Vehicle display control method, vehicle and computer readable storage medium

Abstract

The embodiment of the invention provides a vehicle display control method, a vehicle and a computer readable storage medium, and relates to the technical field of vehicles. The method comprises the following steps: acquiring vehicle operation data and driver state data; based on the driver state data, determining a display reference frame corresponding to a head-up display assembly of the vehicle; determining an image offset of a projection image in the head-up display assembly according to the vehicle operation data and the display reference frame; when it is detected that the offset exceeds the offset allowable range, the display reference frame is updated according to the vehicle operation data and the driver state data; generating an image adjustment signal based on the vehicle operation data, the driver state data and the updated display reference frame; and performing equalization correction display on the projection image according to the image adjustment signal. According to the invention, the technical problem of poor display balance and stability of a vehicle display control scheme in the related art is solved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicles, in particular to a vehicle display control method, a vehicle and a computer readable storage medium. BACKGROUND

[0002] With the development of intelligent technology of automobiles, a head-up display (HUD) system is increasingly popular, which can project key driving information in the driver's field of view, reduce visual transfer and improve driving safety. Currently, the HUD is evolving from small information prompts to large-size, high-integration augmented reality displays to provide richer and more intuitive interactive experiences. During driving, the chassis system of the vehicle dynamically adjusts due to load, road conditions or driving operations (such as acceleration, braking and steering), resulting in changes in the vehicle body posture. For large-size HUDs, such changes in the vehicle body posture can cause significant visual deflection and distortion of the projected image on the windshield. However, the existing HUD system is difficult to adjust the projection parameters, resulting in poor image display stability, which seriously affects the user's visual experience and driving safety.

[0003] There is currently no good solution to the above problems. SUMMARY

[0004] Embodiments of the present application provide a vehicle display control method, a vehicle and a computer readable storage medium to at least solve the technical problem of poor display balance and stability of related vehicle display control schemes.

[0005] According to an aspect of embodiments of the present application, a vehicle display control method is provided, comprising: obtaining vehicle operation data and driver state data, wherein the vehicle operation data is used to represent the vehicle body state and the chassis state of the vehicle, and the driver state data is used to represent the observation point state of the driver; determining a display reference frame corresponding to a head-up display component of the vehicle based on the driver state data; determining an image offset of a projected image in the head-up display component according to the vehicle operation data and the display reference frame; when it is detected that the offset exceeds an offset allowed range, updating the display reference frame according to the vehicle operation data and the driver state data; generating an image adjustment signal based on the vehicle operation data, the driver state data and the updated display reference frame; and performing balanced correction display on the projected image according to the image adjustment signal.

[0006] Further, the vehicle operation data includes vehicle body state data and chassis state data, and obtaining the vehicle operation data includes: obtaining the vehicle body state data from a vehicle body domain controller of the vehicle, wherein the vehicle body state data includes vehicle speed and steering angle; and obtaining the chassis state data from a chassis domain controller of the vehicle, wherein the chassis state data includes suspension heights corresponding to a plurality of wheels, respectively.

[0007] Further, the driver state data comprises a viewpoint parameter, and the obtaining the driver state data comprises: obtaining a driver face image collected by a driver monitoring camera; performing driver eye nucleus position analysis on the driver face image to determine the viewpoint parameter.

[0008] Further, the display reference framework comprises a reference coordinate system and a plurality of distortion reference points, and the determining the display reference framework based on the driver state data comprises: determining the reference coordinate system from a pre-labeled coordinate system set according to the viewpoint parameter; and calling a plurality of distortion reference points associated with the coordinate axes of the reference coordinate system from a pre-labeled reference point set based on the reference coordinate system.

[0009] Further, the determining the image offset based on the vehicle operation data and the display reference framework comprises: calculating attitude change information of the vehicle based on the vehicle speed, the steering angle, and the suspension heights of the plurality of wheels; and calculating the image offset of the projection image relative to the reference coordinate system according to the attitude change information and the plurality of distortion reference points.

[0010] Further, the offset allowable range is a tolerance range defined based on the plurality of distortion reference points.

[0011] Further, the updating the display reference framework based on the vehicle operation data and the driver state data comprises: calculating an attitude change vector of the vehicle based on the vehicle operation data; calculating an observation viewpoint change vector of the driver based on the driver state data; and performing a collaborative transformation on the reference coordinate system and the plurality of distortion reference points according to the attitude change vector and the observation viewpoint change vector to generate an updated reference coordinate system and updated plurality of distortion reference points.

[0012] Further, the displaying the projection image according to the image adjustment signal comprises: sending the image adjustment signal to a projection control unit of the head-up display component; driving an optical engine by the projection control unit to perform real-time geometric distortion correction on the projection image to obtain a correction result; and projecting the correction result onto the front windshield of the vehicle.

[0013] According to another aspect of the embodiments of the present application, a vehicle is also provided, comprising: a memory storing an executable program; and a processor configured to execute the program, wherein the program performs any of the above methods when executed.

[0014] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided, comprising a stored executable program, wherein the executable program controls a device where the storage medium is located to perform any of the above methods when executed.

[0015] In the embodiment of the present application, vehicle operation data and driver state data are acquired, wherein the vehicle operation data is used to represent the body state and chassis state of the vehicle, and the driver state data is used to represent the observation point state of the driver; based on the driver state data, a display reference frame corresponding to the heads-up display component of the vehicle is determined; according to the vehicle operation data and the display reference frame, an image offset amount of the projection image in the heads-up display component is determined; when it is detected that the offset amount exceeds the offset allowable range, the display reference frame is updated according to the vehicle operation data and the driver state data; based on the vehicle operation data, the driver state data and the updated display reference frame, an image adjustment signal is generated; and the projection image is displayed after being balanced and corrected according to the image adjustment signal.

[0016] It is easy to note that the embodiment of the present application realizes dynamic perception and closed-loop control of the HUD display state by introducing multi-source information fusion of the driver state data and the vehicle operation data. Specifically, the observation point state is acquired in real time by the driver monitoring camera, and the vehicle operation parameters from the body and chassis domain controllers are combined to jointly construct and dynamically update the display reference frame, so as to accurately identify the image offset caused by the change of the body posture. The method can automatically trigger the adjustment of the reference frame and the generation of the image correction signal when the image deflection exceeds the tolerance range, realize real-time and adaptive geometric correction of the projection image, effectively overcome the image distortion and misplacement caused by the vehicle dynamics, and significantly improve the stability and visual comfort of the HUD display.

[0017] That is, the embodiment of the present application achieves the purpose of dynamically adjusting the reference frame by the driver state data and the vehicle operation data to realize automatic correction of the HUD image, thereby realizing the technical effect of improving the display balance and stability of the HUD in the dynamic driving of the vehicle, and further solving the technical problem of poor display balance and stability of the vehicle display control scheme in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0019] Figure 1 is a hardware structure block diagram of an optional computing terminal for implementing a vehicle display control method according to an embodiment of the present application;

[0020] Figure 2 is a flowchart of a vehicle display control method according to an embodiment of the present application;

[0021] Figure 3is a schematic diagram of an optional display equalization system architecture of head-up display according to an embodiment of the application;

[0022] Figure 4 is a schematic diagram of an optional head-up display projection control process according to an embodiment of the application;

[0023] Figure 5 is a structural block diagram of a vehicle display control device according to an embodiment of the application. DETAILED DESCRIPTION

[0024] In order to make the personnel in the technical field better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] According to the embodiments of the present application, a method embodiment of a vehicle display control method is provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that herein.

[0027] First, the operating environment of the above-mentioned method embodiment is exemplarily described. Figure 1 is a hardware structural block diagram of a computing terminal for implementing a vehicle display control method according to an embodiment of the present application, such as Figure 1As shown, the computing terminal 10 (e.g., a computer terminal, a mobile smart terminal, a vehicle terminal, or a cloud computing virtual terminal) may include: one or more processors 102, a memory 104 for storing data, and a transmission device 106 for implementing communication functions. Each processor 102 may include, but is not limited to, a processing component such as a microprocessor (MCU) or a field programmable gate array (FPGA).

[0028] The aforementioned computing terminal 10 may further include: a display device 110, an input / output device 108, a Universal Serial Bus (USB) port (which can be used as one of the ports of a computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure), and a camera (not shown in the figure). Those skilled in the art will understand that... Figure 1 The structure of the computing terminal 10 shown is for illustrative purposes only and does not impose strict limitations on the structure of the computing terminal 10 described above. For example, the computing terminal 10 may also include components that are larger than... Figure 1 The more or fewer components shown, or the computing terminal 10 may have the same Figure 1 The components are shown in different categories.

[0029] It should be noted that one or more processors 102 and / or other data processing circuits in the aforementioned computing terminal 10 may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be wholly or partially integrated into any other element in the vehicle terminal 10 (or mobile device).

[0030] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the vehicle display control method in this embodiment. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned vehicle display control method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0031] The transmission device 106 is configured to receive or send data via a network. The network can include a wireless network provided by a communication provider of the vehicle terminal 10. In one example, the transmission device 106 includes a network interface controller (NIC) configured to connect to other network devices through a base station to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module configured to communicate with the Internet wirelessly.

[0032] In the above operating environment, the embodiments of the present application provide a vehicle display control method as shown in Figure 2 Figure 2 is a flowchart of a vehicle display control method according to an embodiment of the present application, as shown in Figure 2 The method includes the following steps:

[0033] In step S201, vehicle operating data and driver state data are obtained, wherein the vehicle operating data is used to represent the body state and chassis state of the vehicle, and the driver state data is used to represent the observation point state of the driver.

[0034] In step S202, a display reference frame corresponding to the head-up display component of the vehicle is determined based on the driver state data.

[0035] In step S203, an image offset of a projection image in the head-up display component is determined according to the vehicle operating data and the display reference frame.

[0036] In step S204, when it is detected that the offset exceeds the allowed offset range, the display reference frame is updated according to the vehicle operating data and the driver state data.

[0037] In step S205, an image adjustment signal is generated based on the vehicle operating data, the driver state data, and the updated display reference frame.

[0038] In step S206, the projection image is displayed after being balanced and corrected according to the image adjustment signal.

[0039] ​The vehicle running data refers to a set of information reflecting the real-time dynamic driving state of the vehicle, which is used to describe the body state and chassis state of the vehicle. The body state can include driving dynamic parameters such as vehicle speed and steering angle; the chassis state can include suspension height parameters corresponding to multiple wheels, etc. The driver state data refers to a set of information collected by in-vehicle sensing devices to describe the eye position and line of sight direction of the driver, which is used to represent the observation point state of the driver, such as the three-dimensional coordinates of the driver's eye nucleus in the vehicle cabin space. Obtaining the vehicle running data includes reading relevant state signals from the body domain controller and the chassis domain controller in real time; obtaining the driver state data includes calling the driver monitoring camera (DMS camera) to collect the driver's face image, and extracting the eye nucleus position information through image analysis algorithm.

[0040] The head-up display (HUD) refers to an optical display system installed in the vehicle interior, which can project image information to the front windshield. The display reference frame refers to a virtual reference system used to define the spatial position relationship and geometric shape of the HUD projection image, which includes a reference coordinate system and a plurality of pre-calibrated distortion reference points. Determining the display reference frame based on the driver state data refers to: according to the driver's eye nucleus position information, matching the most suitable reference coordinate system for the current driver's observation point state from the pre-calibration parameter database, and calling a plurality of distortion reference points associated with the reference coordinate system to jointly constitute the display reference frame for image correction. The display reference frame provides a spatial reference basis for the calculation and correction of the subsequent image offset.

[0041] The image offset refers to the visual deviation of the HUD projection image relative to the display reference frame caused by the change of the vehicle posture. Determining the image offset based on the vehicle running data and the display reference frame includes: calculating the real-time body posture change amount (such as pitch angle, roll angle, yaw angle) of the vehicle based on the suspension height difference of multiple wheels, steering angle and vehicle speed signals; then according to the body posture change amount and the distortion reference points in the display reference frame, the theoretical offset of the projection image relative to the reference coordinate system is calculated through the pre-set coordinate mapping relationship, and the theoretical offset is taken as the image offset. The image offset is used to quantitatively evaluate the distortion degree of the current projection image.

[0042] The above-mentioned offset allowable range refers to the image tolerance limit defined by a plurality of distortion reference points in the display reference frame. When it is detected that the image offset exceeds the offset allowable range, it indicates that the current projection image has significant distortion, and the display reference frame needs to be dynamically updated. Updating the display reference frame refers to calculating the vehicle body posture change vector according to the vehicle operation data, and calculating the driver observation point change vector according to the driver state data; then, the two vectors are integrated to perform a collaborative mathematical transformation (such as rotation and translation) on the reference coordinate system and the plurality of distortion reference points in the original display reference frame, to generate an updated display reference frame suitable for the current vehicle and driver state.

[0043] The above-mentioned image adjustment signal refers to a digital instruction for controlling the geometric correction of the HUD projection image. Generating the image adjustment signal refers to calculating a set of image transformation parameters by combining the vehicle body posture information provided by the vehicle operation data, the observation point change information provided by the driver state data, and the target spatial relationship defined by the updated display reference frame, and then encapsulating the parameters as the image adjustment signal. The image adjustment signal will drive the HUD projection system to perform real-time geometric correction on the original image.

[0044] The equalization correction display of the projection image refers to that the HUD projection system receives the image adjustment signal, analyzes the image transformation parameters therein, and drives the optical modulation unit to perform real-time compensation on the projection light path; finally, the corrected image is projected to the front windshield glass, so that the driver observes stable, horizontal and distortion-free display content, thereby overcoming the problem of image deflection caused by dynamic driving of the vehicle, and significantly improving the visual equalization and user experience of large-size HUD display.

[0045] Based on the above steps 201 to 206, the embodiments of the present application realize dynamic perception and closed-loop control of the HUD display state by introducing multi-source information fusion of the driver state data and the vehicle operation data. Specifically, the observation point state is obtained in real time by the driver monitoring camera, and the vehicle operation parameters from the vehicle body and chassis domain controllers are combined to construct and dynamically update the display reference frame, so as to accurately identify the image offset caused by the change of the vehicle body posture. When the image deflection exceeds the tolerance range, the adjustment of the reference frame and the generation of the image correction signal are automatically triggered, the real-time and adaptive geometric correction of the projection image is realized, the problems of image distortion and misplacement caused by the dynamic driving of the vehicle are effectively overcome, and the stability and visual comfort of the HUD display are significantly improved.

[0046] That is, the embodiments of the present application achieve the purpose of dynamically adjusting the reference frame by the driver state data and the vehicle running data to realize the automatic correction of the HUD image, thereby realizing the technical effect of improving the display balance and stability of the HUD in the dynamic driving of the vehicle, and further solving the technical problem of poor display balance and stability of the vehicle display control scheme in the related art.

[0047] As an optional implementation, the vehicle running data includes body state data and chassis state data, and in the step S201 of acquiring the vehicle running data, the following execution steps can also be included:

[0048] In step S211, the body state data is acquired from the body domain controller of the vehicle, wherein the body state data includes the vehicle speed and the steering angle;

[0049] In step S212, the chassis state data is acquired from the chassis domain controller of the vehicle, wherein the chassis state data includes the suspension heights corresponding to the plurality of wheels respectively.

[0050] In the above optional implementation, the body domain controller (Body Domain Controller) is a control unit responsible for managing the functions related to the vehicle body in the overall vehicle electronic and electrical architecture, which centrally processes and outputs parameters directly related to the driving dynamics of the vehicle. The body state data acquired from the body domain controller specifically includes real-time vehicle speed signals collected by a vehicle speed sensor and steering angle signals collected by a steering angle sensor. These parameters reflect the overall motion state of the vehicle and the driver's steering intention.

[0051] The chassis domain controller (Chassis Domain Controller) is a core processor that independently controls the chassis system, which monitors and adjusts the working state of the suspension system in real time. The chassis state data acquired from the chassis domain controller specifically includes independent suspension height parameters corresponding to the four wheels respectively, which are collected by height sensors or displacement sensors installed on each suspension, and can accurately reflect the real-time position changes of each wheel relative to the vehicle body, which is a key input for calculating the change of the vehicle body posture.

[0052] Through the above steps S211 to S212, the embodiments of the present application realize efficient and accurate acquisition of vehicle running data. By acquiring structured and multi-source heterogeneous driving data from the body domain controller and the chassis domain controller respectively, the real-time and reliability of the body state data and the chassis state data are ensured, which provides a solid data foundation for subsequent accurate calculation of image offset and generation of correction signals, thereby effectively supporting the dynamic adjustment function of the large-size HUD display balance system and improving the overall response speed and correction accuracy of the system.

[0053] As an optional implementation, the driver state data includes a viewpoint parameter, and the step S201 of acquiring the driver state data can further include the following execution steps:

[0054] Step S213, acquiring a driver face image captured by the driver monitoring camera;

[0055] Step S214, performing driver eye nucleus position analysis on the driver face image to determine the viewpoint parameter.

[0056] In the optional implementation, the driver monitoring camera is an image acquisition device installed in the vehicle cabin for capturing driver biometric information. Acquiring the driver face image captured by the driver monitoring camera means capturing a digital image containing the driver's facial features in real time through the driver monitoring camera, and transmitting the digital image to the image processing unit for subsequent analysis. The driver face image is the basic data source for visual feature extraction.

[0057] The driver eye nucleus position analysis on the driver face image means that the computer vision algorithm and the machine learning model are used to process the acquired driver face image, first to identify the face region, and then to accurately locate the position of the eye nucleus (i.e. the center of the pupil) of the two eyes in the image coordinate system. Determining the viewpoint parameter means that according to the pixel coordinates of the eye nucleus, combining the intrinsic matrix and extrinsic matrix of the driver monitoring camera, the three-dimensional space coordinates of the eye nucleus in the vehicle coordinate system are calculated through coordinate conversion, and the three-dimensional space coordinates are taken as the core viewpoint parameter representing the driver's observation viewpoint state.

[0058] Through the steps S213 to S214, the embodiment of the present application realizes accurate and non-contact measurement of the driver's observation viewpoint state. High-quality face images are obtained through the driver monitoring camera, and the three-dimensional coordinates of the eye nucleus position are stably and reliably extracted through advanced image analysis algorithms, ensuring the accuracy and real-time performance of the viewpoint parameter data, providing important driver visual feature input for subsequent determination and dynamic updating of the display reference framework, thereby effectively ensuring the correction accuracy and user experience of the large-size HUD display balanced system.

[0059] As an optional implementation, the display reference framework includes a reference coordinate system and a plurality of distortion reference points, and the step S202 of determining the display reference framework based on the driver state data can further include the following execution steps:

[0060] Step S221, determining the reference coordinate system from the pre-marked coordinate system set according to the viewpoint parameter;

[0061] Step S222, based on the reference coordinate system, call a plurality of distortion reference points associated with the coordinate axes of the reference coordinate system from the pre-calibrated reference point set.

[0062] In the above optional implementation, the pre-calibrated coordinate system set refers to a plurality of coordinate system data pre-established by real vehicle calibration or simulation calculation in the system initialization phase, each coordinate system data corresponding to a specific driver eye nucleus height and position interval. According to the matching of the viewpoint parameter, the reference coordinate system is determined, that is, the viewpoint parameter (i.e. the three-dimensional coordinates of the driver's eye nucleus) obtained in step S201 is matched and queried with the eye nucleus position interval stored in the pre-calibrated coordinate system set, and the coordinate system most suitable for the viewpoint parameter is selected as the reference coordinate system currently used. The reference coordinate system is a two-dimensional or three-dimensional spatial coordinate system, which is used to define the standard spatial orientation of the HUD projection image.

[0063] The pre-calibrated reference point set refers to a plurality of distortion correction reference point data pre-calculated and stored according to optical characteristics in the system initialization phase, each distortion reference point being associated with a specific reference coordinate system. Based on the reference coordinate system, a plurality of distortion reference points are called, that is, according to the unique identifier of the determined reference coordinate system, all distortion reference points bound to the reference coordinate system are retrieved and called from the pre-calibrated reference point set. These distortion reference points are usually distributed in key positions of the projection image (such as the center point, the four corners and the edge feature points), which are used to quantitatively evaluate the image distortion degree and provide a reference for geometric correction.

[0064] Through the above steps S221 to S222, the embodiment of the present application realizes the rapid and accurate construction of the display reference frame. By intelligently matching the optimal reference coordinate system from the pre-calibration data based on the real-time viewpoint parameter, and automatically calling the distortion reference point group associated therewith, the best adaptability of the display reference frame to the actual viewpoint of the driver is ensured, providing a high-precision spatial reference for subsequent image offset detection and correction, thereby significantly improving the correction efficiency and visual stability of the large-size HUD display system.

[0065] As an optional implementation, in the above step S203, the image offset amount is determined according to the vehicle running data and the display reference frame, which can further include the following execution steps:

[0066] Step S231, based on the vehicle speed, the steering angle and the suspension height corresponding to each wheel, the attitude change information of the vehicle is calculated;

[0067] Step S232, according to the attitude change information and the plurality of distortion reference points, the image offset amount of the projection image relative to the reference coordinate system is calculated.

[0068] In the optional implementation described above, the calculation of the vehicle posture change information based on the vehicle speed, the steering angle, and the suspension heights of the plurality of wheels respectively refers to: using a multi-sensor data fusion algorithm to comprehensively process the vehicle speed signal and the steering angle signal from the body domain controller (BDC) and the four-wheel independent suspension height parameters from the chassis domain controller (CDC). By establishing a vehicle dynamics model, the real-time posture change information of the vehicle in the current driving state is calculated, which includes but is not limited to the pitch angle (Pitch), roll angle (Roll), and yaw angle (Yaw) change amount of the vehicle body. These angle change amounts accurately describe the spatial posture changes of the vehicle caused by road undulations, load transfer, or driving operations.

[0069] The calculation of the image offset based on the posture change information and the plurality of distortion reference points refers to: using a mapping relationship model established through optical calibration in advance to convert the calculated vehicle body posture change information (pitch angle, roll angle, yaw angle) into the expected deformation amount of the projection image in the display reference frame. This process specifically includes: taking the original coordinates of the plurality of distortion reference points in the reference coordinate system as a reference, calculating the theoretical displacement vector of each distortion reference point according to the posture change information; and then through comprehensive analysis and fitting of the displacement vectors of all distortion reference points, the theoretical image offset of the projection image as a whole relative to the reference coordinate system is finally calculated. This image offset is a comprehensive quantitative index for accurately reflecting the degree of visual deviation of the HUD projection image caused by the change in the vehicle posture.

[0070] Through the above steps S231 to S232, the embodiment of the present application realizes accurate and efficient calculation of the HUD projection image offset. By fusing multiple sources of vehicle operation data, the posture change information reflecting the actual motion state of the vehicle is accurately calculated, and based on the distortion reference points in the display reference frame, the physical posture change is accurately mapped to the theoretical offset in the image layer, providing reliable data basis for subsequent display correction decisions, and significantly improving the adaptability and correction accuracy of the large-size HUD system to dynamic driving environments.

[0071] As an optional implementation, in the vehicle display control method described above, the offset allowable range is a tolerance range defined based on the plurality of distortion reference points.

[0072] In the optional implementation described above, the offset allowable range refers to the maximum visual deviation limit of the projection image relative to the reference coordinate system in the display reference frame. The offset allowable range is defined based on the tolerance range of the plurality of distortion reference points, specifically: in the system pre-calibration stage, the maximum allowable displacement threshold of each distortion reference point in the X and Y axis directions is set respectively; by comprehensively calculating the displacement threshold of all distortion reference points (such as taking the weighted average or maximum value), a unified image-level offset allowable range is finally formed. The tolerance range fully considers the human visual perception characteristics and the physical limitations of the HUD optical system, ensuring that when the overall offset of the projection image exceeds the range, the driver can perceive obvious image distortion, thereby triggering the system correction mechanism. This tolerance range establishment mechanism based on the group of distortion reference points can effectively avoid false correction caused by normal slight shaking of the vehicle or sensor noise, and improve the system operation stability and user experience.

[0073] Through the above-mentioned offset allowable range setting mechanism, the embodiment of the application realizes the intelligentization and precision of image offset discrimination. By comprehensively defining the tolerance range based on a plurality of distortion reference points, the accuracy of correction triggering is ensured, and the system oscillation caused by over-correction is effectively prevented, which significantly improves the adaptability and visual stability of the large-size HUD display system under different driving conditions.

[0074] As an optional implementation, in the step S204, updating the display reference frame according to the vehicle operation data and the driver state data can further include the following execution steps:

[0075] In step S241, the attitude change vector of the vehicle is calculated based on the vehicle operation data;

[0076] In step S242, the observation viewpoint change vector of the driver is calculated based on the driver state data;

[0077] In step S243, the reference coordinate system and the plurality of distortion reference points are cooperatively transformed according to the attitude change vector and the observation viewpoint change vector to generate an updated reference coordinate system and an updated plurality of distortion reference points.

[0078] In the optional implementation described above, in step S241, the attitude change vector of the vehicle is calculated based on the vehicle operation data, which refers to: through the vehicle dynamics model, the four-wheel suspension height parameters from the chassis domain controller and the vehicle speed and steering angle signals from the vehicle body domain controller are processed to comprehensively calculate the attitude change amount of the vehicle in the three-dimensional space. The attitude change vector is a multi-dimensional mathematical vector, which includes the translation components of the vehicle along the X, Y and Z axes and the angular displacement components of the rotation around the axes, accurately quantifying the change of the vehicle body space position and posture caused by the change of the driving condition.

[0079] In step S242, calculating the observation point change vector of the driver based on the driver state data refers to: calculating the displacement difference of the eye nucleus position in the vehicle coordinate system by comparing the eye nucleus three-dimensional coordinates of the current moment and the last moment. The observation point change vector contains the linear displacement amount of the eye nucleus point in the X, Y, Z directions, accurately reflecting the observation point change caused by the movement of the driver's head.

[0080] In step S243, the reference coordinate system and the plurality of distortion reference points are transformed cooperatively, which refers to: first, the attitude change vector and the observation point change vector are combined into a comprehensive correction vector through a weighted algorithm; then, taking the comprehensive correction vector as the input parameter, the reference coordinate system in the display reference frame is subjected to corresponding rotation and translation transformation to generate an updated reference coordinate system; at the same time, the same transformation matrix operation is applied to each point in the plurality of distortion reference points, keeping the spatial relationship between the reference points and the coordinate system unchanged, and finally generating an updated plurality of distortion reference points that are fully matched with the current vehicle and driver state.

[0081] Through the above steps S241 to S243, the embodiment of the application realizes the intelligent dynamic update of the display reference frame. By calculating the vehicle attitude change vector and the driver's observation point change vector respectively, and cooperatively transforming the reference coordinate system and the distortion reference points based on the comprehensive effect of the two, it is ensured that the display reference frame is always accurately matched with the real-time driving state and the driver's perspective, providing a high-precision dynamic reference for HUD image correction, and significantly improving the correction accuracy and adaptability of the system under complex driving conditions.

[0082] As an optional implementation, in step S206, the equalization correction display of the projection image according to the image adjustment signal can further include the following execution steps:

[0083] Step S261, sending the image adjustment signal to the projection control unit of the head-up display component;

[0084] Step S262, driving the optical engine through the projection control unit to perform real-time geometric distortion correction on the projection image to obtain a correction result;

[0085] Step S263, projecting the correction result onto the front windshield of the vehicle.

[0086] In the above optional implementation, in step S261, sending the image adjustment signal to the projection control unit of the head-up display component refers to: transmitting the image adjustment signal containing the image transformation parameters from the processing unit to the projection control unit of the head-up display component through the vehicle internal communication network (such as CAN bus or Ethernet). The projection control unit is the core processor of the head-up display component, which is specially responsible for receiving control instructions and driving the optical component to perform corresponding operations.

[0087] In step S262, the real-time geometric distortion correction of the projection image by the projection control unit driving the optical engine refers to that the projection control unit analyzes the received image adjustment signal, extracts the geometric transformation parameters (such as scaling ratio, rotation angle, displacement amount, etc.) therein, and generates corresponding control instructions sent to the optical engine. The optical engine dynamically adjusts the deflection angle and working state of the micro-mirror array or liquid crystal cell according to the control instructions, performs real-time pixel-level geometric transformation and re-rendering on the original image signal, and finally outputs the corrected result image after eliminating distortion.

[0088] In step S263, projecting the corrected result to the front windshield of the vehicle refers to that the optical engine converts the image signal after geometric distortion correction into light signal, and accurately projects the corrected result image to a specific area of the front windshield of the vehicle through the projection optical system. The special coating layer on the front windshield reflects the projected light into the driver's field of view, so that the driver can observe clear, stable and distortion-free display content.

[0089] Through the above steps S261 to S263, the embodiment of the present application realizes accurate correction and high-quality display of the HUD projection image. By accurately transmitting the image adjustment signal to the projection control unit, the optical engine is driven to complete real-time geometric distortion correction, and the corrected image is accurately projected to the front windshield, which ensures that the final display content is highly consistent with the ideal display state, effectively overcomes the image distortion problem caused by dynamic driving of the vehicle, and significantly improves the visual quality and user experience of large-size HUD display.

[0090] In an exemplary application scenario, the embodiment of the present application provides an optional head-up display display equalization system architecture as shown in Figure 3 Figure 3 ​As shown, the system architecture includes a Head-Up Display (HUD) projection screen, a Driver Monitoring System (DMS) camera, an entertainment domain controller, a chassis domain controller, and a body domain controller. The DMS camera, chassis domain controller, and body domain controller are connected to the entertainment domain controller via an in-vehicle communication network, sending the collected or generated real-time data to the entertainment domain controller. Specifically, the DMS camera sends the captured driver's facial image to the entertainment domain controller, the body domain controller sends vehicle speed and steering signals, and the chassis domain controller sends the suspension height parameters of each wheel. The entertainment domain controller, as the core processing unit, receives and integrates the multi-source data, performing core processing logic such as image offset calculation, display reference frame update, and image adjustment signal generation. Finally, the entertainment domain controller sends the generated image adjustment signal to the HUD projection screen, driving the HUD projection screen to perform real-time geometric correction on the projected image and project the corrected image onto the windshield.

[0091] Through such Figure 3 The head-up display (HUD) display equalization system architecture shown in this application embodiment, when applied to a specific application scenario, enables collaborative data acquisition and processing by multiple controllers. Through centralized calculation by the entertainment domain controller and real-time generation of image correction instructions, it ensures that the large-size HUD maintains the horizontal and stable display image during vehicle dynamic driving, effectively overcoming the image deflection problem caused by changes in vehicle posture, and significantly improving the system's intelligence level and the user's visual experience.

[0092] In an exemplary application scenario, embodiments of this application provide, as follows: Figure 4 The diagram illustrates an optional head-up display projection control process, such as... Figure 4 As shown, the process begins with system startup, first executing the step of calling HUD parameters. Then, based on driver status data, viewpoint parameters are determined (i.e., "determine driver parameters"), and vehicle operation data is simultaneously acquired from the chassis domain controller and body domain controller (i.e., "acquire chassis and body data"). After acquiring the required data, the process enters a decision node, calculating the image offset of the current projected image relative to the display reference frame and determining whether the image offset exceeds the allowable offset range (i.e., "image offset exceeds limit?"). If the result is no, the original HUD parameters are used directly for subsequent projection (i.e., "use original parameters"). If the result is yes, a parameter adjustment mechanism is triggered (i.e., "parameter adjustment"), dynamically updating the display reference frame based on real-time data and generating new image adjustment parameters. Finally, regardless of whether adjustments have been made, the process converges to the step of driving the HUD projection screen to project the image (i.e., "projection"), and ultimately ends the current control process.

[0093] By the HUD projection control process as shown in Figure 4 After the embodiments of the present application are applied to specific application scenarios, full-automatic and intelligent HUD display correction closed-loop management can be achieved, through real-time data acquisition, accurate offset judgment and adaptive parameter adjustment, stable and horizontal visual display effects can be ensured in various driving states, technical difficulties of image distortion caused by vehicle posture changes of large-size HUD are effectively solved, response speed and display accuracy of the system are significantly improved, and the human-computer interaction experience of the driver is optimized.

[0094] As still shown in Figure 3 , the DMS camera captures the driver's face image in real time and sends the image data to the entertainment domain controller. The entertainment domain controller has built-in image processing algorithms, analyzes the received face image, extracts the driver's eye nucleus position information, and obtains the view point parameter representing the driver's observation view point state.

[0095] As still shown in Figure 3 , the vehicle body domain controller continuously monitors and sends vehicle speed and steering angle and other vehicle body state signals to the entertainment domain controller. The chassis domain controller continuously monitors and sends the suspension height parameters of the four wheels to the entertainment domain controller.

[0096] As still shown in Figure 3 , the entertainment domain controller, as the core processing unit, fuses and processes data from the DMS camera, the vehicle body domain controller and the chassis domain controller. The entertainment domain controller first determines the current display reference frame (including the reference coordinate system and multiple distortion reference points) according to the view point parameter. Then, the entertainment domain controller calculates the image offset of the current HUD projection image relative to the reference coordinate system according to the vehicle running data (vehicle speed, steering angle, suspension height) and the display reference frame.

[0097] Further, after the image offset is calculated, the entertainment domain controller compares the image offset with the preset offset allowed range. The specific judgment logic is as shown in Figure 4 : if the image offset does not exceed the allowed range, the entertainment domain controller instructs the HUD projection screen to use the original parameters for projection; if the image offset exceeds the allowed range, the entertainment domain controller dynamically updates the display reference frame (including the reference coordinate system and the distortion reference points) according to the latest vehicle running data and the driver state data, and generates a new image adjustment signal based on the updated display reference frame.

[0098] Finally, the entertainment domain controller sends the image adjustment signal to the HUD projection screen. The projection control unit inside the HUD projection screen drives the optical engine according to the signal to correct and render the original image in real time, and projects the corrected image to the front windshield of the vehicle, finally providing the driver with stable and horizontal display content.

[0099] It should be noted that in a specific implementation, the reference coordinate system in the display reference framework can be embodied as an XY coordinate axis with the screen center as the origin in the application layer. The X axis represents the horizontal direction and is used to define the reference of the left and right positions of the image, and the Y axis represents the vertical direction and is used to define the reference of the up and down positions of the image. The plurality of distortion reference points in the display reference framework are a series of key coordinate points (such as 9-point, 16-point or 25-point calibration grid) distributed according to certain rules in the two-dimensional plane defined by the XY coordinate axis. When determining the display reference framework, the entertainment domain controller matches and calls the pre-calibrated XY coordinate axis parameters and the corresponding distortion reference point coordinate set according to the driver's eye nucleus position. When calculating the image offset, the image offset is the deviation value of the projection image feature point relative to the theoretical position of the XY coordinate axis. When correction is needed, the core operation of updating the display reference framework is to rotate and translate the currently offset XY coordinate axis to return it to the ideal position matching the current view point of the driver, thereby ensuring that the image is always displayed horizontally and stably based on the correct XY coordinate axis.

[0100] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation portal for user to choose authorization or refusal.

[0101] It should be noted that for the method embodiments described above, in order to simply describe, the technical solutions in the method embodiments are described as a series of action combinations, but those skilled in the art should know that the application is not limited by the order of actions in the described action combination, because according to the application, some of the above steps can be performed in other order or simultaneously. In addition, those skilled in the art should know that the embodiments described in the specification of the present application are preferred embodiments, and the actions and modules involved are not necessarily essential to implement the technical solutions of the present application.

[0102] According to the embodiment of the present application, a device embodiment of a vehicle display control device is also provided, which is used to implement the above method embodiments and various optional implementations of the method embodiments. The technical contents described above will not be repeated here. It should be noted that in the following related description of the device embodiment, the "module" can be software, hardware or a combination of software and hardware for realizing the specified function.

[0103] Figure 5 is a structural block diagram of a vehicle display control device according to an embodiment of the present application. As shown in Figure 5 the vehicle display control device includes: an acquisition module 501 configured to acquire vehicle running data and driver state data, wherein the vehicle running data is used to represent the body state and chassis state of the vehicle, and the driver state data is used to represent the observation viewpoint state of the driver; a first determination module 502 configured to determine a display reference framework corresponding to a head-up display component of the vehicle based on the driver state data; a second determination module 503 configured to determine an image offset amount of a projection image in the head-up display component according to the vehicle running data and the display reference framework; an update module 504 configured to update the display reference framework according to the vehicle running data and the driver state data when it is detected that the offset amount exceeds an offset allowable range; a generation module 505 configured to generate an image adjustment signal based on the vehicle running data, the driver state data and the updated display reference framework; and a display module 506 configured to perform equalization correction display on the projection image according to the image adjustment signal.

[0104] Optionally, the vehicle running data includes body state data and chassis state data, and the acquisition module 501 is further configured to acquire the body state data from a body domain controller of the vehicle, wherein the body state data includes vehicle speed and steering angle; and acquire the chassis state data from a chassis domain controller of the vehicle, wherein the chassis state data includes suspension heights corresponding to a plurality of wheels respectively.

[0105] Optionally, the driver state data includes a viewpoint parameter, and the acquisition module 501 is further configured to acquire a driver face image collected by a driver monitoring camera; and perform driver eye nucleus position analysis on the driver face image to determine the viewpoint parameter.

[0106] Optionally, the display reference framework includes a reference coordinate system and a plurality of distortion reference points, and the first determination module 502 is further configured to determine a reference coordinate system from a pre-labeled coordinate system set according to the viewpoint parameter; and call a plurality of distortion reference points associated with the coordinate axes of the reference coordinate system from a pre-labeled reference point set based on the reference coordinate system.

[0107] Optionally, the second determining module 503 is further configured to: calculate the attitude change information of the vehicle based on the vehicle speed, the steering angle, and the suspension heights of the plurality of wheels; and calculate the image offset of the projection image relative to the reference coordinate system based on the attitude change information and the plurality of distortion reference points.

[0108] Optionally, in the vehicle display control device, the offset allowable range is a tolerance range defined based on the plurality of distortion reference points.

[0109] Optionally, the updating module 504 is further configured to: calculate the attitude change vector of the vehicle based on the vehicle operation data; calculate the observation point change vector of the driver based on the driver state data; and perform a cooperative transformation on the reference coordinate system and the plurality of distortion reference points based on the attitude change vector and the observation point change vector, to generate the updated reference coordinate system and the updated plurality of distortion reference points.

[0110] Optionally, the display module 506 is further configured to: send the image adjustment signal to a projection control unit of the head-up display component; drive an optical engine by the projection control unit to perform real-time geometric distortion correction on the projection image, to obtain a correction result; and project the correction result onto the front windshield of the vehicle.

[0111] It should be noted that the obtaining module 501, the first determining module 502, the second determining module 503, the updating module 504, the generating module 505, and the display module 506 correspond to steps S201 to S206 in the method embodiment, and the six modules have the same instances and application scenarios as the corresponding steps, but are not limited to the content disclosed in the above method embodiment.

[0112] It should be noted that each module mentioned in the device embodiment can be implemented by software, hardware, or a combination of software and hardware. For example, when the modules are implemented by hardware, each module can be arranged in the same processor, or each module can be arranged in different processors in any combination. For another example, the modules can be hardware components or software components stored in a memory and processed by one or more processors, and the modules can also run in a computing terminal as part of the device.

[0113] Embodiments of the present application also provide a vehicle, including: a memory storing an executable program; and a processor configured to run the program, wherein the program performs the vehicle display control method in various embodiments of the present application when running.

[0114] The embodiment of the present application further provides a computer readable storage medium, which comprises a stored executable program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the vehicle display control method in the various embodiments of the present application when the executable program is executed.

[0115] Optionally, the computer storage medium can include, but is not limited to, a hard disk drive (HDD), a solid state drive (SSD), a USB flash drive, an optical disc, a memory card, a cloud storage medium, a network storage device (NAS) and the like.

[0116] The embodiment of the present application further provides a computer program product, which comprises a computer program, and the computer program implements the vehicle display control method in the various embodiments of the present application when executed by a processor.

[0117] The embodiment of the present application further provides a computer program product, which comprises a non-volatile computer readable storage medium, and the non-volatile computer readable storage medium is used for storing a computer program, and the computer program implements the vehicle display control method in the various embodiments of the present application when executed by a processor.

[0118] The embodiment of the present application further provides a computer program, and the computer program implements the method in the various embodiments of the present application when executed by a processor.

[0119] In the above-described embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0120] In the several embodiments provided by the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the unit described as the division is only a logical function division, and there can be another division manner in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0121] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0122] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0123] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in part, or all or part of the technical solutions, can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various other media that can store program codes.

[0124] The above only describes the preferred embodiments of the present application. It should be noted that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered as falling within the scope of protection of the present application.

Claims

1. A vehicle display control method characterized by comprising: The method comprises: acquiring vehicle operation data and driver state data, wherein the vehicle operation data is used to represent the body state and chassis state of the vehicle, and the driver state data is used to represent the observation viewpoint state of the driver; determining a display reference frame corresponding to a head-up display component of the vehicle based on the driver state data; determining an image offset of a projected image in the head-up display component according to the vehicle operation data and the display reference frame; updating the display reference frame according to the vehicle operation data and the driver state data when it is detected that the offset exceeds an offset allowable range; generating an image adjustment signal based on the vehicle operation data, the driver state data, and the updated display reference frame; performing equalization correction display on the projected image according to the image adjustment signal.

2. The vehicle display control method according to claim 1, characterized by The vehicle operation data comprises body state data and chassis state data, and acquiring the vehicle operation data comprises: acquiring the body state data from a body domain controller of the vehicle, wherein the body state data comprises vehicle speed and steering angle; acquiring the chassis state data from a chassis domain controller of the vehicle, wherein the chassis state data comprises suspension heights corresponding to a plurality of wheels respectively.

3. The vehicle display control method according to claim 2, characterized by, The driver state data comprises a viewpoint parameter, and acquiring the driver state data comprises: acquiring a driver face image collected by a driver monitoring camera; performing driver eye nucleus position analysis on the driver face image to determine the viewpoint parameter.

4. The vehicle display control method according to claim 3, characterized by The display reference frame comprises a reference coordinate system and a plurality of distortion reference points, and determining the display reference frame based on the driver state data comprises: determining a reference coordinate system from a pre-labeled coordinate system set according to the viewpoint parameter; calling the plurality of distortion reference points associated with the coordinate axes of the reference coordinate system from a pre-labeled reference point set based on the reference coordinate system.

5. The vehicle display control method according to claim 4, characterized by Determining the image offset according to the vehicle operation data and the display reference frame comprises: calculating attitude change information of the vehicle based on the vehicle speed, the steering angle, and the suspension heights corresponding to the plurality of wheels respectively; calculating the image offset of the projected image relative to the reference coordinate system according to the attitude change information and the plurality of distortion reference points.

6. The vehicle display control method according to claim 4 or 5, characterized by The offset allowable range is a tolerance range defined based on the plurality of distortion reference points.

7. The vehicle display control method according to claim 4, characterized by Updating the display reference frame according to the vehicle operation data and the driver state data comprises: calculating an attitude change vector of the vehicle based on the vehicle operation data; calculating an observation viewpoint change vector of the driver based on the driver state data; performing a cooperative transformation on the reference coordinate system and the plurality of distortion reference points according to the attitude change vector and the observation viewpoint change vector to generate an updated reference coordinate system and updated plurality of distortion reference points.

8. The method of claim 1, wherein, Performing equalization correction display on the projected image according to the image adjustment signal comprises: sending the image adjustment signal to a projection control unit of the head-up display component; The projection control unit drives an optical engine to correct the projection image in real time to obtain a correction result; The correction result is projected onto a front windshield of the vehicle.

9. A vehicle characterized by comprising: The method comprises: a memory storing an executable program; a processor configured to execute the program, wherein the program, when executed, performs the method of any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored executable program, wherein the executable program, when executed, controls a device in which the storage medium is located to perform the method of any one of claims 1 to 8.

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