Display adjusting method, display adjusting device and system, equipment and medium

Abstract

The invention provides a display adjusting method, a display adjusting device and system, equipment and a medium, and belongs to the technical field of display. The method comprises the following steps: determining to-be-displayed target display content; and when the target display content is out of the visual range of the head-up display device, adjusting the pitch angle of the chassis of the carrier where the head-up display device is located, so that the target display content is in the visual range of the head-up display device. According to the embodiment of the invention, the target display content can be within the visual range by adjusting the pitch angle of the chassis of the carrier where the head-up display device is located, so that complete display of the target display content is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of display, in particular to a display adjustment method, a display adjustment device, a head-up display system, an electronic device and a computer readable storage medium. BACKGROUND

[0002] The head-up display device (HUD) can project speed, navigation and other driving related information onto the display device to form an image, so that the driver can see the related information without turning his head or looking down, which helps the driver to drive more efficiently and safely.

[0003] Augmented Reality (AR) technology is a technology that skillfully combines virtual information with the real world. By applying AR technology to the field of head-up display, an augmented reality head-up display system (AR-HUD) can be obtained, which can superimpose virtual information on the real driving environment and provide a more rich and intuitive information display method for users. SUMMARY

[0004] The present application provides a display adjustment method, a display adjustment device, a head-up display system, an electronic device and a computer readable storage medium.

[0005] In a first aspect, the present application provides a display adjustment method, which comprises: determining target display content to be displayed; and adjusting the pitch angle of the chassis of a vehicle on which a head-up display device is located, so that the target display content is within the visual range of the head-up display device, in a case where the target display content is outside the visual range of the head-up display device.

[0006] In a second aspect, the present application provides a display adjustment device, which comprises: a determination module configured to determine target display content to be displayed; and an adjustment module configured to adjust the pitch angle of the chassis of a vehicle on which a head-up display device is located, so that the target display content is within the visual range of the head-up display device, in a case where the target display content is outside the visual range of the head-up display device.

[0007] In a third aspect, the present application provides a head-up display system, which comprises: a head-up display device and a display adjustment device; the head-up display device is configured to display a head-up display picture; and the display adjustment device is configured to perform the display adjustment method according to any one of the embodiments of the present application.

[0008] In a fourth aspect, the present application provides an electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores one or more computer programs executable by the at least one processor, and the one or more computer programs are executed by the at least one processor to enable the at least one processor to perform the display adjustment method described above.

[0009] In a fifth aspect, the present application provides a computer readable storage medium, having stored thereon a computer program, wherein the computer program, when executed by a processor / processing core, implements the display adjustment method described above.

[0010] The embodiments provided by the present application consider that the field of view angle of the head-up display device generally cannot be changed, and the range of the downward view angle is limited. Therefore, in some cases, the real space coordinates corresponding to the head-up display content are located outside the coverage range (i.e., the visible range) of the head-up display device, resulting in that the head-up display content cannot be completely displayed. Based on this, in the embodiments of the present application, the pitch angle of the chassis of the vehicle is adjusted to form a height difference between the front and the back of the vehicle, and the coverage range of the head-up display device is changed through the height difference, so as to adjust the target display content to the visible range of the head-up display device. In other words, in the embodiments of the present application, the target display content to be displayed is determined, and in the case that the target display content is outside the visible range of the head-up display device, the pitch angle of the chassis of the vehicle on which the head-up display device is located is adjusted to make the target display content be in the visible range, so as to ensure the complete display of the target display content.

[0011] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent to those skilled in the art through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, which together with the embodiments of the present application are used to explain the present application, and do not constitute a limitation of the present application. The above and other features and advantages will become more apparent to those skilled in the art through the description of the detailed example embodiments with reference to the accompanying drawings, in which:

[0013] Figure 1 A flowchart of a display adjustment method provided by an embodiment of the present application.

[0014] Figure 2 A schematic diagram of a field of view angle provided by an embodiment of the present application.

[0015] Figure 3 A schematic diagram of a field of view angle provided by an embodiment of the present application.

[0016] Figure 4 A schematic diagram of a display adjustment method provided for an embodiment of the present application.

[0017] Figure 5 A schematic diagram of a display adjustment method provided for an embodiment of the present application.

[0018] Figure 6 A schematic diagram of a display adjustment method provided for an embodiment of the present application.

[0019] Figure 7 A schematic diagram of a display adjustment method provided for an embodiment of the present application.

[0020] Figure 8 A schematic diagram of a display adjustment method provided for an embodiment of the present application.

[0021] Figure 9 A schematic diagram of a display adjustment method provided for an embodiment of the present application.

[0022] Figure 10 A block diagram of a display adjustment apparatus provided for an embodiment of the present application.

[0023] Figure 11 A block diagram of a head-up display system provided for an embodiment of the present application.

[0024] Figure 12 A block diagram of an electronic device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order for those skilled in the art to better understand the technical solutions of the present application, the exemplary embodiments of the present application are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present application to help understanding, and should be considered only as exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Also, in order to be clear and concise, the description below omits the description of well-known functions and structures.

[0026] The embodiments of the present application and the features in the embodiments can be combined with each other without conflict, if possible.

[0027] As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items.

[0028] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. "Connected" or "coupled" or similar terms are not restricted to physical or mechanical connections or links, but can also include electrical connections or links, whether direct or indirect.

[0029] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present application, and will not be interpreted in an overly literal or overly formal sense unless expressly so defined herein.

[0030] The head-up display device is usually installed inside the vehicle, for example, in the center console of the front part of the vehicle. The head-up display device can display speed, navigation, and other driving-related information, some of which (i.e., AR information) can be displayed at a preset distance in front of the vehicle, such as the fusion of the display information and the real scene at the real space coordinate corresponding thereto, but the real space coordinate corresponding to some display information is not necessarily within the visual range of the head-up display device, so that the display information cannot be displayed in the virtual image formed by the head-up display device, resulting in the user being unable to view this part of the display information. For the head-up display device, the visual range is mainly determined by the field of view angle and the downward angle, wherein the field of view angle is usually designed based on hardware, and the angle size is difficult to change, and the adjustment of the downward angle will be obviously perceived by the user, and repeated adjustment of the downward angle according to the display content to be displayed will reduce the user experience, so the downward angle is not suitable for repeated adjustment. Moreover, in some cases, even if the downward angle is adjusted to a critical value to adjust the visual range, the adjusted visual range still cannot cover the real space coordinate of the display information. Therefore, a new display adjustment method is needed, which can ensure the complete display of the corresponding display content and is not easy to be perceived by the user.

[0031] In view of this, the embodiments of the present application provide a display adjustment method, a display adjustment device, a head-up display system, an electronic device, and a computer readable storage medium.

[0032] According to the display adjustment method provided in the embodiments of the present application, the height difference between the front and back of the carrier can be formed by adjusting the pitch angle of the chassis of the carrier, and the visual range of the head-up display device can be changed through the height difference, so that the target display content is adjusted into the visual range of the head-up display device, to ensure the complete display of the target display content.

[0033] The display adjustment method provided in the embodiments of the present application can be executed by an electronic device such as a control device (for example, a control chip) in the HUD or a control system (for example, a vehicle control system) in the carrier, and the method can be realized by a processor calling computer readable program instructions stored in a memory.

[0034] In a first aspect, the embodiments of the present application provide a display adjustment method.

[0035] Figure 1 A flowchart of a display adjustment method provided in the embodiments of the present application is provided. Referring to Figure 1 The display adjustment method can include the following steps.

[0036] In step S11, the target display content to be displayed is determined.

[0037] In step S12, in the case that the target display content is out of the visual range of the head-up display device, the pitch angle of the chassis of the carrier on which the head-up display device is located is adjusted, so that the target display content is in the visual range of the head-up display device.

[0038] In some optional implementations, the target display content to be displayed can include one or more user interface elements (Elements) in a user interface (User Interface, UI) corresponding to the head-up display device of the carrier. The user interface is a system interface set to meet the information interaction requirement, and the user interface element is a number of elements contained in the system interface, which can include instrument elements, voice assistant elements, navigation elements, etc., and the embodiments of the present application do not limit this.

[0039] Further, after the user interface is determined, a corresponding virtual image can be formed through the processing of the imaging device, and the content of the virtual image is the user interface. When the user watches the virtual image through the windshield, the picture seen is the head-up display picture. That is, the image light carrying the information of the user interface element such as vehicle speed, navigation, warning, and maneuvering point can be reflected to the windshield through the optical components in the head-up display device, so that the image light is reflected into the human eye through the windshield, thereby forming the virtual image corresponding to the image in the right position and magnified in front of the driver's line of sight. The head-up display picture is the display picture formed by the virtual image and can be observed by the driver.

[0040] For example, the target display content can include a corresponding user interface element of a navigation route, a maneuver point, an obstacle, and the like.

[0041] In some optional implementations, when the vehicle is close to a target object (e.g., an intersection, an obstacle) corresponding to the target display content, it can be determined that the target display content is about to be displayed.

[0042] For example, the target display content corresponds to a user interface element of an intersection (e.g., navigation prompt information indicating a straight driving at the intersection), and when the vehicle is less than or equal to a first preset distance threshold from the intersection ahead, the user interface element of the intersection can be displayed through the head-up display device to timely remind the user of the driving direction, so that it is clear that the target display content to be displayed is the user interface element of the intersection.

[0043] For another example, the target display content corresponds to a user interface element of a distance reminder, and when the vehicle is less than or equal to a second preset distance threshold from the vehicle ahead, the user interface element of the distance reminder can be displayed through the head-up display device to avoid rear-end collisions, so that it is clear that the target display content to be displayed is the user interface element of the distance reminder corresponding to the vehicle ahead.

[0044] It should be noted that the above examples of the target display content and the determination method thereof are not limited by the embodiments of the present application.

[0045] In some optional implementations, part of the display contents of the head-up display interface can be selected as the target display content.

[0046] For example, the importance levels of the display contents of the head-up display interface are set in advance, and only the display contents with an importance level greater than or equal to a preset level belong to the target display content. In this way, only the relatively important display contents can be displayed, the important display contents are ensured to be in the visible range, the impact on the user driving safety caused by the non-display of the important display contents is alleviated, and the display of some unimportant display contents is based on the related technology, so that the display adjustment is not needed, thereby reducing the data processing amount in the display adjustment process and alleviating the data processing pressure.

[0047] In some optional implementations, the head-up display device (or head-up display system) of the vehicle has a certain field of view (FOV), which is the angle presented from the center of the eye box range of the head-up display device to the horizontal and vertical edges of the virtual image. The eye box range is used to represent the movable area of the eyes of the driver of the vehicle. In addition, the field of view and the visible range have a certain corresponding relationship, that is, the display content located in the field of view range is in the visible range, and the display content located outside the field of view range is outside the visible range.

[0048] Further, since the field of view angle of the head-up display device is usually a limited angle range, there can be some cases where some display content is out of the visual range, thus causing the problem that the user cannot view the display content.

[0049] Figure 2 A schematic diagram of a field of view angle is provided for the embodiments of the present application. Referring to FIG. 1, Figure 2 The center position O of the eyebox range is taken as the starting point, and the horizontal and vertical edges of the virtual image ABCD form the corresponding field of view angle. As shown in FIG. 1, the field of view angle can include a horizontal field of view angle hfov and a vertical field of view angle vfov. And since the field of view angle affects the vehicle front distance, lane range, etc. that can be covered by the head-up display system, it is an important parameter of the head-up display system. Usually, after the head-up display device of the vehicle is installed and configured, the field of view angle is a fixed angle, and it is difficult to adjust its size. Figure 2

[0050] A schematic diagram of a field of view angle is provided for the embodiments of the present application. Referring to FIG. 1, Figure 3 Figure 3 Figure 3 In the center of the eyebox range, the center position O is taken as the starting point, and the two edges of the vertical field of view angle vfov are extended to the horizontal route, wherein the edge close to the vehicle (corresponding to the OCD plane in FIG. 2) intersects with the horizontal road surface at L1, and the edge away from the vehicle (corresponding to the OAB plane in FIG. 2) intersects with the horizontal road surface at L2. Based on this, the visual range corresponding to the vertical field of view angle vfov is formed by the three points O, L1 and L2. If the target display content is within the visual range, the target display content can be displayed in the virtual image, so it can be viewed, if the target display content is outside the visual range, it cannot be displayed in the virtual image, so it can not be normally viewed. Figure 2 Figure 2 Considering the above problems, therefore, in step S12, if it is judged that the target display content is out of the visual range of the head-up display device, the visual range of the head-up display device can be adjusted by adjusting the pitch angle of the chassis of the vehicle where the head-up display device is located, so that the target display content is within the adjusted visual range, so that the user can view the target display content, and avoid the problem that the user cannot be provided with accurate and efficient auxiliary driving function due to incomplete display.

[0051] Considering the above problems, therefore, in step S12, if it is judged that the target display content is out of the visual range of the head-up display device, the visual range of the head-up display device can be adjusted by adjusting the pitch angle of the chassis of the vehicle where the head-up display device is located, so that the target display content is within the adjusted visual range, so that the user can view the target display content, and avoid the problem that the user cannot be provided with accurate and efficient auxiliary driving function due to incomplete display.

[0052] ​​​In other words, although the field of view angle of the head-up display device is fixed, by adjusting the pitch angle of the chassis of the vehicle, the visual range of the head-up display device can be adjusted to cover the target display content that is originally outside the visual range (i.e., the visual range of the head-up display device before the pitch angle of the chassis is adjusted) so as to be within the current visual range (i.e., the visual range of the head-up display device after the pitch angle of the chassis is adjusted).

[0053] In summary, the embodiments provided in the present application consider that the field of view angle of the head-up display device is generally unchangeable, and the downward viewing angle range is limited. Therefore, in some cases, the real space coordinates corresponding to the head-up display content are outside the coverage range (i.e., the visual range) of the head-up display device, resulting in incomplete display of the head-up display content. Based on this, in the embodiments of the present application, the pitch angle of the chassis of the vehicle is adjusted to form a height difference between the front and rear of the vehicle, and the coverage range of the head-up display device is changed through this height difference, so as to adjust the target display content within the visual range of the head-up display device. In other words, in the embodiments of the present application, the target display content to be displayed is determined, and in the case that the target display content is outside the visual range of the head-up display device, the pitch angle of the chassis of the vehicle on which the head-up display device is located is adjusted to make the target display content within the visual range of the head-up display device, thereby ensuring complete display of the target display content.

[0054] The display adjustment method of the embodiments of the present application will be described below.

[0055] In some optional implementations, the target display content can correspond to different types of display elements, and correspondingly, different adjustment methods can be used when adjusting the display of different types of display elements.

[0056] For example, the target display content can correspond to a first type of display element. The first type of display element has an importance level greater than or equal to a preset level, and is used to represent first indication information of a first object whose distance from the vehicle is greater than or equal to a first distance threshold; or the first type of display element is used to represent first type of indication function information.

[0057] For example, the first type of display element can include at least one of the following: a user interface element corresponding to a navigation destination, an intersection, a road, a distant building, and a distant point of interest (POI). The preset display position of such display elements is usually far away from the vehicle and can exceed the farthest display boundary of the head-up display device.

[0058] Exemplarily, the target display content can correspond to a second type of display element. The second type of display element has an importance level greater than or equal to a preset level, and is used to represent second indication information of a second object having a distance to the vehicle less than or equal to a second distance threshold; or the second type of display element is used to represent second type of indication function information.

[0059] For example, the second type of display element can include at least one of a user interface element corresponding to a car distance reminder, an obstacle reminder, a pedestrian reminder, and the like. The preset display position of such a display element is usually close to the vehicle and can not reach the nearest display boundary of the head-up display device.

[0060] It should be noted that the above description of the first type of display element and the second type of display element is only an example, and embodiments of the present application are not limited thereto.

[0061] In some optional implementations, after determining the target display content to be displayed, before adjusting the pitch angle of the chassis of the vehicle on which the head-up display device is located, the method can further include: determining whether the target display content is within a visual range of the head-up display device. If the target display content is within the visual range, the target display content can be directly displayed. If the target display content is outside the visual range, the visual range of the head-up display device can be adjusted by adjusting the pitch angle of the chassis of the vehicle, so that the target display content is within the adjusted visual range.

[0062] Further, there can be two cases when the target display content is outside the visual range. In the first case, the target display content is outside the visual range because its preset display distance is too large. In the second case, the target display content is outside the visual range because its preset display distance is too small. For the above two cases, a corresponding judgment method can be used to obtain an accurate judgment result.

[0063] In some optional implementation manners, before the adjustment angle of the chassis is determined according to the parameter information of the target display content, the field of view angle of the head-up display device and the first eyebox height, the method can further include: in a case where the target display content corresponds to a first type of display element, determining a first display height corresponding to the target display content in the visual range according to the first eyebox height, the vertical field of view angle, the down angle and a preset display distance of the target display content, the first eyebox height being an eyebox height before the vehicle chassis pitch angle is adjusted; in a case where the first display height is less than a longitudinal display height of the target display content, determining that the target display content is outside the visual range, wherein the longitudinal display height is equal to a sum of a longitudinal dimension of the target display content and a display height thereof; in a case where the target display content corresponds to a second type of display element, determining a near boundary display distance according to the vertical field of view angle, the down angle and the first eyebox height; in a case where the preset display distance of the target display content is less than the near boundary display distance, determining that the target display content is outside the visual range. The down angle can represent an angle between a line connecting the center of the virtual image and the human eye and a horizontal axis, and can be represented by an included angle between a center line of the field of view angle and the horizontal axis. The virtual image has a certain down angle, and a user interface element (for example, a prompt information for prompting a driving direction, a lane deviation prompt information and the like) that is consistent with a road surface can be displayed in the virtual image.

[0064] In summary, when judging whether the target display content is in the visual range, the respective judging methods can be used according to the characteristics of the first type of display element and the second type of display element. For the target display content of the first type of display element, the preset display distance is usually far, and therefore, the upper half region (or the whole) of the target display content is usually out of the visual range due to the preset display distance being too far. Based on this, whether the target display content is in the visual range can be judged by comparing the first display height corresponding to the target display content in the visual range with the longitudinal display height of the target display content itself. For the target display content of the second type of display element, the preset display distance is usually close, and therefore, the lower half region (or the whole) of the target display content is usually outside the visual range due to the preset display distance being too close. Based on this, whether the target display content is in the visual range can be judged by comparing the preset display distance of the target display content with the near boundary display distance corresponding to the vertical field of view angle.

[0065] In some optional implementation manners, the first display height can be represented by formula 5:

[0066] h11=H11-tan(LDA-vfov / 2)×D UI 5

[0067] Among them, h11 represents the first display height corresponding to the target display content, H11 represents the first eye box height, LDA represents the lower viewing angle, vfov represents the vertical field of view angle, D UI Indicates the preset display distance of the target display content.

[0068] The following combination Figure 4 and Figure 5 The process of determining whether the target display content is within the visible range is described in detail.

[0069] Figure 4 This is a schematic diagram of a display adjustment method provided in an embodiment of the present application. Figure 4 As shown ( Figure 4 In the figure, "fov" and "Fov" both represent the vertical field of view (vfov). The first eye box position corresponding to the head-up display device is O, the intersection of the vehicle's front and the horizontal road surface is Q, and the corresponding first eye box height is H11 (H11 corresponds to the height of OQ). The vertical field of view is vfov. The two sides of the vertical field of view vfov extend to the horizontal road surface. The side close to the vehicle (i.e., the lower boundary of the field of view) intersects with the horizontal road surface at L1. Therefore, the near-boundary display distance corresponding to the vertical field of view is L N (L N The distance from the far edge of the vertical field of view to the vehicle (corresponding to the length of QL1) intersects the horizontal road surface at L2. Therefore, the distance from the far edge of the vertical field of view to the vehicle is L. F (L F The vertical field of view (vfov) is represented by points O, L1, and L2, which correspond to the length of QL2. The angle between the centerline of the vertical field of view (i.e., the line corresponding to vfov / 2) and the horizontal line of sight is the downward viewing angle (LDA).

[0070] Furthermore, the angle between the horizontal line of sight and the upper boundary of the vertical field of view is k1, and k1 = LDA - vfov / 2. The angle between the horizontal road surface and the upper boundary of the vertical field of view is k2, and k2 = k1 = LDA - vfov / 2.

[0071] like Figure 4 As shown, the preset display distance of the target display content is D UI , the vertical display height is H UI The height between the intersection of the target display content and the upper boundary of the vertical field of view and the horizontal road surface is h11, so it can be determined that the first display height corresponding to the target display content is h11.

[0072] Based on the above, the following formula can be obtained:

[0073] tan(k1)=tan(LDA-vfov / 2)=H11 / LF

[0074] tan(k2) = tan(LDA-vfov / 2) = h11 / (L F -D UI )

[0075] Therefore, it can be known that:

[0076] H11 = tan(LDA-vfov / 2) x L F

[0077] h11 = tan(LDA-vfov / 2) x (L F -D UI )

[0078] = tan(LDA-vfov / 2) x L F -tan(LDA-vfov / 2) x D UI

[0079] By solving the above two equations, formula 5 can be obtained:

[0080] h11 = H11-tan(LDA-vfov / 2) x D UI 5

[0081] After obtaining the first display height, the first display height h11 is compared with the longitudinal display height H UI of the target display content. UI If the first display height h11 is less than the longitudinal display height H UI of the target display content, it indicates that the upper part of the target display content or the whole target display content exceeds the visible range, and the pitch angle of the vehicle chassis needs to be adjusted. If the first display height h11 is greater than or equal to the longitudinal display height H N of the target display content, it can be determined that the target display content is within the visible range, and thus the pitch angle of the vehicle chassis does not need to be adjusted.

[0082] Figure 5 A schematic diagram of a display adjustment method provided by an embodiment of the present application. As Figure 5 shown in the figure, “fov” represents the vertical field of view vfov, the first eyebox position corresponding to the head-up display device is O, the intersection of the vehicle head and the horizontal road surface is Q, the first eyebox height corresponding to the vehicle is H11, and the vertical field of view vfov extends to the horizontal road surface in two directions, wherein one of the two directions (i.e., the lower boundary of the vertical field of view) close to the vehicle intersects with the horizontal road surface at L1, and thus the near boundary display distance corresponding to the vertical field of view is L N (L FThe distance from the far edge of the vertical field of view to the vehicle (corresponding to the length of QL1) intersects the horizontal road surface at L2. Therefore, the distance from the far edge of the vertical field of view to the vehicle is L. F (L F The vertical field of view (FOV) is represented by points O, L1, and L2, which correspond to the length of QL2. The angle between the centerline of the vertical field of view (i.e., the line corresponding to vFOV / 2) and the horizontal line of sight is the downward viewing angle (LDA).

[0083] Furthermore, the angle between the horizontal line of sight and the lower boundary of the vertical field of view is k3, and k3 = LDA + vfov / 2. The angle between the lower boundary of the vertical field of view and the horizontal road surface is k4, and k4 = k3 = LDA + vfov / 2.

[0084] like Figure 5 As shown, the preset display distance of the target display content is D UI , through the geometric relationship between various information, we can get the following formula:

[0085] tan(k4)=tan(LDA+vfov / 2)=H11 / L N

[0086] Therefore, the vertical field of view angle corresponds to the near-edge display distance L N It can be expressed as:

[0087] L N =H11 / tan(LDA+vfov / 2)

[0088] Get the near boundary display distance L N Then, compare the near-boundary display distance L N Preset display distance D from the target display content UI , if the near boundary shows distance L N Greater than the preset display distance D of the target display content UI , it is determined that the target display content exceeds the visual range, and the pitch angle of the vehicle chassis needs to be adjusted. If the near boundary display distance L N Less than or equal to the preset display distance D of the target display content UI , it can be determined that the target display content is within the visible range.

[0089] In some optional implementations, when it is determined that the target display content is outside the visible range of the head-up display device, the visible range of the head-up display device can be adjusted by adjusting the pitch angle of the vehicle chassis so that the adjusted visible range can cover the target display content.

[0090] In some optional implementations, adjusting the pitch angle of the chassis of the vehicle on which the head-up display device is located comprises: in a case where the target display content corresponds to the first type of display element, adjusting the pitch angle of the chassis to tilt the chassis upward so that the adjusted visual range covers the target display content; in a case where the target display content corresponds to the second type of display element, adjusting the pitch angle of the chassis to tilt the chassis downward so that the adjusted visual range covers the target display content.

[0091] Therefore, for the case where the first type of display element cannot be completely displayed, the adjusted visual range can cover a display area farther away so as to cover the corresponding target display content by tilting the chassis upward; for the case where the second type of display element cannot be completely displayed, the adjusted visual range can cover a display area closer so as to cover the corresponding target display content by tilting the chassis downward.

[0092] Figure 6 A schematic diagram of a display adjustment method provided by an embodiment of the present application is shown in FIG. 1. Referring to FIG. 1, Figure 6 Figure 6 In FIG. 1, “fov” represents the vertical field of view vfov, where a shows the relative position between the target display content and the visual range Vis-range11 (Vis-range11 corresponds to the area enclosed by points O, L1, and L2) of the head-up display device before the pitch angle of the chassis of the vehicle is adjusted; b shows the relative position between the target display content and the adjusted visual range Vis-range12 (Vis-range12 corresponds to the area enclosed by points O, L1’, and L2’) of the vertical field of view after the visual range Vis-range11 of the head-up display device is adjusted to Vis-range12 after the pitch angle of the chassis of the vehicle is adjusted.

[0093] As shown in a, before the pitch angle of the chassis of the vehicle is adjusted, the vehicle is in a horizontal state, the first eye box position is O, and the vertical field of view is vfov, with two edges of the vertical field of view vfov extending to the horizontal road surface, where the edge close to the vehicle intersects with the horizontal road surface at L1, and the edge away from the vehicle intersects with the horizontal road surface at L2, and the three points O, L1, and L2 form the visual range corresponding to the vertical field of view vfov.

[0094] Further, the target display content is located at D UI , the preset display distance is D UI , and the longitudinal display height is H UI ​, wherein only the target display content within the visual range Vis-range 11 can be seen by the user, and the target display content outside the visual range Vis-range 11 cannot be seen by the user. Referring to a, only a part of the target display content is within the visual range Vis-range 11, i.e., the height of the target display content within the visual range is h11, and the upper part of the target display content (H UI The lower part (h11) is outside the visual range Vis-range 11, so the user cannot see the complete target display content in the head-up display picture.

[0095] Based on this, as shown in b, by adjusting the pitch angle of the vehicle chassis to make the chassis tilt up by α, the first eye box position is also raised from O to O', and the vertical field of view angle is also tilted up (equivalent to the overall counterclockwise rotation of the vertical field of view angle by α, but the angle of the vertical field of view angle remains unchanged), from the position corresponding to the dashed line to the position corresponding to the solid line (L1 is adjusted to L1', and L2 is adjusted to L2'), so that the visual range Vis-range 11 of the head-up display device also changes accordingly, becoming the visual range Vis-range 12, so as to cover a farther range. Through this change, D UI The upper boundary distance of the vfov from the ground height increases from the first display height h11 to the second display height h21. If h21 is greater than or equal to H UI The target display content can be included in the visual range Vis-range 12 of the head-up display device, so that the user can see the complete target display content in the head-up display picture.

[0096] Figure 7 A schematic diagram of a display adjustment method provided by an embodiment of the present application. Referring to Figure 7 ( Figure 7 In the figure, "fov" represents the vertical field of view angle vfov, wherein a shows the relative position of the target display content and the visual range Vis-range 21 (Vis-range 1 corresponds to the area framed by the three points O, L1, and L2) of the head-up display device before the pitch angle of the vehicle chassis is adjusted; b shows the relative position of the target display content and the adjusted visual range Vis-range 22 of the vertical field of view angle when the visual range Vis-range 21 of the head-up display device is adjusted to become the visual range Vis-range 22 (Vis-range 22 corresponds to the area framed by the three points O, L1', and L2') after the pitch angle of the vehicle chassis is adjusted.

[0097] As shown in a, before adjusting the pitch angle of the chassis of the vehicle, the vehicle is in a horizontal state, the first eyebox position is O, and the vertical field of view angle is vfov, with two edges of the vertical field of view angle vfov extending to the horizontal road surface, wherein one edge close to the vehicle intersects with the horizontal road surface at L1, and one edge away from the vehicle intersects with the horizontal road surface at L2, and the three points O, L1 and L2 form a visible range corresponding to the vertical field of view angle vfov.

[0098] Further, the target display content is located at D UI , with a preset display distance D UI , and a longitudinal display height H UI , wherein only the target display content in the visible range Vis-range21 can be seen by the user, and the target display content outside the visible range Vis-range21 cannot be seen by the user. Generally, the display height of the display content close to the user is generally low, and therefore, in the parameter information of the display content, the preset display distance is the main factor for determining whether the display content is in the visible range. Referring to a, the target display content is outside the visible range Vis-range21, and therefore, the user cannot see the target display content in the head-up display picture.

[0099] Based on this, as shown in b, by adjusting the pitch angle of the chassis of the vehicle, the chassis is tilted downward by β, the first eyebox position is lowered from O to O', and the vertical field of view angle is also tilted downward (equivalent to the whole vertical field of view angle rotating clockwise by β, but the angle of the vertical field of view angle remains unchanged), and is adjusted from the position corresponding to the dashed line to the position corresponding to the solid line (L1 is adjusted to L1', and L2 is adjusted to L2'), so that the visible range Vis-range21 of the head-up display device is also changed to Vis-range22, so as to cover a closer range. Through this change, L1' is closer to the vehicle than L1. If the distance between L1' and the vehicle is less than or equal to D UI , the target display content can be included in the visible range Vis-range22 of the head-up display device, so that the user can see the complete target display content in the head-up display picture.

[0100] As described above, for the first type of display element, the adjusted visible range can simply cover the target display content by tilting the chassis upward, and for the second type of display element, the adjusted visible range can cover the target display content by tilting the chassis downward. The angle of tilting the chassis upward and the angle of tilting the chassis downward can be obtained by corresponding parameters.

[0101] In some optional implementations, in order to more accurately adjust the pitch angle of the chassis of the vehicle, a more accurate adjustment angle can be determined according to the parameter information of the target display content, the field of view angle of the head-up display device, and the first eyebox height, and the pitch angle of the chassis is accurately adjusted based on the adjustment angle, so as to ensure that the target display content is in the adjusted visual range. The first eyebox height is the height of the center position of the current eyebox range of the vehicle (i.e., the eyebox range before the pitch angle of the chassis is adjusted) from the horizontal plane.

[0102] Exemplarily, adjusting the pitch angle of the chassis of the vehicle on which the head-up display device is located includes: determining an adjustment angle of the chassis according to the parameter information of the target display content, the field of view angle of the head-up display device, and the first eyebox height; and adjusting the pitch angle of the chassis according to the adjustment angle. The parameter information of the target display content includes at least one display parameter of the target display content. In other words, through the above-mentioned multiple information, combined with the corresponding geometric spatial relationship, a more accurate adjustment angle of the chassis can be obtained.

[0103] In some optional implementations, the parameter information of the target display content includes a preset display distance and / or a longitudinal display height of the target display content, and the field of view angle includes a vertical field of view angle. Correspondingly, in the case that the target display content corresponds to a first type of display element, the adjustment angle includes a first adjustment angle. The adjustment angle of the chassis is determined according to the parameter information of the target display content, the field of view angle of the head-up display device, and the first eyebox height, including: determining a second display height, a second eyebox height, a current downward viewing angle of the head-up display device, the vertical field of view angle, the preset display distance of the target display content, and the first adjustment angle to be determined, a first correlation relationship between the first adjustment angle and the second display height, wherein the second eyebox height is a new eyebox height determined due to the first adjustment angle, and the second display height is the height of the upper boundary of the vertical field of view angle corresponding to the preset display distance due to the first adjustment angle. The first adjustment angle is determined according to the first correlation relationship and the longitudinal display height of the target display content, wherein the first adjustment angle can make the second display height greater than or equal to the longitudinal display height of the target display content; or,

[0104] In the case that the target display content corresponds to a second type of display element, the adjustment angle includes a second adjustment angle. The adjustment angle of the chassis is determined according to the parameter information of the target display content, the field of view angle of the head-up display device, and the first eyebox height, including: determining a second correlation relationship between a near boundary display distance corresponding to the vertical field of view angle, a third eyebox height, a downward viewing angle, a vertical field of view angle, and the second adjustment angle to be determined, wherein the third eyebox height is a new eyebox height determined due to the second adjustment angle. The second adjustment angle is determined according to the second correlation relationship and the preset display distance of the target display content, wherein the second adjustment angle makes the near boundary display distance less than or equal to the preset display distance.

[0105] It should be noted that the preset display distance of the target display content is not the imaging distance, and the imaging distance can be understood as the distance between the virtual image formed by the head-up display device and the vehicle, while the preset display distance refers to the distance between the target display content observed by the user and the vehicle, and the imaging distance can be less than the preset display distance.

[0106] It should also be noted that the longitudinal display height of the target display content is not the longitudinal size of the target display content, and the two are not equal. Among them, the longitudinal size can be understood as the longitudinal size of the user interface element corresponding to the target display content, while the longitudinal display height is usually related to the longitudinal size and the display height of the target display content, and the longitudinal display height is usually equal to the sum of the longitudinal size and the display height. For example, the target display content corresponds to a rectangular user interface element, the longitudinal size of the rectangle is H1 (i.e. the height of the rectangle is H1), and the display height of the rectangle is H2 (i.e. the height of the bottom edge of the rectangle from the ground is H2), then the longitudinal display height of the target display content is H1+H2. UI

[0107] In some optional implementations, the first correlation relationship can be represented by formula 1:

[0108]

[0109] On this basis, the first adjustment angle can be calculated by formula 2:

[0110] H21-tan(LDA-vfov / 2-α)×D UI ≥H UI 2

[0111] Wherein, h21 represents the second display height, H21 represents the second eyebox height, LDA represents the downward viewing angle, vfov represents the vertical field of view angle, α represents the first adjustment angle, D represents the preset display distance of the target display content, H11 represents the first eyebox height, dz represents the wheelbase of the vehicle, and H represents the longitudinal display height of the target display content. UI UI

[0112] In some optional implementations, the second correlation relationship can be represented by formula 3:

[0113]

[0114] On this basis, the second adjustment angle can be calculated by formula 4:

[0115] H22 / [tan(LDA+vfov / 2+β)]≤D UI 4​​​

[0116] Among them, L N Indicates the near-edge display distance corresponding to the vertical field of view angle, H22 indicates the third eyebox height, LDA indicates the lower viewing angle, vfov indicates the vertical field of view angle, β indicates the second adjustment angle, H11 indicates the first eyebox height, dz indicates the vehicle's wheelbase, and D UI Indicates the preset display distance of the target display content.

[0117] The following combination Figure 8 and Figure 9 This section explains the process of determining the pitch angle adjustment for a vehicle chassis.

[0118] Figure 8 A schematic diagram of a display adjustment method provided in an embodiment of the present application. Figure 8 , which can be regarded as Figure 4 The situation shown is how to implement chassis pitch angle adjustment.

[0119] like Figure 8 As shown ( Figure 8 Where "fov" represents the vertical field of view (vfov). Assuming that the pitch angle of the chassis is adjusted to cause the chassis to tilt upward by α (i.e., the first adjustment angle is α), the first eye box height H11 of the head-up display device is increased by ΔH1, corresponding to the second eye box height H21, where ΔH1 is the height difference of the vehicle caused by the tilted chassis. If the wheelbase of the vehicle is dz, then tanα = ΔH1 / dz.

[0120] Furthermore, since the chassis of the vehicle is tilted upward by α, the visual range corresponding to the vertical field of view angle has also changed accordingly, from the area surrounded by the three points O, L1, and L2 to the area surrounded by the three points O', L1', and L2', and the near-edge display distance is changed from L N Change to L N '(L N 'corresponding to the length of QL1'), the far boundary distance is displayed by L F Change to L F '(L F ' corresponds to the length of QL2'. Accordingly, the angle between the upper boundary of the vertical field of view and the horizontal line of sight decreases from k1 to k1', with a difference of α between the two. Therefore, k1' = k1 - α = LDA - vfov / 2 - α. Similarly, the angle between the horizontal road surface and the upper boundary of the vertical field of view decreases from k2 to k2', with a difference of α between the two. Therefore, k2' = k1' = LDA - vfov / 2 - α.

[0121] like Figure 8 As shown, the preset display distance of the target display content is D UI , the vertical display height is HUI By adjusting the pitch angle of the chassis, the height of the intersection point between the target display content and the upper boundary of the vertical field of view from the horizontal road surface is adjusted from the first display height h11 to the second display height h21.

[0122] Based on the above, the following formula can be obtained:

[0123] tan(k1') = tan(LDA-vfov / 2-α) = H21 / L F '

[0124] tan(k2') = tan(LDA-vfov / 2-α) = h21 / (L F '-D UI )

[0125] Therefore, we have:

[0126] H21 = tan(LDA-vfov / 2-α) × L F '

[0127] h21 = tan(LDA-vfov / 2-α) × (L F '-D UI )

[0128] = tan(LDA-vfov / 2-α) × L F '- tan(LDA-vfov / 2-α) × D UI

[0129] By solving the above equations, we can obtain:

[0130] h21 = H21 - tan(LDA-vfov / 2-α) × D UI

[0131] Further, the second eyebox height H21 can be expressed as:

[0132] H21 = H11 + ΔH1 = H11 + tanα × dz

[0133] Therefore, we have:

[0134] h21 = H11 + tanα × dz - tan(LDA-vfov / 2-α) × D UI

[0135] If the target display content is to be completely within the visible range, the second display height h21 should be greater than or equal to the vertical display height H UI of the target display content.

[0136] Therefore, we have:

[0137] H11+tanα×dz-tan(LDA-vfov / 2-α)×D UI ≥H UI

[0138] In the above inequality, only the first adjustment angle α is an unknown quantity, and the other parameters are all known quantities. Therefore, the specific value range of the first adjustment angle α can be solved.

[0139] In some optional embodiments, the value of the first adjustment angle α can be calculated according to the following equation:

[0140]

[0141] Figure 9 This is a schematic diagram of a display adjustment method provided in an embodiment of the present application. Figure 9 ( Figure 9 The "fov" in the figure represents the vertical field of view (vfov), which can be regarded as the vertical field of view (FOV). Figure 5 The situation shown is how to implement chassis pitch angle adjustment.

[0142] like Figure 9 As shown, assuming that the pitch angle of the chassis is adjusted to tilt the chassis downward by β (i.e., the second adjustment angle is β), the first eye box height H11 of the head-up display device is reduced by ΔH2, corresponding to the second eye box height H22, where ΔH2 is the height difference of the vehicle caused by the upward tilt of the chassis. If the wheelbase of the vehicle is dz, then tanβ=ΔH2 / dz.

[0143] Furthermore, since the vehicle chassis tilts downward by β, the visual range corresponding to the vertical field of view angle also changes accordingly, from the area surrounded by the three points O, L1, and L2 to the area surrounded by the three points O', L1', and L2', and the near-edge display distance changes from L N Change to L N '(L N 'corresponding to the length of QL1'), the distance to the far boundary is displayed by L F Change to L F '(L F ' corresponds to the length of QL2'. Accordingly, the angle between the horizontal line of sight and the lower boundary of the vertical field of view increases from k3 to k3', with a difference of β between the two. Therefore, k3' = k3 + β = LDA + vfov / 2 + β. Similarly, the angle between the lower boundary of the vertical field of view and the horizontal road surface increases from k4 to k4', with a difference of β between the two. Therefore, k4' = k3' = LDA + vfov / 2 + β.

[0144] like Figure 9 As shown, the preset display distance of the target display content is D UI, the near boundary display distance of the vertical field of view angle is reduced from L N to L N ’ so that the preset display distance of the target display content is greater than or equal to L N ’ and the target display content is included in the visual range of the head-up display device.

[0145] Based on the above content, the following formula can be obtained:

[0146] tan(k4') = tan(LDA + vfov / 2 + β) = H21 / L N ′

[0147] Therefore, it can be known that:

[0148] L' N = H22 / tan(LDA + vfov / 2 + β)

[0149] Further, the second eye box height H21 can be expressed as:

[0150] H22 = H11 - ΔH2 = H11 - tanβ × dz

[0151] By solving the above equations, the following formula can be obtained:

[0152] L' N = (H11 - tanβ × dz) / tan(LDA + vfov / 2 + β)

[0153] If the target display content is completely in the visual range, the near boundary display distance L' N should be greater than or equal to the preset display distance D UI of the target display content.

[0154] Therefore, the following formula can be obtained:

[0155] (H11 - tanβ × dz) / tan(LDA + vfov / 2 + β) ≤ D UI

[0156] In the above inequality, only the second adjustment angle β is an unknown quantity, and other parameters are known quantities, so the specific value range of the second adjustment angle β can be solved.

[0157] In some optional embodiments, the value of the second adjustment angle β can be calculated according to the equation: .

[0158] It should be noted that, when the carrier chassis is tilted up by adjusting the pitch angle, due to the limited tilt-up angle, the first type of display elements originally outside the visible range are adjusted to be within the visible range, and in general, they are still at a relatively far preset display distance, and will not exceed the near boundary display distance of the vertical field of view angle. Similarly, when the carrier chassis is tilted down by adjusting the pitch angle, due to the limited tilt-down angle, the second type of display elements originally outside the visible range are adjusted to be within the visible range, and in general, they are still at a relatively close preset display distance, and will not exceed the far boundary display distance of the vertical field of view angle.

[0159] It should also be noted that the adjustment of the pitch angle of the carrier chassis changes the size of the downward viewing angle. For example, for Figure 4 , the corresponding downward viewing angle is equal to LDA, and after the processing shown in Figure 8 , the value of the downward viewing angle changes from LDA to (LDA-α). Similarly, for Figure 5 , the corresponding downward viewing angle is equal to LDA, and after the processing shown in Figure 9 , the value of the downward viewing angle changes from LDA to (LDA+β).

[0160] In some optional implementations, the pitch angle includes a tilt-up angle or a tilt-down angle; accordingly, adjusting the pitch angle of the chassis according to the adjustment angle includes: in the case that the target display content corresponds to the first type of display elements, determining the tilt-up angle of the chassis according to the adjustment angle, and adjusting the height difference between the front suspension and the rear suspension of the chassis based on the tilt-up angle, so that the tilt-up angle of the chassis is the tilt-up angle; in the case that the target display content corresponds to the second type of display elements, determining the tilt-down angle of the chassis according to the adjustment angle, and adjusting the height difference between the front suspension and the rear suspension of the chassis based on the tilt-down angle, so that the tilt-down angle of the chassis is the tilt-down angle.

[0161] For example, in the scenario shown in Figure 8 , the tilt-up angle of the chassis is determined according to the first adjustment angle α, and the size of the tilt-up angle is the same as α. The height of the front suspension of the carrier is adjusted by the tilt-up angle, so that it increases by △H1 compared to the rear suspension, thereby making the chassis tilt up by α.

[0162] For example, in the scenario shown in Figure 9 , the tilt-down angle of the chassis is determined according to the second adjustment angle β, and the size of the tilt-down angle is the same as β. The height of the rear suspension of the carrier is adjusted by the tilt-down angle, so that it increases by △H2 compared to the front suspension, thereby making the chassis tilt down by β.

[0163] In some optional implementations, after the pitch angle of the chassis of the carrier is adjusted, in order to accurately fuse the target display content with the real world, the display position of the target display content can be processed by coordinate calibration or the like.

[0164] In some optional implementations, after adjusting the pitch angle of the chassis of the vehicle on which the head-up display device is located, the method can further include: correcting the display position of the target display content in the virtual image formed by the head-up display device based on the world space coordinates corresponding to the target display content, so that the target display content is fused with the real scene in augmented reality.

[0165] In some optional implementations, in the case where the change in the position or attitude of the vehicle is detected, the attitude of the vehicle can also be compensated for jitter based on the anti-jitter function of the head-up display device according to the attitude data of the vehicle, so as to obtain a real and accurate augmented reality display effect.

[0166] In some optional implementations, after adjusting the pitch angle of the chassis of the vehicle on which the head-up display device is located, the method can further include: restoring the chassis to the state before the pitch angle is adjusted after the display of the target display content is completed. That is, if the pitch angle of the chassis is adjusted for the target display content, and the chassis is tilted upward by a certain angle, the chassis can be restored to the original state after the display of the target display content is completed; similarly, if the pitch angle of the chassis is adjusted for the target display content, and the chassis is tilted downward by a certain angle, the chassis can be restored to the original state (for example, the original horizontal state) after the display of the target display content is completed.

[0167] Further, in some optional implementations, after determining that the target display content is outside the visible range, the downward viewing angle of the head-up display device can be adjusted first. If the target display content can be included in the visible range after the adjustment of the downward viewing angle, the target display content can be displayed based on the adjusted downward viewing angle. If the target display content still cannot be included in the visible range after the adjustment of the downward viewing angle, the display adjustment can be performed by adjusting the pitch angle of the chassis of the vehicle.

[0168] In some optional implementations, after determining that the target display content is outside the visual range, before determining the adjustment angle of the chassis according to the parameter information of the target display content, the field of view angle of the head-up display device, and the first eye-box height, the method can further include: determining a visual downward viewing angle range of the head-up display device according to the driver detection data and the chassis height of the vehicle; determining a downward viewing angle threshold according to the visual downward viewing angle range; adjusting the downward viewing angle of the head-up display device to the downward viewing angle threshold, and determining whether the target display content is within the visual range; in the case that the target display content is outside the visual range, performing the step of determining the adjustment angle of the chassis according to the parameter information of the target display content, the field of view angle of the head-up display device, and the first eye-box height. The driver detection data refers to data obtained by detecting the driving process of the driver, which can include relevant data from a driver monitoring system (DMS), including but not limited to driver eye position or eye height data.

[0169] It should be noted that the driver detection data collected by the driver monitoring system and the like is user-authorized data, and the collection method and storage method comply with relevant regulations of laws and regulations.

[0170] As can be seen, after obtaining the driver detection data and the chassis height of the vehicle, the visual downward viewing angle range can be determined. Further, if the chassis of the vehicle is low, it is usually difficult to cover display content at a long distance, therefore, in order to improve the coverage distance of the visual range, the long distance is also included in the visual range, the minimum value of the visual downward viewing angle range can be taken as the downward viewing angle threshold, and the downward viewing angle of the head-up display device is adjusted to the downward viewing angle threshold, and then it is determined whether the target display content is within the visual range, if the target display content is within the visual range, the display of the target display content based on the current downward viewing angle (i.e. the downward viewing angle threshold) can be performed, if the target display content is still outside the visual range, the display can be adjusted by adjusting the pitch angle of the chassis. If the chassis of the vehicle is high, it can be difficult to include display content at a short distance in the visual range, therefore, in order to improve the coverage distance of the visual range, the short distance is also included in the visual range, the maximum value of the visual downward viewing angle range can be taken as the downward viewing angle threshold, and the downward viewing angle of the head-up display device is adjusted to the downward viewing angle threshold, and then it is determined whether the target display content is within the visual range, if the target display content is within the visual range, the display of the target display content based on the current downward viewing angle (i.e. the downward viewing angle threshold) can be performed, if the target display content is still outside the visual range, the display can be adjusted by adjusting the pitch angle of the chassis.

[0171] In some optional implementation, the determining the lower view angle threshold according to the visible lower view angle range comprises: in a case that the target display content corresponds to the first type of display element, determining the minimum value of the visible lower view angle range as the lower view angle threshold; in a case that the target display content corresponds to the second type of display element, determining the maximum value of the visible lower view angle range as the lower view angle threshold.

[0172] That is, for the first type of display element, the minimum value of the visible lower view angle range can be determined as the lower view angle threshold, so as to "raise" the field of view angle as much as possible to cover a farther distance; for the second type of display element, the maximum value of the visible lower view angle range can be determined as the lower view angle threshold, so as to "lower" the field of view angle as much as possible to cover a nearer distance.

[0173] It should be noted that the above method of determining the lower view angle threshold is only an example, and the embodiments of the present application are not limited thereto.

[0174] In summary, the above content mainly describes that according to the need of head-up display, the height of the vehicle chassis is adjusted, when the target display content needs to cover a farther target object, the front and rear suspension difference of the vehicle chassis is adjusted to make the vehicle tilt up by a certain angle, when the target display content needs to cover a nearer target object, the front and rear suspension difference of the vehicle chassis is adjusted to make the vehicle tilt down by a certain angle, and through the above method, the target display content is in the visible range of the head-up display device.

[0175] In some optional implementation, it is considered that the height of the vehicle chassis will affect the coverable distance of the target display content, that is, for the same lower view angle, if the chassis is higher, the display coverage distance of the HUD is farther (it can be understood that the far boundary display distance is larger), and if the chassis is lower, the display coverage distance of the HUD is nearer (it can be understood that the near boundary display distance is smaller). Based on this, a relatively appropriate lower view angle can be set for the vehicle according to the height of the chassis of the vehicle.

[0176] In some optional implementation, the method can further comprise: obtaining the height of the chassis of the vehicle; and adjusting the lower view angle of the head-up display device according to the driver detection data and the height of the chassis.

[0177] For example, before the vehicle is shipped, the chassis height is usually configured according to the scene definition (for example, a lower chassis height can be configured for a high-speed driving scene). For the same view angle, if the chassis is lower, the coverage distance of the display content is relatively close (i.e., the near boundary display distance is small), and if the chassis is higher, the coverage distance of the display content is relatively far (i.e., the far boundary display distance is large). Since the chassis height can be adjusted appropriately, in order to obtain a farther coverage distance, the down view angle can be adjusted to the minimum value in the visible down view angle range corresponding to the current eyebox height; in order to obtain a closer coverage distance, the down view angle can be adjusted to the maximum value in the visible down view angle range corresponding to the current eyebox height. The current eyebox height can be obtained based on the driver detection data.

[0178] In some optional implementations, the down view angle of the head-up display device is adjusted according to the driver detection data and the chassis height, including: determining a visible down view angle range according to the driver detection data; determining a target down view angle in the visible down view angle range corresponding to the chassis height of the vehicle as the target down view angle; and adjusting the down view angle of the head-up display device to the target down view angle. The visible down view angle range can be determined according to the eyebox height in the driver detection data and the first rotatable angle of the reflective plate of the head-up display device, the second rotatable angle of the curved mirror, etc., which is not limited in the embodiments of the present application.

[0179] For example, a plurality of chassis height gears can be set in advance, and the visible down view angle range of each chassis height gear can be determined according to the driver detection data; after the chassis height of the vehicle is determined, the target chassis height gear corresponding to the chassis height is determined; then, according to the target chassis height gear and the visible down view angle range corresponding to the target chassis height gear, the down view angle in the visible down view angle range corresponding to the chassis height of the vehicle is determined as the target down view angle, and the down view angle of the head-up display device is adjusted to the target down view angle.

[0180] For example, a plurality of chassis height gears of the vehicle are set in advance, and the details are shown in Table 1.

[0181] Table 1: Chassis height gear table

[0182] Gear Chassis height range Visible downward view angle range First chassis height gear H0≤H<H1 lda0≤lda<lda1 Second chassis height gear H1≤H<H2 lda1≤lda<lda2 Third chassis height gear H2≤H<H3 lda2≤lda<lda3 …… …… ……

[0183] Wherein, H represents the height of the chassis, lda represents the lower viewing angle, if H0≤H<H1(H0<H1), it is determined that the height of the chassis belongs to the first chassis height gear, and the corresponding visible lower viewing angle range is lda0≤lda<lda1(lda0<lda1); similarly, if H1≤H<H2(H1<H2), it is determined that the height of the chassis belongs to the second chassis height gear, and the corresponding visible lower viewing angle range is lda1≤lda<lda2(lda1<lda2); similarly, if H2≤H<H3(H2<H3), it is determined that the height of the chassis belongs to the third chassis height gear, and the corresponding visible lower viewing angle range is lda2≤lda<lda3(lda2<lda3), and so on.

[0184] In some optional implementations, in a case where the height of the chassis of the vehicle belongs to the first chassis height gear, the target lower viewing angle satisfies the following formula:

[0185] (h-H0) / (H1-H0)=(LDA-lda0) / (lda1-lda0)

[0186] Wherein, h is the height of the chassis of the vehicle, and LDA is the corresponding target lower viewing angle. By solving the above equation, the specific value of the target lower viewing angle LDA can be obtained.

[0187] In a case where the height of the chassis of the vehicle belongs to the second chassis height gear, the target lower viewing angle satisfies the following formula:

[0188] (h-H1) / (H2-H1)=(LDA-lda1) / (lda2-lda1)

[0189] Wherein, h is the height of the chassis of the vehicle, and LDA is the corresponding target lower viewing angle. By solving the above equation, the specific value of the target lower viewing angle LDA can be obtained.

[0190] The case where the height of the chassis of the vehicle belongs to other chassis height gears is similar, which will not be described here.

[0191] It can be understood that the above-mentioned various method embodiments mentioned in the present application can be combined with each other to form combined embodiments without violating the principle logic. Limited by the length, the present application will not be described here. Those skilled in the art can understand that in the above-mentioned method of the specific implementation, the specific execution order of each step should be determined according to its function and possible internal logic.

[0192] In a second aspect, the embodiments of the present application provide a display adjustment device.

[0193] Figure 10 A block diagram of a display adjustment device provided by the embodiments of the present application is shown in FIG. 2. Referring to FIG. 2, Figure 10The display adjusting apparatus 100 can comprise the following modules.

[0194] A determining module 101 configured to determine a target display content to be displayed.

[0195] An adjusting module 102 configured to adjust a pitch angle of a chassis of a vehicle on which a head-up display device is located, in a case where the target display content is out of a visual range of the head-up display device, so as to make the target display content be in the visual range of the head-up display device.

[0196] In some optional implementations, when the adjusting module 102 adjusts the pitch angle of the chassis of the vehicle on which the head-up display device is located, the following is performed.

[0197] In a case where the target display content corresponds to a first type of display element, the pitch angle of the chassis is adjusted so that the chassis is tilted upward, so as to make the visual range cover the target display content.

[0198] In a case where the target display content corresponds to a second type of display element, the pitch angle of the chassis is adjusted so that the chassis is tilted downward, so as to make the visual range cover the target display content.

[0199] In some optional implementations, when the adjusting module 102 adjusts the pitch angle of the chassis of the vehicle on which the head-up display device is located, the following is performed.

[0200] According to the parameter information of the target display content, a field of view angle of the head-up display device, and a first eyebox height,

[0201] a first adjustment angle of the chassis is determined.

[0202] The pitch angle of the chassis is adjusted according to the first adjustment angle.

[0203] In some optional implementations, the parameter information of the target display content comprises a preset display distance and / or a longitudinal display height of the target display content, and the field of view angle comprises a vertical field of view angle.

[0204] In a case where the target display content corresponds to the first type of display element, the first adjustment angle comprises a first adjustment angle; and the first adjustment angle of the chassis is determined according to the parameter information of the target display content, the field of view angle of the head-up display device, and the first eyebox height, comprising:

[0205] a first correlation relationship between a second display height, a second eyebox height, a current downward viewing angle of the head-up display device, the vertical field of view angle, the preset display distance of the target display content, and the first adjustment angle to be determined, wherein the second eyebox height is a new eyebox height determined due to the first adjustment angle, and the second display height is a height of an upper boundary of the vertical field of view angle corresponding to the preset display distance due to the first adjustment angle.

[0206] According to the first correlation relationship and the longitudinal display height of the target display content, a first adjustment angle is determined, wherein the first adjustment angle makes the second display height greater than or equal to the longitudinal display height of the target display content; or,

[0207] In a case where the target display content corresponds to the second type of display element, the adjustment angle includes a second adjustment angle; according to the parameter information of the target display content, the field of view angle of the head-up display device, and the first eyebox height, an adjustment angle of the chassis is determined, including:

[0208] A second correlation relationship between the near boundary display distance corresponding to the vertical field of view angle, a third eyebox height, a downward angle, the vertical field of view angle, and the second adjustment angle to be determined is determined, wherein the third eyebox height is a new eyebox height determined due to the second adjustment angle;

[0209] According to the second correlation relationship and the preset display distance of the target display content, the second adjustment angle is determined, wherein the second adjustment angle makes the near boundary display distance less than or equal to the preset display distance.

[0210] In some optional implementations, the first correlation relationship is represented by formula 1:

[0211]

[0212] The first adjustment angle is calculated by formula 2:

[0213] H21-tan(LDA-vfov / 2-α)×D UI ≥H UI 2

[0214] Wherein, h21 represents the second display height, H21 represents the second eyebox height, LDA represents the downward angle, vfov represents the vertical field of view angle, a represents the first adjustment angle, D UI represents the preset display distance of the target display content, H11 represents the first eyebox height, dz represents the wheelbase of the vehicle, H UI represents the longitudinal display height of the target display content.

[0215] In some optional implementations, the importance level of the first type of display element is greater than or equal to a preset level, and the first type of display element is used to represent first indication information of a first object whose distance from the vehicle is greater than or equal to a first distance threshold; or, the first type of display element is used to represent first type of indication function information.

[0216] In some optional implementations, the second correlation relationship is represented by formula 3:

[0217]

[0218] The second adjustment angle is calculated by formula 4:

[0219] H22 / [tan(LDA+vfov / 2+β)]≤D UI 4

[0220] Wherein, L N represents the near boundary display distance corresponding to the vertical field of view, H22 represents the third eye box height, LDA represents the downward angle, vfov represents the vertical field of view, β represents the second adjustment angle, H11 represents the first eye box height, dz represents the wheelbase of the vehicle, and D UI represents the preset display distance of the target display content.

[0221] In some optional implementations, the importance level of the second type of display element is greater than or equal to the preset level, and the second type of display element is used to represent the second indication information of a second object whose distance from the vehicle is less than or equal to a second distance threshold; or, the second type of display element is used to represent the second type of indication function information.

[0222] In some optional implementations, the pitch angle includes a pitch angle or a dip angle; when the adjustment module 102 adjusts the pitch angle of the chassis according to the adjustment angle, the following is performed:

[0223] In the case where the target display content corresponds to the first type of display element, the pitch angle of the chassis is determined according to the adjustment angle, and the height difference between the front suspension and the rear suspension of the chassis is adjusted based on the pitch angle, so that the angle of the chassis tilting upward is the pitch angle;

[0224] In the case where the target display content corresponds to the second type of display element, the dip angle of the chassis is determined according to the adjustment angle, and the height difference between the front suspension and the rear suspension of the chassis is adjusted based on the dip angle, so that the angle of the chassis tilting downward is the dip angle.

[0225] In some optional implementations, before determining the adjustment angle of the chassis according to the parameter information of the target display content, the field of view of the head-up display device, and the first eye box height, the display adjustment apparatus 100 can further be used to perform the following:

[0226] In the case where the target display content corresponds to the first type of display element, the first display height corresponding to the target display content in the visible range is determined according to the first eye box height, the vertical field of view, the downward angle, and the preset display distance of the target display content;

[0227] In the case where the first display height is less than or equal to the longitudinal display height of the target display content, it is determined that the target display content is outside the visible range;

[0228] In the case where the target display content corresponds to the second type of display element, the near boundary display distance is determined according to the vertical field of view, the downward angle, and the first eye box height;

[0229] In a case where the preset display distance of the target display content is less than the near boundary display distance, it is determined that the target display content is out of the visual range.

[0230] In some optional implementations, the first display height is represented by formula 5:

[0231] h11=H11-tan(LDA-vfov / 2)×D UI 5

[0232] wherein h11 represents the first display height corresponding to the target display content, H11 represents the first eyebox height, LDA represents the lower viewing angle, vfov represents the vertical field of view angle, D represents the preset display distance of the target display content. UI

[0233] In some optional implementations, after it is determined that the target display content is out of the visual range, before determining the adjustment angle of the chassis according to the parameter information of the target display content, the field of view angle of the head-up display device, and the first eyebox height, the display adjustment apparatus 100 can further be used to perform the following content:

[0234] determining a visual lower viewing angle range of the head-up display device according to the driver detection data and the chassis height of the vehicle;

[0235] determining a lower viewing angle threshold according to the visual lower viewing angle range;

[0236] adjusting the lower viewing angle of the head-up display device to the lower viewing angle threshold, and determining whether the target display content is within the visual range;

[0237] in a case where the target display content is out of the visual range, performing the step of determining the adjustment angle of the chassis according to the parameter information of the target display content, the field of view angle of the head-up display device, and the first eyebox height.

[0238] In some optional implementations, determining the lower viewing angle threshold according to the visual lower viewing angle range comprises:

[0239] in a case where the target display content corresponds to the first type of display element, determining the minimum value of the visual lower viewing angle range as the lower viewing angle threshold;

[0240] in a case where the target display content corresponds to the second type of display element, determining the maximum value of the visual lower viewing angle range as the lower viewing angle threshold.

[0241] In some optional implementations, after adjusting the pitch angle of the chassis of the vehicle on which the head-up display device is located, the display adjustment apparatus 100 can further be used to perform the following content:

[0242] ​The display position of the target display content in the virtual image formed by the head-up display device is corrected based on the world space coordinates corresponding to the target display content, so that the target display content is fused with the real scene in augmented reality.

[0243] In some optional implementations, after adjusting the pitch angle of the chassis of the vehicle on which the head-up display device is located, the display adjustment apparatus 100 can further be used to perform the following:

[0244] In a case where the display of the target display content is completed, the chassis is restored to a state before the pitch angle is adjusted.

[0245] In some optional implementations, the display adjustment apparatus 100 can further be used to perform the following:

[0246] Obtaining the chassis height of the vehicle;

[0247] Adjusting the downward viewing angle of the head-up display device according to the driver detection data and the chassis height.

[0248] In some optional implementations, adjusting the downward viewing angle of the head-up display device according to the driver detection data and the chassis height includes:

[0249] Determining a visible downward viewing angle range according to the driver detection data;

[0250] Determining a target downward viewing angle in the visible downward viewing angle range corresponding to the chassis height of the vehicle as the target downward viewing angle;

[0251] Adjusting the downward viewing angle of the head-up display device to the target downward viewing angle.

[0252] The embodiments provided in the present application consider that the field of view angle of the head-up display device generally cannot be changed, and the range of the downward viewing angle is limited, so in some cases, the real space coordinates corresponding to the head-up display content are located outside the coverage range (i.e., the visible range) of the head-up display device, resulting in that the head-up display content cannot be completely displayed. Based on this, in the embodiments of the present application, the pitch angle of the chassis of the vehicle on which the head-up display device is located can be adjusted to form a height difference between the front and back of the vehicle, and the coverage range of the head-up display device can be changed through the height difference, so as to adjust the target display content to the visible range of the head-up display device. In other words, in the embodiments of the present application, the target display content to be displayed is determined by the determining module, and in a case where the target display content is outside the visible range of the head-up display device, the pitch angle of the chassis of the vehicle on which the head-up display device is located is adjusted by the adjusting module, so that the target display content is in the visible range of the head-up display device, thereby ensuring the complete display of the target display content.

[0253] In a third aspect, the embodiments of the present application provide a head-up display system.

[0254] Figure 11 A block diagram of a head-up display system is provided for embodiments of the present application. Referring to Figure 11 The head-up display system 110 can include a head-up display device 111 and a display adjustment device 112, wherein:

[0255] The head-up display device 111 is configured to display a head-up display picture.

[0256] The display adjustment device 112 is configured to perform the display adjustment method of any one of the embodiments of the present application.

[0257] In some optional implementations, the head-up display device 111 has a display function and can display a head-up display picture. The head-up display picture is a display picture corresponding to a user interface, which can include one or more user interface elements, and the target display content corresponds to part of the user interface.

[0258] For example, the target display content can include user interface elements corresponding to navigation routes, maneuver points, obstacles, etc.

[0259] In some optional implementations, the display adjustment device 112 can determine the target display content to be displayed, and in the case that the target display content is outside the visual range of the head-up display device, adjust the pitch angle of the chassis of the vehicle on which the head-up display device is located, so that the target display content is within the visual range.

[0260] In some optional implementations, the target display content corresponds to a first type of display element or a second type of display element. Correspondingly, in the case that the target display content corresponds to the first type of display element, the display adjustment device 112 can adjust the pitch angle of the chassis to tilt the chassis upward, so that the visual range covers the target display content; in the case that the target display content corresponds to the second type of display element, the display adjustment device 112 can adjust the pitch angle of the chassis to tilt the chassis downward, so that the visual range covers the target display content.

[0261] In the embodiments provided in the present application, considering that the field of view angle of the head-up display device cannot be changed in general and the range of the downward view angle is limited, in some cases, the real space coordinates corresponding to the head-up display content are located outside the coverage range (i.e. the visible range) of the head-up display device, resulting in that the head-up display content cannot be completely displayed. Based on this, in the embodiments of the present application, the pitch angle of the chassis of the carrier is adjusted to form a height difference between the front and the back of the carrier, and the coverage range of the head-up display device is changed through the height difference, so as to adjust the target display content to the visible range of the head-up display device. In other words, in the embodiments of the present application, the head-up display device can display a head-up display picture, and if the target display content is outside the visible range of the head-up display device, the pitch angle of the chassis of the carrier on which the head-up display device is located is adjusted by using the display adjustment device, so that the target display content is located in the visible range of the head-up display device, thereby ensuring the complete display of the target display content.

[0262] The modules in the display adjustment device / head-up display system described above can be implemented in whole or in part by software, hardware and combinations thereof. The modules described above can be embedded in the processor in the computer device in hardware form or independent of the processor in the computer device, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the modules.

[0263] In addition, the embodiments of the present application also provide an electronic device and a computer readable storage medium, which can be used to implement any of the display adjustment methods provided in the present application, and the corresponding technical solutions and descriptions are referred to the method part and will not be repeated.

[0264] Figure 12 A block diagram of an electronic device provided in the embodiments of the present application.

[0265] Reference Figure 12 The embodiments of the present application provide an electronic device, which includes at least one processor 1201, at least one memory 1202, and one or more I / O interfaces 1203, the processor 1201, the memory 1202 and the I / O interface 1203 are connected to each other through a bus; wherein the memory 1202 stores one or more computer programs executable by the at least one processor 1201, and the one or more computer programs are executed by the at least one processor 1201 to enable the at least one processor 1201 to perform the display adjustment method described above.

[0266] The modules in the electronic device described above can be implemented in whole or in part by software, hardware and combinations thereof. The modules described above can be embedded in the processor in the computer device in hardware form or independent of the processor in the computer device, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the modules.

[0267] The embodiment of the present application further provides a computer readable storage medium, in which a computer program is stored, and the computer program implements the display adjustment method when executed by a processor / processing core. The computer readable storage medium can be a volatile or non-volatile computer readable storage medium.

[0268] The embodiment of the present application further provides a computer program product, including computer readable code or a non-volatile computer readable storage medium carrying computer readable code, and when the computer readable code is run in a processor of an electronic device, the processor in the electronic device executes the display adjustment method.

[0269] Those skilled in the art can understand that all or some steps in the method disclosed above, the functions of the modules / units in the system and the device can be implemented as software, firmware, hardware or appropriate combination thereof. In the hardware implementation, the division between the function modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer readable storage medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media).

[0270] As known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable program instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM), static random access memory (SRAM), flash memory or other memory technology, portable compact disc read only memory (CD-ROM), digital versatile disc (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is known to those skilled in the art that communication media typically includes computer readable program instructions, data structures, program modules or other data in modulated data signals such as carrier waves or other transport mechanisms, and can include any information delivery medium.

[0271] The computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0272] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computing / processing device, partly on the user's computing / processing device, as a stand-alone software package, partly on the user's computing / processing device and partly on a remote computing / processing device or entirely on the remote computing / processing device or server. In the latter scenario, the remote computing / processing device can be connected to the user's computing / processing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing / processing device, for example, through the Internet using an Internet Service Provider. In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0273] The computer program product described herein can be embodied specifically by hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied specifically as a computer storage medium, and in another alternative embodiment, the computer program product is embodied specifically as a software product, such as a software development kit (SDK) or the like.

[0274] The computer program product described herein can be embodied specifically by hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied specifically as a computer storage medium, and in another alternative embodiment, the computer program product is embodied specifically as a software product, such as a software development kit (SDK) or the like.

[0275] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include a non-transitory computer readable storage medium that can be a computer- readable storage medium having no data storage cycles that change state. The instructions can be executed by one or more processors of a computer, other programmable data processing apparatus, or other devices to produce a computer-implemented process such that the instructions which execute via the one or more processors of the computer or other programmable data processing devices create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0276] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0277] The flow and block diagrams in the drawings show architectural, functional, and operational representations of possible implementations of systems, methods, and computer program products according to the present disclosure. In this regard, each block in the flow and block diagrams can represent a module, a segment, or a portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may

[0278] Example embodiments have been disclosed and, although specific terms are employed, they are used in a generic and descriptive sense only and not for purposes of limitation. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in connection with a particular embodiment can be used in conjunction with other embodiments without departing from the scope of the present disclosure as set forth in the following claims. Accordingly, it will be understood that various changes in form and details can be made without departing from the scope of the present disclosure as set forth in the following claims.

Claims

1. A display adjustment method, characterized in that: The method comprises: Determining target display content to be displayed; When the target display content is outside the visual range of the head-up display device, the pitch angle of the chassis of the vehicle where the head-up display device is located is adjusted to ensure that the target display content is within the visual range of the head-up display device.

2. The method according to claim 1, characterized in that The adjusting the pitch angle of the chassis of the vehicle where the head-up display device is located includes: When the target display content corresponds to a first type of display element, adjusting the pitch angle of the chassis to tilt the chassis upward so that the visual range covers the target display content; In a case where the target display content corresponds to the second type of display elements, the pitch angle of the chassis is adjusted to tilt the chassis downward, so that the visual range covers the target display content.

3. The method according to claim 1 or 2, characterized in that The adjusting the pitch angle of the chassis of the vehicle where the head-up display device is located includes: determining an adjustment angle of the chassis according to parameter information of the target display content, a field of view angle of the head-up display device, and a first eye box height; The pitch angle of the chassis is adjusted according to the adjustment angle.

4. The method according to claim 3, characterized in that The parameter information of the target display content includes a preset display distance and / or a vertical display height of the target display content, and the field of view angle includes a vertical field of view angle; When the target display content corresponds to a first type of display element, the adjustment angle includes a first adjustment angle; and determining the adjustment angle of the chassis according to parameter information of the target display content, a field of view angle of the head-up display device, and a first eyebox height includes: Determining a first correlation relationship among a second display height, a second eyebox height, a current downward viewing angle of the head-up display device, the vertical field of view angle, a preset display distance of the target display content, and a first adjustment angle to be determined, wherein the second eyebox height is a new eyebox height determined due to the first adjustment angle, and the second display height is a height of an upper boundary of the vertical field of view angle corresponding to the preset display distance, determined due to the first adjustment angle; determining the first adjustment angle according to the first association relationship and the vertical display height of the target display content, wherein the first adjustment angle makes the second display height greater than or equal to the vertical display height of the target display content; or When the target display content corresponds to the second type of display element, the adjustment angle includes a second adjustment angle; and determining the adjustment angle of the chassis according to parameter information of the target display content, a vertical field of view angle of the head-up display device, and a first eye box height includes: determining a second correlation relationship among a near-edge display distance corresponding to the vertical field of view angle, a third eyebox height, the lower viewing angle, the vertical field of view angle, and a second adjustment angle to be determined, wherein the third eyebox height is a new eyebox height determined due to the second adjustment angle; The second adjustment angle is determined according to the second association relationship and a preset display distance of the target display content, wherein the second adjustment angle makes the near-boundary display distance less than or equal to the preset display distance.

5. The method according to claim 4, characterized in that The first association relationship is represented by Formula 1: The first adjustment angle is calculated by formula 2: H21-tan(LDA-vfov / 2α)×D UI ≥H UI 2 Wherein, h21 represents the second display height, H21 represents the second eye box height, LDA represents the lower viewing angle, vfov represents the vertical field of view angle, α represents the first adjustment angle, and D UI represents the preset display distance of the target display content, H11 represents the height of the first eye box, dz represents the wheelbase of the vehicle, H UI Indicates the vertical display height of the target display content.

6. The method according to claim 2 or 4, characterized in that The importance level of the first type of display element is greater than or equal to a preset level, and the first type of display element is used to represent first indication information of a first object whose distance from the vehicle is greater than or equal to a first distance threshold; or, the first type of display element is used to represent first type indication function information.

7. The method according to claim 4, characterized in that The second association relationship is represented by Formula 3: The second adjustment angle is calculated by formula 4: H22 / [tan(LDA+vfov / 2+β)]≤D UI 4 Among them, L N represents the near-edge display distance corresponding to the vertical field of view angle, H22 represents the third eyebox height, LDA represents the lower viewing angle, vfov represents the vertical field of view angle, β represents the second adjustment angle, H11 represents the first eyebox height, dz represents the wheelbase of the vehicle, D UI Indicates the preset display distance of the target display content.

8. The method according to claim 2 or 4, characterized in that The importance level of the second type of display element is greater than or equal to a preset level, and the second type of display element is used to represent second indication information of a second object whose distance from the vehicle is less than or equal to a second distance threshold; or, the second type of display element is used to represent second type indication function information.

9. The method according to claim 3, characterized in that The pitch angle includes an elevation angle or a depression angle; The adjusting the pitch angle of the chassis according to the adjustment angle includes: When the target display content corresponds to a first type of display element, determining an elevation angle of the chassis according to the adjustment angle, and adjusting a height difference between a front suspension and a rear suspension of the chassis based on the elevation angle so that the upward tilt angle of the chassis is the elevation angle; When the target display content corresponds to the second type of display element, the pitch angle of the chassis is determined according to the adjustment angle, and the height difference between the front suspension and the rear suspension of the chassis is adjusted based on the pitch angle so that the downward tilt angle of the chassis is the pitch angle.

10. The method according to claim 4, characterized in that Before determining the adjustment angle of the chassis based on the parameter information of the target display content, the field of view angle of the head-up display device, and the first eye box height, the method further includes: When the target display content corresponds to the first type of display element, determining a first display height corresponding to the target display content within the visible range according to the first eye box height, the vertical field of view angle, the downward viewing angle, and a preset display distance of the target display content; In a case where the first display height is less than the vertical display height of the target display content, determining that the target display content is outside the visible range; When the target display content corresponds to the second type of display element, determining the near-boundary display distance according to the vertical field of view angle, the lower viewing angle, and the first eye box height; When the preset display distance of the target display content is less than the near-boundary display distance, it is determined that the target display content is outside the visible range.

11. The method according to claim 10, characterized in that The first display height is represented by Formula 5: h11=H11-tan(LDA-vfov / 2)×D UI 5 Wherein, h11 represents the first display height corresponding to the target display content, H11 represents the first eye box height, LDA represents the lower viewing angle, vfov represents the vertical field of view angle, D UI Indicates the preset display distance of the target display content.

12. The method according to claim 10, characterized in that After determining that the target display content is outside the visible range, and before determining the adjustment angle of the chassis based on the parameter information of the target display content, the field of view angle of the head-up display device, and the first eyebox height, the method further includes: determining a visible downward viewing angle range of the head-up display device based on the driver detection data and the chassis height of the vehicle; Determining a lower viewing angle threshold according to the visible lower viewing angle range; adjusting the lower viewing angle of the head-up display device to the lower viewing angle threshold, and determining whether the target display content is within the visual range; When the target display content is outside the visible range, the step of determining an adjustment angle of the chassis according to parameter information of the target display content, a field of view angle of the head-up display device, and a first eye box height is performed.

13. The method according to claim 12, characterized in that The determining of the lower viewing angle threshold according to the visible lower viewing angle range includes: In a case where the target display content corresponds to a first type of display element, determining a minimum value of the visible lower viewing angle range as the lower viewing angle threshold; In a case where the target display content corresponds to a second type of display element, the maximum value of the visible lower viewing angle range is determined as the lower viewing angle threshold.

14. The method according to claim 1 or 2, characterized in that After adjusting the pitch angle of the chassis of the vehicle where the head-up display device is located, the method further includes: Based on the world space coordinates corresponding to the target display content, the display position of the target display content in the virtual image formed by the head-up display device is corrected, so that the target display content is integrated with the real scene in augmented reality.

15. The method according to claim 1 or 2, characterized in that After adjusting the pitch angle of the chassis of the vehicle where the head-up display device is located, the method further includes: When the display of the target display content is completed, the chassis is restored to a state before the pitch angle is adjusted.

16. The method according to claim 1, characterized in that The method further comprises: Obtaining the chassis height of the vehicle; The downward viewing angle of the head-up display device is adjusted according to the driver detection data and the chassis height.

17. The method according to claim 16, characterized in that The adjusting the downward viewing angle of the head-up display device according to the driver detection data and the chassis height includes: determining a visible viewing angle range according to the driver detection data; determining a lower viewing angle corresponding to the chassis height of the vehicle within the visible lower viewing angle range as a target lower viewing angle; The downward viewing angle of the head-up display device is adjusted to the target downward viewing angle.

18. A display adjustment device, characterized in that: The device comprises: A determination module, configured to determine target display content to be displayed; The adjustment module is used to adjust the pitch angle of the chassis of the vehicle where the head-up display device is located when the target display content is outside the visual range of the head-up display device, so that the target display content is within the visual range of the head-up display device.

19. A head-up display system, characterized in that: The system includes a head-up display device and a display adjustment device; The head-up display device is used to display a head-up display image; The display adjustment device is used to execute the display adjustment method according to any one of claims 1 to 17.

20. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores one or more computer programs executable by the at least one processor, and the one or more computer programs are executed by the at least one processor to enable the at least one processor to perform the display adjustment method according to any one of claims 1 to 17.

21. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the computer program implements the display adjustment method according to any one of claims 1 to 17.

Images