icon of the display area is dynamically adjusted, so that the driver can clearly and intuitively obtain key information.

[0128] Based on the same inventive concept of the foregoing technical solutions, see Figure 18 which shows a display control device 1800 provided by the present disclosure, which can be a display control part 120 shown in Figure 1 or Figure 3 The display control device 1800 includes a division module 801, a determination module 802, and an adjustment module 803; the division module 801 is configured to divide the environment image in front of the vehicle into multiple detection sub-images of different sizes, wherein any two detection sub-images of larger size completely contain the detection sub-image of smaller size; the determination module 802 is configured to determine the driving environment of the vehicle based on the change of the brightness of the detection sub-image with the size; and the adjustment module 803 is configured to adjust the display brightness of the head-up display device of the vehicle according to the driving environment of the vehicle.

[0129] In some embodiments, the determination module 802 is configured to determine that the driving environment of the vehicle is a transition area of illumination intensity change when the brightness of the detection sub-image corresponding to the size maximum in the multiple detection sub-images is maximum.

[0130] In some embodiments, the determination module 802 is configured to determine that the driving environment of the vehicle is a transition area of illumination intensity change when the brightness of the detection sub-image corresponding to the size maximum in the multiple detection sub-images is maximum.

[0131] In some embodiments, the determining module 802 is configured to determine a ratio of the dark area to the bright area based on the environment image; in a case that the ratio is greater than or equal to a first preset threshold value and the brightness of the detection sub-image with the largest size among the plurality of detection sub-images is the largest, determine that the driving environment of the vehicle is the transition area entering the target object; in a case that the ratio is less than a second preset threshold value and the brightness of the detection sub-image with the smallest size among the plurality of detection sub-images is the largest, determine that the driving environment of the vehicle is the transition area leaving the target object.

[0132] In some embodiments, the determining module 802 is configured to, in a case that the brightness of the detection sub-image with the largest size is greater than the brightness of any other detection sub-image and the brightness of the detection sub-image with the largest size is greater than a strong light threshold value, determine that the driving environment of the vehicle is directly facing the strong light source.

[0133] In some embodiments, the determining module 802 is configured to, in a case that the brightness of the detection sub-image increases in a non-monotonic manner with the size and the change amount of the brightness of the detection sub-image with the adjacent size is greater than a difference threshold value, determine that the driving environment of the vehicle is the alternating light and dark environment.

[0134] In some embodiments, the adjusting module 803 is configured to gradually adjust the display brightness of the head-up display device to the brightness corresponding to the changed illumination intensity in the transition area of the illumination intensity change.

[0135] In some embodiments, the adjusting module 803 is configured to adjust the display brightness of the head-up display device of the vehicle based on the brightness of the strong light source.

[0136] In some embodiments, the adjusting module 803 is configured to adjust the display brightness of the head-up display device of the vehicle based on the average brightness of the alternating light and dark environment.

[0137] In some embodiments, the dividing module 801 is configured to determine a plurality of target frames with different sizes according to the setting position and the camera parameter of the image acquisition device in front of the vehicle, wherein the target frame with the larger size in any two target frames completely contains the target frame with the smaller size; and divide the environment image in front of the vehicle into a plurality of detection sub-images with different sizes by the plurality of target frames.

[0138] In some embodiments, the determining module 802 is configured to determine the average brightness of all pixels included in the detection sub-image as the brightness of the detection sub-image.

[0139] In some embodiments, the determining module 802 is configured to determine the average brightness of the pixels in at least part of the boundary area of the detection sub-image as the brightness of the detection sub-image.

[0140] In some embodiments, the determining module 802 is configured to determine a dominant color of a sub-environment image in the environment image that coincides with a normal projection of a display region of the head-up display device; and the adjusting module 803 is configured to adjust a background of the display region to be combined with the display icon in a color corresponding to the dominant color.

[0141] It should be noted that each module of the display control device 1800 described above can implement the display control method provided in the method embodiments, and achieve the same technical effects. To avoid repetition, details are not described here.

[0142] Reference Figure 19 It shows a structural schematic diagram of an electronic device provided by an example embodiment of the present disclosure. In some examples, the electronic device has a communication function and can access a wired network or a wireless network. In some examples, the electronic device can receive data based on the accessed wired network or wireless network. It can be understood that the electronic device undertakes the calculation and processing work of the technical solutions of the present disclosure, which are not limited by the present disclosure.

[0143] As Figure 19 shown, the electronic device in the present disclosure can include one or more of the following components: a processor 1910 and a memory 1920.

[0144] Optionally, the processor 1910 utilizes various interfaces and lines to connect various parts within the entire electronic device, performs various functions of the electronic device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1920, and calling data stored in the memory 1920. Optionally, the processor 1910 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), a programmable logic array (PLA). The processor 1910 can be integrated with one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a neural-network processing unit (NPU), and a baseband chip. Among them, the CPU is mainly used to process operating systems, user interfaces, and application programs; the GPU is used to render and draw the content to be displayed on the touch display screen; the NPU is used to implement artificial intelligence (AI) functions; and the baseband chip is used to process wireless communication. It can be understood that the above baseband chip can also not be integrated into the processor 1910, but be implemented by a separate chip.

[0145] The memory 1920 can include a random access memory (RAM) and can also include a read-only memory (ROM). Optionally, the memory 1920 includes a non-transitory computer-readable storage medium. The memory 1920 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1920 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above various method embodiments, etc.; and the data storage area can store data created according to the use of the electronic device, etc.

[0146] In addition, those skilled in the art can understand that the structure of the electronic device shown in the above-mentioned drawings does not constitute a limitation on the electronic device, and the electronic device can include more or fewer components than the drawings, or combine certain components, or different component arrangements. For example, the electronic device also includes a display screen, a camera assembly, a microphone, a speaker, a radio frequency circuit, an input unit, a sensor (such as an acceleration sensor, an angular velocity sensor, a light sensor, etc.), an audio circuit, a WiFi module, a power supply, a Bluetooth module, and the like, which will not be described here.

[0147] The present disclosure also provides a head-up display device, comprising a display control unit and a display unit; wherein the display control unit is configured to divide an environmental image in front of a vehicle into a plurality of detection sub-images of different sizes, wherein any two detection sub-images of larger size completely contain the detection sub-image of smaller size; determine the driving environment of the vehicle based on the change of the brightness of the detection sub-image with the size; adjust the display brightness of the head-up display device of the vehicle according to the driving environment of the vehicle; and the display unit is configured to display on the windshield of the vehicle according to the adjusted display brightness.

[0148] The present disclosure also provides a computer readable storage medium storing at least one instruction for being executed by a processor to implement the display control method according to any one of the above embodiments.

[0149] The present disclosure also provides a computer program product comprising computer instructions stored in a computer readable storage medium; a processor of an electronic device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to make the electronic device perform the display control method according to any one of the above embodiments.

[0150] Those skilled in the art should realize that the functions described in the present disclosure can be implemented in hardware, software, firmware or any combination thereof in one or more examples described above. When implemented in software, the functions can be stored in a computer readable medium or transmitted as one or more instructions or codes on a computer readable medium. The computer readable medium includes computer storage medium and communication medium, wherein the communication medium includes any medium that facilitates the transfer of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0151] It should be noted that the technical solutions described in the present disclosure can be combined arbitrarily without conflict.

[0152] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A display control method, characterized in that: The display control method includes: Dividing the environment image in front of the vehicle into multiple detection sub-images of different sizes, wherein the larger detection sub-image of any two detection sub-images completely contains the smaller detection sub-image; determining a driving environment of the vehicle based on a change in brightness of the detection sub-image as a function of size; Adjusting the display brightness of a head-up display device of the vehicle according to the driving environment of the vehicle.

2. The display control method according to claim 1, wherein: The determining of the driving environment of the vehicle based on the change in brightness of the detection sub-image with respect to size includes: When the brightness of the detection sub-image corresponding to the maximum size among the multiple detection sub-images is the largest, it is determined that the driving environment of the vehicle is a transition area with varying light intensity.

3. The display control method according to claim 2, wherein: When the brightness of the detection sub-image corresponding to the maximum size value among the multiple detection sub-images is the largest, determining that the driving environment of the vehicle is a transition area with a change in light intensity includes: In a case where the brightness of the plurality of detection sub-images changes monotonically with increasing sizes, it is determined that the driving environment of the vehicle is a transitional area with varying illumination intensity.

4. The display control method according to claim 2 or 3, characterized in that: The display control method further includes: determining a ratio of a dark area to a bright area based on the environment image; The step of determining that the driving environment of the vehicle is a transitional area with varying light intensity when the brightness of the detection sub-image corresponding to the maximum size value among the plurality of detection sub-images is the largest comprises: When the ratio is greater than or equal to a first preset threshold and the brightness of the largest detection sub-image among the multiple detection sub-images is the highest, determining that the driving environment of the vehicle is a transition area into a target object; When the ratio is less than a second preset threshold and the brightness of the smallest detection sub-image among the multiple detection sub-images is the highest, determining that the driving environment of the vehicle is a transition area away from the target object; The first preset threshold is greater than or equal to the second preset threshold.

5. The display control method according to claim 1, wherein: The determining of the driving environment of the vehicle based on the change in brightness of the detection sub-image with respect to size includes: When the brightness of the largest detection sub-image is greater than the brightness of any other detection sub-image and the brightness of the largest detection sub-image is greater than a strong light threshold, it is determined that the driving environment of the vehicle is facing a strong light source.

6. The display control method according to claim 1, wherein: The determining of the driving environment of the vehicle based on the change in brightness of the detection sub-image with respect to size includes: When the brightness of the detection sub-image presents a non-monotonic change as the size increases, and the brightness change of the detection sub-images of adjacent sizes is greater than a difference threshold, it is determined that the driving environment of the vehicle is an alternating light and dark environment.

7. The display control method according to claim 2 or 3, characterized in that: The adjusting the display brightness of the head-up display device of the vehicle according to the driving environment of the vehicle includes: In the transition region where the light intensity changes, the display brightness of the head-up display device is gradually adjusted to a brightness corresponding to the changed light intensity.

8. The display control method according to claim 5, wherein: The adjusting the display brightness of the head-up display device of the vehicle according to the driving environment of the vehicle includes: Based on the brightness of the strong light source, the display brightness of the head-up display device of the vehicle is adjusted.

9. The display control method according to claim 6, wherein: The adjusting the display brightness of the head-up display device of the vehicle according to the driving environment of the vehicle includes: Based on the average brightness of the alternating light and dark environment, the display brightness of the head-up display device of the vehicle is adjusted.

10. The display control method according to claim 1, wherein: The step of dividing the environment image in front of the vehicle into a plurality of detection sub-images of different sizes includes: Determining a plurality of target frames of different sizes based on the location of the image acquisition device in front of the vehicle and the camera parameters, wherein the larger target frame of any two target frames completely contains the smaller target frame; The environment image in front of the vehicle is divided into multiple detection sub-images of different sizes through multiple target frames.

11. The display control method according to claim 1, wherein: The display control method further includes: The brightness average of pixels in at least a portion of the boundary area of ​​the detection sub-image is determined as the brightness of the detection sub-image.

12. The display control method according to claim 1, wherein: The display control method further includes: determining a main color of a sub-environmental image in the environmental image that coincides with an orthographic projection of a display area of ​​the head-up display device; The background of the display area and the display icon are adjusted to a color combination corresponding to the main color.

13. A display control device, characterized in that: The display control device includes: a division module, a determination module and an adjustment module; The division module is configured to divide the environment image in front of the vehicle into a plurality of detection sub-images of different sizes, wherein the larger detection sub-image of any two detection sub-images completely contains the smaller detection sub-image; The determination module is configured to determine the driving environment of the vehicle based on the change in brightness of the detection sub-image with size; The adjustment module is configured to adjust the display brightness of the head-up display device of the vehicle according to the driving environment of the vehicle.

14. A head-up display device, characterized in that: The head-up display device includes a display control unit and a display unit; wherein, The display control unit is configured to divide the environment image in front of the vehicle into a plurality of detection sub-images of different sizes, wherein the larger detection sub-image of any two detection sub-images completely contains the smaller detection sub-image; determining a driving environment of the vehicle based on a change in brightness of the detection sub-image as a function of size; adjusting the display brightness of a head-up display device of the vehicle according to the driving environment of the vehicle; The display unit is configured to display on a windshield of the vehicle according to the adjusted display brightness.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one instruction, and the at least one instruction is configured to be executed by a processor to implement the display control method according to any one of claims 1 to 12.

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