AR-HUD display information delay compensation method and device

Abstract

The invention belongs to the technical field of ARHUD, and particularly relates to an AR-HUD display information delay compensation method and device, and the method comprises the steps: firstly providing high-precision projection object information through employing an advanced driving assistance system and other external units, thereby reducing the requirements for the computing power of AR-HUD, and reducing the hardware cost. And secondly, by continuously updating and screening the historical information of the projection object, effective delay compensation can be carried out when the objects without enough historical data enter the AR-HUD visual field range, and accurate following of a projection cursor is ensured. Finally, further screening is carried out according to the relation between the position of the projection object and the AR-HUD projection range, the unnecessary calculation amount is reduced, and the display efficiency is improved. According to the method, the problem of information lag when the projection object suddenly appears is solved, the response speed and accuracy of the whole system are improved, and the driving safety and the user experience are greatly enhanced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of AR_HUD, and particularly relates to a delay compensation method and device for AR-HUD display information. BACKGROUND

[0002] There are mainly two kinds of existing AR-HUD module designs. One is that the AR-HUD only has a simple display function, and a rendering image is generated by a vehicle host and the like and then displayed through the AR-HUD. The other has a certain processing capability, and after receiving the type and coordinates of the projection object, it processes the projection object and generates a projection image and displays it. However, at least the detection, transmission and processing delay of information exists in both ways, which leads to the objective lag of information display, causing problems such as slow following of the display cursor and inaccurate display. For example, CN114268787B proposes a delay compensation method based on AR_HUD, and the steps can be summarized as the following three steps: determining the projection delay of the projection object in the AR-HUD in the projection processing flow; using the projection delay to compensate for the historical motion data of the projection object and predicting the motion trajectory of the projection object; and determining the projection position of the projection object at the expected projection time according to the motion trajectory. The historical motion trajectory of the projection object and the historical driving trajectory of the vehicle are determined by at least one of the following sensing devices: vehicle sensor, vehicle speed sensor, radar, camera, accelerometer, gyroscope sensor, global positioning system GPS module and dead reckoning DR sensor.

[0003] However, the existing AR-HUD system has significant challenges in terms of detection, transmission and processing delay of information. These delays lead to the lag of display content, making the projection cursor unable to accurately follow the actual object such as pedestrians or vehicles, reducing the safety of driving and the user experience. Especially in a rapidly changing traffic environment, this lag may cause dangerous situations to fail to timely alert the driver. Therefore, how to effectively reduce the display delay of the AR-HUD system and ensure that the projection cursor can accurately follow the actual object in real time is an urgent problem to be solved. SUMMARY

[0004] The purpose of the present application is to provide a delay compensation method and device for AR-HUD display information, which effectively reduces the requirement for the computing power of the AR-HUD unit in combination with the actual application situation, to solve the problems raised in the background art.

[0005] To achieve the above purpose, the application adopts the following technical scheme: a delay compensation method for AR-HUD display information, comprising the following steps:

[0006] updating history information of the vehicle and the projection object, wherein the history information comprises time, pose information of the vehicle and the projection object, and the pose information comprises a position component and a rotation component;

[0007] estimating and updating a trajectory parameter of the vehicle according to the history information, wherein the trajectory parameter is used to predict a future pose of the vehicle;

[0008] preliminarily screening the projection object according to a relationship between a latest position of the projection object and a projection range of the AR-HUD, and retaining the projection object located in a screening area, wherein the screening area comprises the projection range of the AR-HUD;

[0009] determining a pose of the vehicle at a display time according to a trajectory of the vehicle, wherein the display time is a time at which complete display of the projection information is performed;

[0010] converting a pose of the projection object to a coordinate system of the vehicle at the display time through coordinate transformation according to the pose of the vehicle and the history information of the projection object, and determining a trajectory parameter of the projection object.

[0011] Preferably, the updating of the history information of the vehicle and the projection object comprises:

[0012] removing an oldest frame of M latest frames of the vehicle and adding a new frame of information;

[0013] calculating a coordinate transformation parameter between the new frame and a previous frame, wherein the coordinate transformation parameter comprises a rotation component and a translation component.

[0014] Preferably, the preliminary screening of the projection object according to the relationship between the latest position of the projection object and the projection range of the AR-HUD comprises:

[0015] determining the screening area with the center of the vehicle as a center, removing a sector area of a β angle, and retaining the projection object in a remaining area;

[0016] if the latest position of the projection object is in the screening area, the projection object is retained.

[0017] Preferably, the determination of the pose of the vehicle at the display time comprises:

[0018] calculating the display time according to a time stamp of sensor information and a total time delay of information processing.

[0019] Preferably, the conversion of the pose of the projection object to the coordinate system of the vehicle at the display time through coordinate transformation comprises:

[0020] converting the pose of the history information of the projection object to the coordinate system of the vehicle at the display time.

[0021] Preferably, the time delay compensation method further comprises: determining the display position of the projection object in combination with the display time and the trajectory parameter, and further screening according to the relationship between the display position and the AR-HUD projection range.

[0022] Preferably, the further screening according to the relationship between the display position and the AR-HUD projection range comprises:

[0023] If the display position of the projection object is within the AR-HUD projection area, the projection object is retained;

[0024] If the display position of the projection object is outside the AR-HUD projection area, the projection object is filtered out.

[0025] In another aspect, the application provides an AR-HUD display information time delay compensation device, comprising:

[0026] A basic information updating module for updating the historical information of the vehicle and the projection object, estimating the trajectory parameter of the vehicle, and screening the projection object;

[0027] A display position prediction module for determining the vehicle pose at the display time, converting the projection object pose to the display coordinate system, and further screening the projection object.

[0028] Preferably, the basic information updating module comprises:

[0029] A historical information updating unit for updating the pose history data of the vehicle and the projection object in real time;

[0030] A trajectory parameter estimation unit for fitting a vehicle trajectory model based on the historical data;

[0031] A screening unit for screening the projection object according to the AR-HUD projection range.

[0032] Preferably, the display position prediction module comprises:

[0033] A time delay compensation unit for calculating the vehicle pose at the display time;

[0034] A coordinate conversion unit for converting the projection object pose to the display coordinate system;

[0035] A final screening unit for secondary screening the target based on the AR-HUD projection range.

[0036] The technical effects and advantages of the application: the AR-HUD display information time delay compensation method and device proposed by the application has the following advantages compared with the prior art:

[0037] The application first uses an external unit such as an advanced driving assistance system to provide high-precision projection object information, thereby reducing the requirement for the computing power of the AR-HUD itself and lowering the hardware cost. Secondly, the application continuously updates and filters the historical information of the projection object, so that the projection object has sufficient historical data for effective delay compensation when it enters the field of view of the AR-HUD, thereby ensuring the accurate following of the projection cursor. Finally, the relationship between the position of the projection object and the projection range of the AR-HUD is further filtered, thereby reducing unnecessary calculation and improving display efficiency. This method not only solves the information lag problem when the projection object suddenly appears, but also improves the response speed and accuracy of the entire system, greatly enhancing driving safety and user experience. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 An example diagram of a situation from outside the AR-HUD to inside the AR-HUD for a vehicle;

[0039] Figure 2 An example diagram of the ADAS monitoring range and the AR-HUD projection range;

[0040] Figure 3 A flowchart for obtaining the motion trajectory of all projection objects;

[0041] Figure 4 An example diagram of a screening area containing the AR-HUD projection area;

[0042] Figure 5 A workflow diagram of the basic information updating module;

[0043] Figure 6 A workflow diagram of the display position prediction module. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, rather than all the embodiments. The specific embodiments described herein are only used to explain the application, and are not used to limit the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the application.

[0045] The application provides a delay compensation method for AR-HUD display information, comprising the following steps:

[0046] updating the history information of the ego vehicle and the projection object, wherein the history information comprises time, pose information of the ego vehicle and the projection object, and the pose information comprises a position component and a rotation component; further, the updating of the history information of the ego vehicle and the projection object comprises: removing an oldest frame in M latest frames of the ego vehicle and adding a new frame; and calculating coordinate transformation parameters between the new frame and a previous frame, wherein the coordinate transformation parameters comprise a rotation component and a translation component.

[0047] estimating and updating trajectory parameters of the ego vehicle according to the history information, wherein the trajectory parameters are used to predict future poses of the ego vehicle;

[0048] performing preliminary screening on the projection object according to a relationship between a latest position of the projection object and a projection range of the AR-HUD; further comprising: determining a screening region with the center of the ego vehicle as a center, removing a sector region of a β angle, and retaining projection objects in a remaining region; retaining the projection object if the latest position of the projection object is in the screening region; and retaining the projection object in the screening region, wherein the screening region comprises the projection range of the AR-HUD.

[0049] determining a pose of the ego vehicle at a display time according to a trajectory of the ego vehicle, wherein the display time is a time at which complete display of projection information is performed; further comprising: calculating the display time according to a time stamp of sensor information and a total time delay of information processing.

[0050] converting a pose of the projection object to a coordinate system of the ego vehicle at the display time through coordinate transformation according to the pose of the ego vehicle and the history information of the projection object, and determining trajectory parameters of the projection object; further comprising: converting the pose of the history information of the projection object to the coordinate system of the ego vehicle at the display time.

[0051] determining a display position of the projection object according to the display time and the trajectory parameters, and performing further screening on the projection object according to a relationship between the display position and the projection range of the AR-HUD, specifically comprising:

[0052] retaining the projection object if the display position of the projection object is in the projection region of the AR-HUD.

[0053] filtering out the projection object if the display position of the projection object is outside the projection region of the AR-HUD.

[0054] The application first uses an external unit such as an advanced driving assistance system to provide high-precision projection object information, thereby reducing the requirement for the computing power of the AR-HUD itself and lowering the hardware cost. Secondly, the application continuously updates and screens the historical information of the projection object, so that the projection object has sufficient historical data for effective delay compensation when it enters the field of view of the AR-HUD, thereby ensuring the accurate following of the projection cursor. Finally, the relationship between the position of the projection object and the projection range of the AR-HUD is further screened, thereby reducing unnecessary calculation and improving display efficiency.

[0055] In another aspect, the application provides an AR-HUD display information delay compensation device, comprising:

[0056] a basic information updating module for updating the historical information of the host vehicle and the projection object, estimating the trajectory parameters of the host vehicle, and screening the projection object;

[0057] a display position prediction module for determining the host vehicle pose at the display time, converting the projection object pose to the display coordinate system, and further screening the projection object.

[0058] The basic information updating module comprises: a historical information updating unit for updating the pose historical data of the host vehicle and the projection object in real time; a trajectory parameter estimation unit for fitting a host vehicle trajectory model based on the historical data; and a screening unit for screening the projection object according to the AR-HUD projection range.

[0059] The display position prediction module comprises: a time delay compensation unit for calculating the host vehicle pose at the display time; a coordinate conversion unit for converting the projection object pose to the display coordinate system; and a final screening unit for secondary screening the target based on the AR-HUD projection range.

[0060] For each of the above modules, the other steps of the above-mentioned AR-HUD display information delay compensation method are also implemented when they are executed, which will be further described below with reference to the accompanying drawings:

[0061] In the use of the AR-HUD, information transmission is involved among the information supply unit (such as ADAS), the information integration unit (such as the vehicle host), and the information display unit (AR-HUD). The information transmission among the units at least includes time synchronization among the units, pose (or position) changes of the same or different objects among the units, and other technical links. In actual application, time synchronization among different units is usually realized by means of a vehicle networking terminal device, and the coordinate system conversion among the units is determined by means of calibration or pose estimation method. The core of the present embodiment is the delay compensation of the display information, which assumes that the time synchronization and the calculation of the conversion parameters among the coordinate systems have been completed.

[0062] In the embodiment, by using a unit such as ADAS having a wider monitoring range than AR-HUD to provide the information of the projection object, it is ensured that the projection object has sufficient historical motion information for delay compensation at the moment when it enters the projection area of the AR-HUD. In addition, the embodiment also screens the projection object according to the projection range of the AR-HUD, and only the screened object is further processed and rendered, thereby effectively reducing the data processing amount and significantly improving the display efficiency. The main steps are shown in detail in Figure 3 .

[0063] First, in the case of new frame information input, the historical information of the host vehicle and the projection object is updated. The frame information at least includes time, pose information of the host vehicle and the projection object, the time information at least includes the time corresponding to the frame information, and the pose includes the position and rotation of the host vehicle or the projection object in a certain coordinate system. It should be noted that although the pose including rotation and position is used to describe the spatial pose of the projection object in the embodiment, the design considers the case where there is no rotation component or the rotation component is not required in demand. In this case, the subsequent steps such as recording, fitting, calculation, and updating involving the rotation component can be removed.

[0064] The update of the host vehicle historical information includes the update of the recorded M latest host vehicle frame information and the update of the coordinate transformation parameter. The information update method: for the update of the M latest frame information, the oldest frame is removed in time sequence and the new frame is added. The update method of the coordinate transformation parameter: for the update of the coordinate transformation parameter, the coordinate transformation between the frame closest to the new frame and the new frame is calculated, which is used to convert the projection object to the host vehicle coordinate system of the new frame. Since the host vehicle poses at different times are in the same coordinate system, the relative change between the last frame and the new frame of the host vehicle can be easily calculated. Defining this same coordinate system as the base coordinate system, the rotation component is:

[0065] wherein, is the inverse of R new2base , R new2base is the rotation component in the pose of the new frame of the host vehicle, and the inverse thereof represents the rotation change from the base coordinate system to the host vehicle coordinate system of the new frame. R old2base is the rotation component in the pose of the last frame of the host vehicle, and R new represents the rotation change component from the old frame to the new frame. The translation component is

[0066] At this time, R new and t new jointly determine the conversion relationship between the host vehicle coordinate system of the frame closest to the new frame and the host vehicle coordinate system of the new frame. With Figure 1For example, assuming the moving vehicles labeled ①-④ are this vehicle and M=3, after updating the information of the most recent M frames, the historical information of this vehicle changes from ①-③ to ②-④, R new and t new This refers to the coordinate transformation relationship from ③ to ④.

[0067] Updating the historical information of the projected objects includes updating the information of the N most recent projected object frames and performing coordinate transformation on the poses of the projected objects in the older frames (excluding the newest frame). Updating the information of the N most recent frames involves removing the oldest frame in chronological order and adding the newest frame. Coordinate transformation uses the vehicle's coordinate transformation parameters to transfer all historical projected object frames (excluding the newest frame) to the new vehicle's coordinate system.

[0068] R i =R new *R i (3)

[0069] x i =R new *x i +t new (4);

[0070] Among them, R i x is the rotation component of the i-th old frame of a certain projection object. i It is the position component of the i-th old frame of a certain projection object. Figure 1 For example, assuming that the moving vehicles labeled ①-④ are the projection objects and N=3, after updating the information of the most recent N projection object frames, the historical information of the projection objects changes from ①-③ to ②-④. The function of formulas (3) and (4) is to transfer the pose of the projection objects in the old frame's vehicle coordinate system to the new frame's vehicle coordinate system.

[0071] Secondly, the trajectory parameters of the vehicle are estimated and updated, and preliminary screening is performed based on the relationship between the latest position of the projected object and the projection range of the AR-HUD.

[0072] When estimating the trajectory parameters of this vehicle, F(X) is used. i ,t)=0(5), to obtain the fitting. In the formula, X and t represent the pose information and time information in the historical information of this vehicle, respectively, X i In the pose information, if the i-th component is represented by a quaternion for easy interpolation, then X has a total of 7 components: the first 4 are rotational components, and the last 3 are positional components. Updating means changing the recorded old parameters to the new parameters.

[0073] According to the relationship between the latest position of the projection object and the projection range of the AR-HUD, the projection object is preliminarily screened, that is, an area including the projection range of the AR-HUD is designed, and if the latest position of the projection object is in the area, the projection object is retained. Here, the latest position is the position component in the new frame of the projection object pose, or the display position of the projection object predicted after time delay compensation. Specifically, at the beginning of running, the display position is not predicted, and the position component in the new frame of the projection object pose is selected for screening; after running for a certain time and the display position is predicted, the predicted display position is used for screening. In the design of the screening area including the AR-HUD projection area, the scheme adopted in the embodiment is as shown in FIG. 8, that is, a sector area with a β angle is removed from the center of the vehicle, and the remaining area is sufficient to accumulate enough historical motion data when the projection object enters the AR-HUD projection range. Figure 4

[0074] Then, the display time is determined, and the vehicle pose at the display time is determined in combination with the vehicle trajectory. The frame information provided by the information providing unit includes the time corresponding to the frame, but there are at least perception time delay, transmission time delay, information processing time delay, display pose calculation time delay and rendering time delay from the frame to the complete display time of the information. Among them, the perception time delay is the time interval from the time when the sensor obtains the information to the time when the monitoring result is given, the transmission time delay is the time interval from the time when the monitoring result starts to be transmitted to the time when the AR-HUD unit completes the acceptance, the information processing time delay is the time consumed by the steps of updating the historical information, estimating the vehicle trajectory and screening the objects to be displayed, the display pose calculation time delay is the time consumed for predicting the display pose after the display time is determined, and the rendering time delay is the time consumed for actually displaying the pose and starting to draw to completing the display.

[0075] On the basis of the time synchronization, the time information carried in the frame information is the time when the sensor obtains the information, and from the time information of the latest frame to the complete display of the projection object is the time delay that needs to be compensated. Combined with the time when the sensor obtains the information and the time when the information processing is completed, the total time consumed by the perception time delay, the transmission time delay and the information processing time delay can be obtained, and the display pose calculation time delay and the rendering time delay are added to form the complete time delay that needs to be compensated, that is:

[0076] Among them, t e is the time when the information processing is completed, t s is the time corresponding to the frame information, and ​are the display pose computation latency and the rendering latency respectively. The display pose computation latency and the rendering latency cannot be obtained before the content is completely displayed, so they need to be predicted according to their historical information. In implementation, the prediction value of the display pose computation latency and the rendering latency can be obtained by recording the latest K time consumptions and predicting the new time consumption, that is,

[0077]

[0078] wherein, and a i represent the i-th display interval and its weight, and the weight gradually increases from old to new, that is, the newer the information is, the greater the influence on the prediction result is.

[0079] After obtaining the prediction value of the display pose computation latency and the rendering latency according to formula (7), the final projection object display time can be obtained by taking the time information in the latest or the closest frame information to the rendering time as the starting point, that is, t = t s + δ t (8). Further, the pose of the vehicle at the display time is obtained by combining the time and the trajectory parameter (obtained by formula (5)) of the vehicle.

[0080] Then, the coordinate transformation between the latest frame pose of the vehicle and the display time pose is determined, the pose in the historical information of the projection object obtained by preliminary screening is converted to the coordinate system of the vehicle at the display time, and the trajectory parameter is obtained.

[0081] In determining the coordinate transformation between the latest frame pose of the vehicle and the display time pose, formula (1) and (2) are used to complete the calculation, which is the same as the foregoing principle. In converting the pose in the historical information of the projection object to the coordinate system of the vehicle at the display time, formula (3) and (4) are used to complete the calculation, which is the same as the foregoing principle. In calculating the trajectory parameter, formula (5) is used to complete the calculation, which is the same as the foregoing principle. At this time, X and t represent the pose information and the time information in the historical information of a projection object respectively, and the other symbols have the same meaning as in formula (5) for obtaining the trajectory of the vehicle.

[0082] Finally, the display position is determined by combining the display time and the trajectory parameter, and the projection object is further screened by combining the projection range of the AR-HUD. After obtaining the display time and the trajectory parameter of the projection object according to the foregoing steps, the display time of the projection object can be obtained by bringing the display time into the trajectory parameter. The position of the projection object at the display time can be in the projection area of the AR-HUD (such as Figure 2The display position of the projection object outside the AR-HUD projection area can be reduced by further screening with the AR-HUD projection area and display position, and the missing drawing of the object whose historical motion information is not within the AR-HUD projection area but the display position is within the AR-HUD projection area can be prevented.

[0083] On the other hand, there are two main modes for the actual application scenario of AR-HUD: one is that AR-HUD only has basic display function, and the rendering graph is generated by the vehicle host or other devices and then displayed by AR-HUD; the other has certain processing capability, and after receiving the type and coordinate information of the projection object, it processes and generates the corresponding projection image for display. In this embodiment, the independence between modules is fully considered in the design of the device for display information delay compensation, and the foregoing process is subdivided into a basic information update module and a display position prediction module. Among them:

[0084] The basic information update module continuously and independently updates the information required by the display position prediction module according to the actual input data, including the historical information of the projection object, the trajectory parameters of the vehicle, and the screened projection object. The main process is as shown in Figure 5 The historical information of the projection object is obtained, the trajectory parameters of the vehicle are estimated and updated, the projection object is preliminarily screened according to the relationship between the projection object position and the AR-HUD projection area, and the three types of information are kept unchanged if there is no data input;

[0085] The display position prediction module continuously and independently predicts the display position and screens the projection object to be finally displayed according to the information provided by the basic information update module. The logic is as shown in Figure 6 The display time is determined, the vehicle pose at the display time is determined in combination with the vehicle trajectory, the coordinate transformation between the vehicle pose at the display time and the vehicle pose is determined, and the historical information (of the pose) of the projection object is converted to the vehicle coordinate system at the display time, the trajectory parameters of the projection object are obtained, the display position is obtained in combination with the display time, and further screening is performed according to whether the display position is within the AR-HUD range; if it is not completed, the subsequent steps of this module are not performed.

[0086] Through the above device design, the foregoing delay compensation process is divided into two functionally relatively independent modules, and this design has the following advantages: first, the basic information updating module is responsible for information condensation (extracting trajectory parameters from historical information) and screening, thereby effectively reducing the information transmission burden between the two modules; second, the basic information updating module independently completes the information updating task, and the display position prediction module can independently predict and screen according to the latest data provided by the basic information updating module, and this design is particularly suitable for the case where the information providing unit and the information display unit are not synchronized in speed or frame rate, and is convenient for accelerating processing by using multi-threading and other technical means; finally, this modular design facilitates flexible arrangement of the specific deployment of the two modules according to the computing power configuration of the AR-HUD, whether they are deployed to a certain unit or deployed to different units, and can be flexibly handled.

[0087] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the foregoing embodiments of the present application are described in detail, for those skilled in the art, it still can be modified to the technical solutions recorded in the foregoing embodiments, or equivalent replacement of some technical features, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. A method for compensating for latency of AR-HUD display information, characterized by, The method comprises the following steps: updating history information of the vehicle and the projection object, wherein the history information comprises time, pose information of the vehicle and the projection object, and the pose information comprises a position component and a rotation component; estimating and updating trajectory parameters of the vehicle according to the history information, wherein the trajectory parameters are used to predict future poses of the vehicle; preliminarily screening the projection object according to a relationship between a latest position of the projection object and a projection range of the AR-HUD, and retaining the projection object located in a screening area, wherein the screening area comprises the projection range of the AR-HUD; determining a pose of the vehicle at a display time according to a trajectory of the vehicle, wherein the display time is a time at which complete display of projection information is achieved; converting the pose of the projection object to a coordinate system of the vehicle at the display time through coordinate transformation according to the pose of the vehicle and the history information of the projection object, and determining trajectory parameters of the projection object.

2. The delay compensation method of claim 1, wherein, The updating of the history information of the vehicle and the projection object comprises: removing an oldest frame in M latest frames of the vehicle and adding a new frame of information; calculating coordinate transformation parameters between the new frame and a previous frame, wherein the coordinate transformation parameters comprise a rotation component and a translation component.

3. The delay compensation method of claim 1, wherein, The preliminary screening of the projection object according to the relationship between the latest position of the projection object and the projection range of the AR-HUD comprises: determining the screening area with the center of the vehicle as a center, removing a sector area of a β angle, and retaining the projection object in a remaining area; if the latest position of the projection object is in the screening area, retaining the projection object.

4. The delay compensation method of claim 1, wherein, The determination of the pose of the vehicle at the display time according to the trajectory of the vehicle comprises: calculating the display time according to a time stamp of sensor information and a total time delay of information processing.

5. The delay compensation method of claim 1, wherein, The conversion of the pose of the projection object to the coordinate system of the vehicle at the display time through coordinate transformation comprises: converting the pose of the history information of the projection object to the coordinate system of the vehicle at the display time.

6. The delay compensation method of claim 1, wherein, The delay compensation method further comprises: determining a display position of the projection object according to the display time and the trajectory parameters, and further screening the projection object according to a relationship between the display position and the projection range of the AR-HUD.

7. The method of claim 6, wherein, The further screening of the projection object according to the relationship between the display position and the projection range of the AR-HUD comprises: if the display position of the projection object is in the projection area of the AR-HUD, retaining the projection object; if the display position of the projection object is out of the projection area of the AR-HUD, filtering out the projection object.

8. A time delay compensation device for implementing the time delay compensation method of any one of claims 1 to 7 for displaying information on an AR-HUD, characterized by The method comprises: a basic information updating module configured to perform the updating of the history information of the vehicle and the projection object, the estimation of the trajectory parameters of the vehicle, and the screening of the projection object; a display position prediction module configured to perform the determination of the pose of the vehicle at the display time, the conversion of the pose of the projection object to a display coordinate system, and the further screening of the projection object.

9. The delay compensation apparatus of claim 8, wherein The basic information updating module comprises: a history information updating unit configured to perform real-time updating of pose history data of the vehicle and the projection object; a trajectory parameter estimation unit configured to perform fitting of a trajectory model of the vehicle based on the history data; a screening unit configured to perform screening of the projection object according to a projection range of the AR-HUD.

10. The delay compensation apparatus of claim 8, wherein The display position prediction module comprises: a time delay compensation unit configured to perform calculation of the pose of the vehicle at the display time; a coordinate conversion unit configured to perform conversion of the pose of the projection object to the display coordinate system. Final screening unit: for performing AR-HUD projection range secondary screening target based.

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