Projection image adjusting method and device of vehicle head-up display and head-up display

Abstract

The invention provides a projection image adjusting method and device of a vehicle head-up display and the head-up display. Relates to the technical field of vehicles. When the method is executed, firstly, an attitude transformation matrix of a current vehicle coordinate system and a target coordinate system at adjacent moments is determined; according to the attitude transformation matrix, determining a first transformation parameter influencing the projected image of the vehicle head-up display at the adjacent moments; determining a first adjustment parameter according to the driving information of the driver at the adjacent moments; and finally, according to the first transformation parameter and the first adjustment parameter, adjusting projection information of a projection image rendered by the vehicle head-up display. Therefore, the projection information needing to be adjusted for projecting the projection image by the head-up display is more accurately determined according to the attitude conversion matrix at the adjacent moments and the driving information of the driver, so that the problem that dizziness is brought to the driver due to jittering of the projection image caused by jittering of the vehicle is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a projection image adjustment method and device of a vehicle head-up display and the head-up display. BACKGROUND

[0002] An augmented reality head-up display (AR-HUD) displays some information that a driver pays attention to on a windshield in front of the driver, so that the driver can reduce the time of looking down or turning the head to check the instrument panel or the central control screen, and improve the driving safety. However, the related firmware of the head-up display is fixedly connected with the vehicle body, and the vehicle will produce continuous shaking and posture changes due to uneven road surface, acceleration and deceleration and the like during driving. With the shaking of the vehicle, the projection image also shakes with the vehicle, thereby causing the driver to feel dizzy. SUMMARY

[0003] In view of this, the present application provides a projection image adjustment method and device of a vehicle head-up display and the head-up display, aiming to reduce the shaking of the projection image displayed on the windshield in front of the driver by the head-up display.

[0004] In a first aspect, the present application provides a projection image adjustment method of a vehicle head-up display, comprising:

[0005] determining a posture conversion matrix of a current vehicle coordinate system and a target coordinate system at an adjacent time point;

[0006] determining a first transformation parameter affecting the projection image of the vehicle head-up display at the adjacent time point according to the posture conversion matrix, the first transformation parameter being a parameter for adjusting the position of the projection image or the position of a target object in the projection image to adapt to the vehicle posture change;

[0007] determining a first adjustment parameter according to the driving information of the driver at the adjacent time point, the first adjustment parameter being a parameter for adjusting the position of the projection image of the head-up display to adapt to the driving information;

[0008] adjusting the projection information of the projection image rendered by the vehicle head-up display according to the first transformation parameter and the first adjustment parameter, the projection information including at least one of the position of the projection image and the position of the target object in the projection image.

[0009] Optionally, the determining of the first adjustment parameter according to the driving information of the driver at the adjacent time point comprises:

[0010] determining a fine adjustment coefficient reflecting the shaking degree of the vehicle according to the driving information, the driving information including the speed and a control parameter, the control parameter being one of the throttle opening degree or the brake opening degree.

[0011] adjusting a proportional coefficient based on the fine-tuning coefficient, the proportional coefficient being determined by a plurality of sets of projection image displacement amounts in the head-up display and corresponding pixel change amounts measured in history.

[0012] Optionally, the adjusting the projection information of the projection image rendered by the head-up display of the vehicle according to the first transformation parameter and the first adjustment parameter comprises:

[0013] calculating a ratio of the first transformation parameter and the first adjustment parameter to obtain a pixel change amount;

[0014] determining a position of the projection image rendered by the head-up display of the vehicle based on the pixel change amount.

[0015] Optionally, the determining the first transformation parameter affecting the projection image of the head-up display of the vehicle at the adjacent time according to the attitude conversion matrix comprises:

[0016] determining a change amount of a pitch angle of the vehicle at the adjacent time according to the attitude conversion matrix;

[0017] determining a projection image displacement amount as the first transformation parameter based on the cosine theorem according to the first vector of the head-up display in an optical-mechanical installation coordinate system and the change amount of the pitch angle, the optical-mechanical installation coordinate system being an installation coordinate system of the head-up display of the vehicle, and the first vector being a vector from a light-emitting center of the head-up display to a projection center.

[0018] Optionally, the target coordinate system is a navigation coordinate system, and the determining the attitude conversion matrix of the current vehicle coordinate system and the target coordinate system at the adjacent time comprises:

[0019] updating the attitude conversion matrix of the vehicle at the current time compared with the previous time by a strapdown inertial navigation attitude updating algorithm based on measured data of an inertial measurement unit (IMU) of the vehicle, the attitude conversion matrix being a conversion matrix from the vehicle coordinate system to the navigation coordinate system.

[0020] Optionally, the determining the fine-tuning coefficient reflecting the degree of vehicle shaking according to the driving information comprises:

[0021] if the control parameter is a throttle opening degree, determining a first coefficient corresponding to the speed as the fine-tuning coefficient, the first coefficient being a coefficient corresponding to the speed pre-configured according to a vehicle pitch angle change amount corresponding to the speed and an evaluation of a driver under the condition that the control parameter is the throttle opening degree;

[0022] If the control parameter is brake opening degree, a second coefficient corresponding to the speed is determined as a fine-tuning coefficient, the second coefficient being a coefficient corresponding to the speed and being configured in advance according to vehicle pitch angle variation corresponding to different speeds and driver evaluation.

[0023] Optionally, the configuring of the coefficients corresponding to different speeds according to the vehicle pitch angle variation corresponding to different speeds and the driver evaluation comprises:

[0024] determining a plurality of levels of reaction to vehicle shaking degrees according to the vehicle pitch angle variation and the driver evaluation;

[0025] testing vehicle pitch angle variation corresponding to different speeds and driver evaluation to determine levels corresponding to different speeds, each level corresponding to a coefficient.

[0026] Optionally, the driving information further comprises a gear position, and the method further comprises:

[0027] judging whether the current vehicle is in a motion state based on the gear position, and starting or stopping the determination of the posture conversion matrix of the current vehicle coordinate system and the target coordinate system and the subsequent steps.

[0028] In a second aspect, the application further provides a projection image adjustment device of a vehicle head-up display, the device comprising:

[0029] a conversion module configured to determine a posture conversion matrix of a current vehicle coordinate system and a target coordinate system at an adjacent time point;

[0030] a processing module configured to determine, according to the posture conversion matrix, a first transformation parameter affecting the projection image of the vehicle head-up display at the adjacent time point, the first transformation parameter being a parameter for adjusting the position of the projection image or the position of a target object in the projection image to adapt to vehicle pose changes;

[0031] an adjustment module configured to determine a first adjustment parameter according to driving information of a driver at the adjacent time point, the first adjustment parameter being a parameter for adjusting the position of the projection image of the head-up display to adapt to the driving information;

[0032] a determination module configured to adjust projection information of a projection image rendered by the vehicle head-up display according to the first transformation parameter and the first adjustment parameter, the projection information including at least one of the position of the projection image and the position of the target object in the projection image.

[0033] In a third aspect, the present application also provides a head-up display, which comprises an image generation unit PGU, a main controller and an optical system, the main controller is connected to the image generation unit PGU and the optical system, and an output end of the image generation unit PGU is connected to the optical system.

[0034] The main controller implements the projection image adjustment method of the vehicle head-up display according to any one of the preceding aspects, and sends the processed image data to the image generation unit so that the image generation unit projects an initial image generated based on the image data to a field of view in front of the driver through the optical system.

[0035] In a fourth aspect, the present application also provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the projection image adjustment method of the vehicle head-up display according to any one of the preceding aspects.

[0036] The present application provides a projection image adjustment method, device and equipment of a vehicle head-up display. In the execution of the method, first, a posture conversion matrix of a current vehicle coordinate system and a target coordinate system at an adjacent time is determined; then, according to the posture conversion matrix, a first transformation parameter affecting the projection image of the vehicle head-up display in the adjacent time is determined; further, according to the driving information of the driver at the adjacent time, a first adjustment parameter is adjusted; finally, according to the first transformation parameter and the first adjustment parameter, the projection information of the projection image rendered by the vehicle head-up display is adjusted. Since the vehicle will shake when driving through a bumpy road section, the vehicle pose will change accordingly, therefore, the present application will determine the first transformation parameter affecting the projection image of the head-up display based on the posture conversion matrix of the vehicle coordinate system and the target coordinate system at the adjacent time, according to the pose change represented by the posture conversion matrix, so as to participate in the adjustment of the projection information of the subsequent projection image, instead of shaking with the vehicle in a fixed state to make the driver feel dizzy. In addition, the driving information of the driver is also obtained, so as to determine the first adjustment parameter for adjusting the projection image according to the driving information of the driver, further reducing the adverse experience of the driver caused by the vehicle shaking. In this way, by combining the vehicle pose change and the actual driving information of the driver, the projection image presented by the head-up display can be adjusted in position following the vehicle shaking, the projection image shaking with the vehicle is reduced, the dizziness of the driver is reduced, and the driving experience of the driver is improved. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0038] Figure 1 A flowchart of a projection image adjustment method of a vehicle head-up display provided by an embodiment of the present application is shown in the figure.

[0039] Figure 2 A raw data diagram of a gyroscope provided by an embodiment of the present application is shown in the figure.

[0040] Figure 3 A raw data diagram of an accelerometer provided by an embodiment of the present application is shown in the figure.

[0041] Figure 4 A flowchart of a projection image adjustment method of a vehicle head-up display provided by an embodiment of the present application is shown in the figure.

[0042] Figure 5 A judgment processing flowchart based on driving information provided by an embodiment of the present application is shown in the figure.

[0043] Figure 6 An influence curve of driving information on pitch angle when braking provided by an embodiment of the present application is shown in the figure.

[0044] Figure 7 A flowchart of a two-dimensional image anti-shake processing provided by an embodiment of the present application is shown in the figure.

[0045] Figure 8 A structure diagram of an electronic device provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0046] In order to enable a person skilled in the art to more fully understand the features and technical contents of the embodiments of the present disclosure, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings, which are only used for reference and do not limit the embodiments of the present disclosure. In the following technical description, in order to facilitate explanation, through multiple details, a sufficient understanding of the disclosed embodiments is provided. However, one or more embodiments can still be implemented without these details. In other cases, in order to simplify the drawings, well-known structures and devices can be simplified.

[0047] The terms "first", "second", etc. in the description and claims of the present disclosure and the above drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0048] Unless otherwise specified, the term "a plurality of" means two or more. In the present disclosure, the character " / " represents that the objects before and after are in an "or" relationship. For example, A / B means: A or B. The term "and / or" is a description of the association between objects, which means that there can be three relationships. For example, A and / or B means: A or B, or, A and B, the three relationships.

[0049] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to 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 are within the scope of protection of the present application.

[0050] Embodiment one

[0051] Reference Figure 1 , Figure 1 A flowchart of a projection image adjustment method of a vehicle head-up display provided by the embodiments of the present application is shown. The method can be applied to a vehicle terminal such as a HUD (Head Up Display) and can also be applied to a server. The embodiments of the present application do not limit this. The method provided by the present embodiment can be applied to application scenarios in which the vehicle posture changes, such as when the vehicle passes through a speed reduction zone, a low-lying area, or a stone, or when the vehicle passes through an uphill or downhill section. The method can include:

[0052] S101, determining the posture conversion matrix of the current vehicle coordinate system and the target coordinate system at the adjacent time.

[0053] Optionally, the above-mentioned adjacent time can refer to the current time and the last time of the current time.

[0054] At present, a vehicle is installed with an inertial measurement unit IMU, which can include a gyroscope and an accelerometer. The measured data of the inertial measurement unit IMU can include angular velocity and acceleration. As shown in a raw data diagram of a gyroscope and Figure 2 Figure 3 ​An accelerometer raw data diagram is shown. The vehicle attitude information is calculated in real time according to the angular velocity and acceleration obtained by the inertial measurement unit (IMU).

[0055] According to the measured data of the inertial measurement unit (IMU), the influence of the vehicle jitter on the projection image of the vehicle head-up display is analyzed in real time through the attitude change represented by the attitude conversion matrix of adjacent time.

[0056] S102, according to the attitude conversion matrix, determine the first transformation parameter affecting the projection image of the vehicle head-up display in the adjacent time.

[0057] Optionally, the first transformation parameter is used to adjust the position of the projection image or the position of the target object in the projection image according to the change of the vehicle attitude. In this way, based on the attitude conversion matrix of the vehicle coordinate system and the target coordinate system at adjacent time, the position of the projection image or the target object in the projection image of the head-up display is adjusted according to the attitude change represented by the attitude conversion matrix, instead of shaking with the vehicle jitter to make the driver dizzy.

[0058] S103, according to the driving information of the driver at adjacent time, determine the first adjustment parameter.

[0059] The first adjustment parameter is a parameter for adjusting the position of the projection image of the head-up display according to the driving information. The driving information of the driver can be further obtained to adjust the position of the projection image according to the driving information of the driver, further reducing the adverse experience of the driver caused by the vehicle jitter.

[0060] In this way, in addition to analyzing based on the measured data of the inertial measurement unit (IMU), the driving information of the driver is further obtained, and the jitter of the projection image of the head-up display is considered by combining the measured data and the driving information.

[0061] S104, according to the first transformation parameter and the first adjustment parameter, adjust the projection information of the projection image rendered by the vehicle head-up display.

[0062] Optionally, the projection information includes at least one of the position of the projection image and the position of the target object in the projection image.

[0063] According to the steps S101-S104, the vehicle driving through the bumpy road section will produce shaking, and the vehicle pose will change accordingly. Therefore, the application will adjust the position of the projection image of the head-up display or the target object in the projection image based on the attitude conversion matrix of the vehicle coordinate system and the target coordinate system at the adjacent time, according to the pose change represented by the attitude conversion matrix, rather than fixing the state to sway with the vehicle shaking to make the driver feel dizzy. In addition, the driving information of the driver is also obtained to adjust the position of the projection image according to the driving information of the driver, further reducing the bad experience caused by the vehicle shaking to the driver. In this way, by combining the vehicle pose change and the actual driving information of the driver, the projection image presented by the head-up display can be adjusted in position following the vehicle shaking, reducing the swaying of the projection image with the vehicle shaking, reducing the dizziness of the driver, and improving the driving experience of the driver.

[0064] Embodiment two

[0065] Based on the above embodiment, at present, the projection image of the head-up display includes a two-dimensional icon. For the projection image of the two-dimensional icon, the anti-shaking method in the following embodiment can be used.

[0066] For two-dimensional icon anti-shaking, the current head-up display HUD lacks a mature two-dimensional image stabilization scheme. For the problem of HUD imaging offset caused by vehicle shaking due to road conditions, more reliance is placed on the suspension system of the vehicle body and other hardware anti-shaking to avoid large pitch direction shaking and stabilize imaging. However, it is still difficult to ensure that the vehicle can still present stable imaging effect on bumpy road sections, making the driving experience of the driver poor on bumpy road sections and prone to dizziness. Therefore, for two-dimensional icon anti-shaking, the application obtains measured data through an inertial measurement unit IMU, determines the actual displacement amount of the projection image through a pose update algorithm, and then calculates the pixel change amount in real time according to the proportion coefficient adjusted based on the driving information (vehicle speed, throttle, brake) of the driver, and directly applies it to the rendering coordinates to ensure that the two-dimensional image remains visually stable when the vehicle is bumpy. Moreover, the actual driving information of the driver is introduced for optimization and adjustment, making the stabilization effect more intelligent and natural.

[0067] When stabilizing the two-dimensional icon, the above target coordinate system can be a navigation coordinate system. A possible implementation step can include:

[0068] S401, based on the measured data of the inertial measurement unit IMU of the vehicle, updating the attitude conversion matrix of the vehicle at the current time compared to the previous time through a strapdown inertial navigation attitude update algorithm.

[0069] The above attitude conversion matrix is a conversion matrix from the vehicle coordinate system to the navigation coordinate system;

[0070] Optionally, the measured data of the aforementioned inertial measurement unit (IMU) can be angular velocity;

[0071] In this embodiment, the above-mentioned vehicle coordinate system ( The coordinate system on the vehicle body is the right front upper coordinate system, whose origin can be fixed at the center of the rear axle of the vehicle; the x-axis points in the direction of vehicle travel; and the y-axis points to the right of the driver.

[0072] The above navigation coordinate system ( The coordinate system is the Northeast Celestial Coordinate System, with its origin being the same as the origin of the vehicle coordinate system; the x-axis points to the geographic east; the y-axis points to the geographic north; and the z-axis is perpendicular to the Earth's ellipsoid and pointing upwards.

[0073] The attitude transformation matrix of the vehicle at the current moment compared to the previous moment, determined by the above strapdown inertial navigation attitude update algorithm, can be:

[0074] ,

[0075] Where m represents the current time, and m-1 represents the time before the current time;

[0076] The above The above ;

[0077] The above This is the Rodriguez formula, used to transform a rotation vector into a rotation matrix;

[0078] The above The above refers to the angular velocity value measured by the gyroscope at time m. The angular velocity of the vehicle in the navigation coordinate system. This represents the time difference between the current moment and the previous moment.

[0079] The above This involves rotating from the vehicle coordinate system (b-frame) along three axes (z-axis, y-axis, and x-axis) to the navigation coordinate system (n-frame), which is the transformation from Euler angles to a rotation matrix. Specifically, the angle of rotation along the z-axis is the heading angle (yaw). The angle of rotation along the y-axis is the pitch angle (θ), and the angle of rotation along the x-axis is the roll angle (γ). The above... The specific formula can be:

[0080] .

[0081] in, The rotation matrix is ​​the heading angle. The rotation matrix is ​​the pitch angle. is a rotation matrix of the roll angle. Further, the step S102 of determining the first transformation parameter affecting the projection image of the vehicle head-up display according to the attitude conversion matrix at the adjacent time, can include the following steps:

[0082] S402, determining the change of the pitch angle of the vehicle at the adjacent time according to the attitude conversion matrix.

[0083] The attitude conversion matrix at the current time is determined based on the step S401 Then, the formula for calculating the change of the pitch angle can be: , wherein is an element corresponding to the third example of the first row of the attitude conversion matrix, as described above in .

[0084] S403, determining the displacement of the projection image as the first transformation parameter based on the cosine theorem according to the first vector of the head-up display in the optical machine mounting coordinate system and the change of the pitch angle.

[0085] The optical machine mounting coordinate system (OXYZ) is the mounting coordinate system of the head-up display of the vehicle;

[0086] The first vector is a vector from the light-emitting center of the head-up display to the projection center.

[0087] Referring to a virtual image movement distance diagram shown in Figure 4 , the vehicle jitter is mainly related to the change of the pitch angle of the vehicle body. According to the first vector in the optical machine mounting coordinate system and the change of the pitch angle , the calculation formula of the displacement of the projection image may be:

[0088] .

[0089] In an example, the step S103 of determining the first adjustment parameter according to the driving information of the driver at the adjacent time can be:

[0090] S404, determining a fine adjustment coefficient reflecting the degree of vehicle jitter according to the driving information, the driving information including speed and control parameters, the control parameters being one of throttle opening or brake opening; adjusting the proportional coefficient based on the fine adjustment coefficient to determine the first adjustment parameter.

[0091] The proportional coefficient is determined by a plurality of sets of projection image displacements and corresponding pixel changes in the head-up display measured historically. ​

[0092] Optionally, the above jitter degree and the fine tuning coefficient are in a certain proportional relationship, of course, different levels can also be divided according to the jitter degree, and each level corresponds to a fine tuning coefficient.

[0093] Optionally, the jitter degree can be analyzed through the vehicle pitch angle change amount and the driver's evaluation and other parameters. The higher the jitter degree, the higher the adjustment ratio of the determined fine tuning coefficient. It can be understood that the larger the pitch angle change amount, the greater the jitter degree, and the driver can also subjectively evaluate the jitter degree of the vehicle.

[0094] Optionally, referring to Figure 5 The judgment processing flowchart based on driving information is shown. The above step S404 can be specifically:

[0095] S501, obtain driving information, the driving information includes speed, control parameter, and the control parameter is one of throttle opening or brake opening.

[0096] S502, data smoothing filtering processing is performed on the above driving information.

[0097] The data smoothing filtering processing can be low-pass filtering or mean filtering, etc.

[0098] S503, determine the corresponding control strategy based on the current control parameter, and determine the fine tuning coefficient corresponding to the current vehicle speed under the corresponding control strategy.

[0099] Optionally, determine the speed interval in which the current vehicle speed is located, and determine the fine tuning coefficient of the vehicle under the control strategy corresponding to the current control parameter according to the speed interval.

[0100] Optionally, the throttle opening and the brake opening correspond to different control strategies, for example, at the same speed, the throttle and the brake control mode can correspond to different fine tuning coefficients according to the respective jitter degree.

[0101] Optionally, if the control parameter is the throttle opening, the corresponding control strategy is to determine the first coefficient corresponding to the current vehicle speed as the fine tuning coefficient; the first coefficient is configured according to the vehicle pitch angle change amount corresponding to different speeds and the driver's evaluation under the condition that the control parameter is the throttle opening; if the control parameter is the brake opening, the corresponding control strategy is to determine the second coefficient corresponding to the speed as the fine tuning coefficient, and the second coefficient is configured according to the vehicle pitch angle change amount corresponding to different speeds and the driver's evaluation under the condition that the control parameter is the brake opening.

[0102] Optionally, the control parameters can further include the road conditions on which the current vehicle is running, such as the control strategies corresponding to the throttle opening degree and brake opening degree on flat road sections (different speed corresponding fine-tuning coefficients), the control strategies corresponding to the throttle opening degree and brake opening degree on secondary road conditions (small roads, dirt roads), the control strategies corresponding to the throttle opening degree and brake opening degree on flat uphill road sections, the control strategies corresponding to the throttle opening degree and brake opening degree on flat downhill road sections, etc.

[0103] Further, based on the above control parameters, the coefficients corresponding to different speeds can be configured in advance according to the vehicle pitch angle change and the driver's evaluation corresponding to different speeds.

[0104] According to the vehicle pitch angle change and the driver's evaluation, a plurality of levels reflecting the degree of vehicle shaking are determined.

[0105] Under different test conditions, the vehicle pitch angle change and the driver's evaluation corresponding to different speeds are tested to determine the levels corresponding to different speeds, each level corresponding to a fine-tuning coefficient.

[0106] In an example, the vehicle pitch angle change and the driver's subjective evaluation corresponding to different speeds or speed intervals can be obtained under different test conditions (road conditions, brake and throttle), and the corresponding shaking levels are determined, i.e. the fine-tuning coefficients corresponding to different speeds are determined.

[0107] For example, several test conditions can be as shown in the following table:

[0108] Road conditions Speed (km / h) Brake (classified by brake signal percentage) Accelerator (classified by accelerator signal percentage) Flat road 0~20 (low speed) Slowly stepped Slowly stepped Secondary road (small road, dirt road) 20~40 (medium speed) Medium speed stepped Medium speed stepped Flat uphill road section 40~60 (fast) Fast stepped Fast stepped Flat downhill road section 20~40 (medium speed) Medium speed stepped Medium speed stepped

[0109] Optionally, the influence curve of the driving information of the current vehicle on the pitch angle can be obtained, such as the influence curve of the driving information on the pitch angle during braking as shown in Figure 6 Figure 6 The green line in the upper graph represents the change in speed, the yellow line represents the change in throttle opening degree, the blue line represents the change in brake opening degree, and the red line represents the change in the pitch angle of the actual vehicle. As can be seen in the upper graph, as the brake starts to slow down from 40 km / h to about 20 km / h, the pitch angle of the vehicle is recorded as the brake opening degree changes, and the corresponding level can be determined according to the speed, and the fine-tuning coefficient corresponding to the level.

[0110] S504, the driving information can further include the gear position, based on which it is determined whether the current vehicle is in a motion state, and the corresponding start or stop of the determination of the attitude transformation matrix of the current vehicle coordinate system and the target coordinate system at the adjacent time and the subsequent steps.

[0111] ​Based on the fine tuning coefficient determined in steps S501-S504, further, based on the determined fine tuning coefficient, the proportional coefficient is fine tuned, and the first adjustment parameter is determined, wherein the proportional coefficient is determined by the historical measured multiple sets of projection image displacement amount in the head-up display and the corresponding pixel change amount.

[0112] S405, calculating the first transformation parameter and the first adjustment parameter The ratio of the pixel change amount ; the pixel change amount determines the position of the projection image rendered by the vehicle head-up display.

[0113] The calculation formula of the above-mentioned pixel change amount can be: ;

[0114] Wherein is the first transformation parameter, is the first adjustment parameter.

[0115] Based on the above steps S401-S405, referring to Figure 7 a flowchart of a two-dimensional image anti-shake processing method is shown, on the one hand, according to the above steps S401-S402, based on the parameters obtained by the inertial measurement unit (IMU), the projection image displacement amount is determined by the attitude update algorithm; on the other hand, according to the driving information (speed and control parameters) of the driver, the fine-tuned proportional coefficient (first adjustment parameter) is determined in steps S403-S404, that is, other signals of the vehicle driving provide auxiliary optimization for anti-shake, finally, based on step S405, the pixel change size of the current two-dimensional image projection is determined, in this way, the projection image can adapt to the pose change and the driving information of the current vehicle under bumpy road conditions, the pixels of the two-dimensional image imaging are adjusted, and the projection of the two-dimensional image is always kept in a stable state, which improves the display stability of the head-up display, reduces the dizziness of the driver, improves the driving experience, of course, this method can also be used for real scene sticking of AR icons, and stable display effect is realized under complex road sections. In addition, as Figure 5 The above-mentioned driving information can also include the gear of the current vehicle, which can be used to determine whether the vehicle is in a motion state, so as to execute or pause the above-mentioned projection image adjustment method of the vehicle head-up display, and realize effective start and stop of anti-shake control.

[0116] Embodiment three

[0117] Referring to Figure 8The application further provides a head-up display, which can comprise an image generation unit PGU, a main controller and an optical system, the main controller is connected with the image generation unit PGU and the optical system, and the output end of the image generation unit PGU is connected with the optical system.

[0118] The main controller implements the projection image adjustment method of the vehicle head-up display according to any one of the above-mentioned embodiments, and sends the processed image data to the image generation unit so that the image generation unit projects the initial image generated based on the image data to the field of view in front of the driver through the optical system.

[0119] The image generation unit is the imaging core of the head-up display, and generally adopts a high-brightness digital light processing technical solution. The core function is to convert the original electrical signal into an initial image with high brightness and high contrast, so as to provide stable light source output for subsequent optical projection. The key parameters including brightness, resolution and color gamut performance directly determine the basic display effect of the HUD.

[0120] The main controller is the data processing center of the system, and integrates a high-performance processor and a video processing chip. The main controller mainly undertakes real-time image generation and external signal processing, and drives the PGU through an LVDS / MIPI interface. The built-in various compensation algorithms and fault diagnosis mechanisms ensure the operation stability in a complex vehicle-mounted environment.

[0121] The optical system is a core optical component composed of a precision aspheric mirror, and uses a free-form surface design technology to solve the geometric distortion compensation problem of the front windshield. Through precise light path folding and surface optimization, the image generated by the PGU is projected in the form of a virtual image to the field of view of the driver in front of 8-10 meters, and the image distortion correction and parallax elimination are realized, so that the imaging is clear and free of ghosting.

[0122] The system coordination logic of the three parts of the image generation unit PGU, the main controller and the optical system is that the main controller processes and sends image data to the PGU, the PGU generates a high-brightness initial image, the free-form surface mirror of the optical system corrects the light path through secondary reflection, and a virtual image conforming to human eye vision is formed in a specific field of view region of the front windshield. The whole architecture of the head-up display can meet the strict standards of vehicle-level vibration, temperature and humidity, and electromagnetic compatibility, and realizes zero visual offset transmission of driving information.

[0123] The embodiment of the application discloses a computer readable storage medium which stores a computer program, wherein the computer program makes a computer execute the projection image adjustment method of the vehicle head-up display provided by any one of the embodiments of the application.

[0124] The "first", "second" in the names of the "first", "second" mentioned in the embodiments of the present application are only used for name identification, and do not represent the first, second in order.

[0125] From the description of the above embodiments, those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment methods can be implemented by means of software plus a general hardware platform. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product. The computer software product can be stored in a storage medium, such as a read-only memory (English: read-only memory, ROM) / RAM, a magnetic disc, an optical disc, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in various embodiments or some parts of the embodiments of the present application.

[0126] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, they are described more simply, and the relevant parts refer to the part of the method embodiments. According to the actual needs, some or all of the modules can be selected to achieve the purpose of the embodiment scheme. Those skilled in the art can understand and implement without creative labor.

[0127] The above is only an exemplary embodiment of the present application, and is not intended to limit the protection scope of the present application.

Claims

1. A method of adjusting a projected image of a vehicle head-up display, the method comprising: The method comprises: determining a posture conversion matrix of a current vehicle coordinate system and a target coordinate system at a neighboring time point; determining a first transformation parameter affecting projection of a head-up display of the vehicle at the neighboring time point according to the posture conversion matrix; determining a first adjustment parameter according to driving information of a driver at the neighboring time point, the first adjustment parameter being a parameter for adjusting a projection position of the head-up display according to the driving information; adjusting projection information of a projection image rendered by the head-up display of the vehicle according to the first transformation parameter and the first adjustment parameter.

2. The method of claim 1, wherein, The method further comprises: determining a fine adjustment coefficient reflecting a shaking degree of the vehicle according to the driving information, the driving information comprising a speed and a control parameter, the control parameter being one of a throttle opening degree or a brake opening degree; adjusting a proportional coefficient based on the fine adjustment coefficient to determine the first adjustment parameter, the proportional coefficient being determined by a plurality of sets of projection image displacement amounts and corresponding pixel change amounts of the head-up display measured in history.

3. The method according to claim 1 or 2, characterized in that, The method further comprises: calculating a ratio of the first transformation parameter and the first adjustment parameter to obtain a pixel change amount; determining a position of the projection image rendered by the head-up display of the vehicle based on the pixel change amount.

4. The method of claim 1, wherein, The method further comprises: determining a pitch angle change amount of the vehicle at the neighboring time point according to the posture conversion matrix; determining a projection image displacement amount as the first transformation parameter based on the cosine theorem according to a first vector of the head-up display in a light machine installation coordinate system and the pitch angle change amount, the light machine installation coordinate system being an installation coordinate system of the head-up display of the vehicle, the first vector being a vector from a light emitting center of the head-up display to a projection center.

5. The method of claim 1, wherein, The target coordinate system is a navigation coordinate system, and the method further comprises: updating a posture conversion matrix of the vehicle at a current time point compared with a previous time point by a strapdown inertial navigation attitude updating algorithm based on measured data of an inertial measurement unit (IMU) of the vehicle, the posture conversion matrix being a conversion matrix from the vehicle coordinate system to the navigation coordinate system.

6. The method of claim 2, wherein, The method further comprises: if the control parameter is the throttle opening degree, determining a first coefficient corresponding to the speed as the fine adjustment coefficient, the first coefficient being a coefficient corresponding to different speeds configured in advance according to vehicle pitch angle change amounts corresponding to different speeds and evaluation of the driver under the condition that the control parameter is the throttle opening degree. If the control parameter is brake opening, a second coefficient corresponding to the speed is determined as a fine-tuning coefficient, the second coefficient being a coefficient corresponding to the speed pre-configured according to the vehicle pitch angle change amount corresponding to different speeds and the driver's evaluation.

7. The method of claim 6, wherein, The pre-configuring of the coefficients corresponding to different speeds according to the vehicle pitch angle change amount corresponding to different speeds and the driver's evaluation comprises: determining a plurality of levels reflecting the degree of vehicle shaking according to the vehicle pitch angle change amount and the driver's evaluation; In different test conditions, the vehicle pitch angle change amount corresponding to different speeds and the driver's evaluation are tested to determine the levels corresponding to different speeds, each level corresponding to a fine-tuning coefficient.

8. The method of claim 1, wherein, The driving information further comprises a gear position, and the method further comprises: judging whether the current vehicle is in a motion state based on the gear position, and starting or stopping the determination of the posture conversion matrix of the current vehicle coordinate system and the target coordinate system at the adjacent time and the subsequent steps.

9. A projection image adjustment device of a vehicle head-up display, characterized by, The device comprises: a conversion module for determining the posture conversion matrix of the current vehicle coordinate system and the target coordinate system at the adjacent time; a processing module for determining a first transformation parameter affecting the projection image of the vehicle head-up display according to the posture conversion matrix; an adjustment module for determining a first adjustment parameter according to the driving information of the driver at the adjacent time; a determination module for adjusting the projection information of the projection image rendered by the vehicle head-up display according to the first transformation parameter and the first adjustment parameter.

10. A head-up display, characterized by The head-up display comprises an image generation unit PGU, a main controller and an optical system, the main controller being connected to the image generation unit PGU and the optical system, the output end of the image generation unit PGU being connected to the optical system; The main controller implements the projection image adjustment method of the vehicle head-up display according to any one of claims 1-8, and sends the processed image data to the image generation unit so that the image generation unit projects the initial image generated based on the image data to the driver's front field of view through the optical system.

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