HUD curved mirror angle control method and system and vehicle

Abstract

The invention provides an HUD curved mirror angle control method and system and a vehicle. The HUD curved mirror angle control method comprises the following steps: collecting a group of real-time accelerations output by a first accelerometer every a set period, and verifying the real-time accelerations, so as to obtain an actual acceleration based on a preset group of real-time accelerations when the verification is passed; obtaining the measurement angle of the curved mirror according to the actual acceleration and the gravitational acceleration, obtaining the parking inclination angle of the second accelerometer, and calculating the angle of the curved mirror based on the measurement angle and the parking inclination angle; and a driving motor of a curved mirror rotating shaft is further adjusted according to the curved mirror angle. According to the invention, closed-loop control is realized, and the curved mirror is rotated to a preset angle, so that the accuracy and stability of an imaging position are ensured, and the reliability and use value of the HUD are improved; and moreover, the HUD is not interfered by the environment and can stably work under the conditions of different temperatures, voltages and the like, so that the adaptability and the stability of the HUD in various complex environments are further improved.

Description

Technical Field

[0001] This application relates to the field of head-up display technology, and in particular to a method, system and vehicle for controlling the angle of a HUD curved mirror. Background Technology

[0002] Head-up display (HUD) systems project vehicle driving information, navigation data, and other content onto the windshield or a dedicated display screen, allowing drivers to access crucial information without looking down, effectively improving driving safety and convenience. In a HUD system, a curved mirror is one of the core optical components. Its rotation angle directly determines the path of the projected light, thus affecting the position of the image in the driver's field of vision. If the rotation angle of the curved mirror deviates too much, it can lead to image shift, blurring, or even the image exceeding the driver's field of vision, rendering the HUD useless.

[0003] Currently, stepper motors are commonly used to drive the rotation of curved mirrors. However, stepper motors cannot be controlled in a closed loop. Due to the influence of voltage, temperature, and conduction structure, they may experience step loss and stalling, which in turn prevents the curved mirror from rotating to the predetermined angle. Furthermore, the actual rotation angle cannot be detected in a closed loop, resulting in imaging offset. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a method, system, and vehicle for controlling the angle of a curved mirror in a HUD system for real-time, high-precision detection of the rotation angle of the mirror, thereby ensuring the accuracy and stability of the HUD imaging position.

[0005] Specifically, this application provides a method for controlling the angle of a HUD curved mirror. A first accelerometer and a second accelerometer are fixed to the curved mirror and the main control board, respectively. The method includes the following steps: acquiring a set of real-time accelerations output by the first accelerometer at set intervals, and verifying the real-time accelerations so that when the verification passes, the actual acceleration is obtained based on the preset set of real-time accelerations; obtaining the measured angle of the curved mirror based on the actual acceleration and gravitational acceleration, and acquiring the parking tilt angle of the second accelerometer, so as to calculate the angle of the curved mirror based on the measured angle and the parking tilt angle; and adjusting the drive motor of the curved mirror rotation axis according to the curved mirror angle.

[0006] In the above technical solution, this application can realize closed-loop control, so that the curved mirror can be precisely rotated to a predetermined angle to ensure the accuracy and stability of the imaging position, thereby improving the reliability and usability of the HUD system; and it will not be affected by environmental interference, and can work stably under different temperature, voltage and other conditions, further improving the adaptability and stability of the HUD system in various complex environments.

[0007] Furthermore, before acquiring real-time acceleration, the process includes: initializing the system, setting the set period, setting the detection parameters of the first and second accelerometers, and verifying the system connection status.

[0008] In the above technical solution, the initialization operation can restore the various components and parameters of the system to their initial state, avoiding errors caused by previous abnormal operation. Setting appropriate acquisition period and detection parameters can enable the accelerometer to work as expected, laying the foundation for accurate data acquisition in the future. In addition, verifying the system connection status can promptly detect and eliminate connection faults, ensuring normal communication between various parts of the system, thereby improving the stability and reliability of the entire system.

[0009] Furthermore, when the system connection status verification is successful, before acquiring real-time acceleration, the process includes: acquiring multiple sets of sensitive axis accelerations output by the first accelerometer based on the initial position of the curved mirror, and calculating the first average value of the sensitive axis acceleration as the zero-point offset value; wherein, the sensitive axis is perpendicular to the rotation axis.

[0010] In the above technical solution, the accelerometer may have a zero-point offset problem in actual use. That is, when the curved mirror is in an initial static state, the acceleration value output by the accelerometer is not zero. By collecting multiple sets of sensitive axis accelerations and calculating the average value as the zero-point offset value, the collected real-time acceleration can be corrected in subsequent calculations, thereby eliminating the error caused by the zero-point offset and improving the accuracy of angle measurement.

[0011] Furthermore, obtaining the actual acceleration based on the preset group of real-time accelerations includes: performing filtering processing on the preset group of real-time accelerations to obtain a second average value, and calculating the actual acceleration based on the second average value and the zero-point offset value.

[0012] In the above technical solution, filtering can remove noise and interference signals from real-time acceleration data, making the data smoother and more stable; by calculating the average value of the real-time acceleration of the preset group, the influence of random errors can be further reduced; and by combining the zero-point offset value for correction, a more accurate actual acceleration value can be obtained, providing reliable data support for subsequent accurate calculation of the curved mirror angle.

[0013] Furthermore, the drive motor for adjusting the rotation axis of the curved mirror according to the angle of the curved mirror includes: obtaining a target adjustment value based on the angle of the curved mirror and the target reflection angle, and adjusting the rotation axis of the curved mirror based on the target adjustment value.

[0014] In the above technical solution, by comparing the actual angle of the curved mirror (i.e., the calculated angle of the curved mirror) with the target reflection angle, the amount of adjustment that needs to be made to the curved mirror, i.e. the target adjustment value, can be determined. Adjusting the drive motor according to this target adjustment value can make the curved mirror rotate accurately to the target angle, thereby ensuring that the image projected by the HUD system can accurately appear in the driver's field of vision, improving the accuracy and stability of imaging.

[0015] Furthermore, when the real-time acceleration verification fails, the method also includes discarding the real-time acceleration.

[0016] In the above technical solution, during the data acquisition process, the real-time acceleration data may be inaccurate or unreliable due to various reasons (such as sensor failure, external interference, etc.). By verifying the real-time acceleration, these abnormal data can be detected in time and discarded, avoiding the use of erroneous data for subsequent calculations, thereby ensuring the accuracy and reliability of the entire angle calculation and control process.

[0017] Based on the same concept, this application also provides a HUD curved mirror angle control system, the system comprising: an accelerometer module, including at least a first accelerometer and a second accelerometer; wherein, the first accelerometer is fixed on the curved mirror and is used to collect a set of real-time accelerations at set intervals; the second accelerometer is fixed on a main control board; a microcontroller unit, used to verify the real-time accelerations, so that when the verification passes, the actual acceleration is obtained based on a preset set of real-time accelerations, and the measured angle of the curved mirror is obtained according to the actual acceleration and gravitational acceleration, and the parking tilt angle of the second accelerometer is obtained, so that the curved mirror angle is calculated based on the measured angle and the parking tilt angle; and a main control unit, used to adjust the drive motor of the curved mirror rotation axis according to the curved mirror angle.

[0018] In the above technical solution, the accelerometer module, by combining data from two accelerometers, can more comprehensively and accurately calculate the actual angle of the curved mirror relative to the vehicle, improving the accuracy of angle measurement. The microcontroller unit undertakes important tasks such as data verification, filtering, and calculation, and can process and analyze the collected raw data to ultimately calculate the accurate angle of the curved mirror. Its efficient data processing capabilities and precise calculation algorithms ensure the performance and accuracy of the entire system. The main control unit adjusts the drive motor based on the curved mirror angle calculated by the microcontroller unit, forming a closed-loop control system. This closed-loop control method can monitor and adjust the angle of the curved mirror in real time, ensuring that the curved mirror is always in the correct position, thus improving the stability and reliability of the HUD system.

[0019] Furthermore, the system also includes a communication module for transmitting the angle of the curved mirror to the main control unit mounted on the main control board.

[0020] In the above technical solution, the communication module can accurately and timely transmit the curved mirror angle data calculated by the microcontroller to the main control unit, so that the main control unit can adjust the drive motor according to the data. It ensures the data flow between various parts of the system and ensures the normal operation of the entire control system.

[0021] Furthermore, the system also includes a power supply module for supplying power to the accelerometer module and the microcontroller unit.

[0022] In the above technical solution, the power module provides a stable power supply to the accelerometer module and the microcontroller unit, ensuring that these key components can work normally.

[0023] Based on the same concept, this application also provides a vehicle equipped with a HUD curved mirror angle control system, wherein the system uses the aforementioned HUD curved mirror angle control method to achieve angle control of the curved mirror.

[0024] Compared with the prior art, the beneficial effects of this application are as follows: This application implements closed-loop control, which rotates the curved mirror to a predetermined angle to ensure the accuracy and stability of the imaging position, thereby improving the reliability and usability of the HUD. Furthermore, it is not affected by environmental interference and can work stably under different temperature, voltage and other conditions, further improving the adaptability and stability of the HUD in various complex environments. Attached Figure Description

[0025] Figure 1 This is a flowchart of the HUD curved mirror angle control method described in this application.

[0026] Figure 2 This is a schematic diagram showing the installation positions of the first and second accelerometers described in this application.

[0027] Figure 3 This is a framework diagram of the HUD curved mirror angle control system described in this application. Detailed Implementation

[0028] The following describes in further detail a HUD curved mirror angle control method, system, and vehicle according to specific embodiments and accompanying drawings.

[0029] Please see Figure 1 This application provides a method for controlling the angle of a curved HUD mirror, wherein a first accelerometer and a second accelerometer (e.g., ...) are respectively fixed on the curved mirror and the main control board. Figure 2(as shown); the HUD curved mirror angle control method includes the following steps S100-S300.

[0030] In one feasible implementation, after completing the system initialization settings and initial zero-point calibration, a timer triggers the acquisition of the real-time acceleration A_raw output by the first accelerometer every 10ms. Then, the validity bits of the data are checked based on the real-time acceleration A_raw. If the verification is successful, the real-time acceleration is preprocessed. The initial zero-point calibration is achieved by triggering the timer to continuously acquire multiple sets of sensitive axis accelerations output by the first accelerometer and calculating the average value of the sensitive axis accelerations as the zero-point offset value A0. The real-time acceleration preprocessing involves filtering the real-time acceleration A_raw to obtain the compensated actual acceleration A based on the difference between the filtered real-time acceleration A_raw and the zero-point offset value A0. Furthermore, based on the geometric relationship between the actual acceleration A and the gravitational acceleration g, the measurement angle θm = arccos(A / g) is obtained. Then, based on the parking tilt angle θc obtained from the second accelerometer, the curved mirror angle θ = θm - θc is obtained. Finally, the drive motor of the curved mirror rotation axis is adjusted according to the calculated curved mirror angle θ to achieve dynamic calibration of the curved mirror angle.

[0031] The specific implementation steps of steps S100-S300 will be described in detail below.

[0032] Step S100: Collect a set of real-time accelerations output by the first accelerometer at set intervals, and verify the real-time accelerations. When the verification passes, obtain the actual acceleration based on the preset set of real-time accelerations.

[0033] Before acquiring real-time acceleration, the process includes: initializing the system, setting the set period, setting the detection parameters of the first and second accelerometers, and verifying the system connection status.

[0034] In some embodiments, the system includes an accelerometer module, a microcontroller unit, a communication module, a power supply module, and a main control unit. After the power supply module is powered on, it initializes its own clock, I2C / SPI interface, timer, and communication module through the microcontroller unit, and sets the timer period to 10ms (i.e., the set period). At the same time, the microcontroller unit sends configuration commands to the accelerometer module through the I2C / SPI interface, sets the accelerometer's measurement range to ±2g and the output data rate to 100Hz, and reads the accelerometer ID register to verify that the module connection is normal (i.e., to verify the system connection status).

[0035] It should be noted that the detection parameters are the measurement range and output data rate of the accelerometer. The settings of the above detection parameters can be determined by those skilled in the art and are not limited to only one of them. At the same time, the setting of the set period is also an example. Those skilled in the art can set the set period according to the actual application requirements and are not limited to it.

[0036] In the above technical solution, the initialization operation can restore the various components and parameters of the system to their initial state, avoiding errors caused by previous abnormal operation. Setting appropriate acquisition period and detection parameters can enable the accelerometer to work as expected, laying the foundation for accurate data acquisition in the future. In addition, verifying the system connection status can promptly detect and eliminate connection faults, ensuring normal communication between various parts of the system, thereby improving the stability and reliability of the entire system.

[0037] Furthermore, when the system connection status verification is successful, before acquiring real-time acceleration, the process includes: acquiring multiple sets of sensitive axis accelerations output by the first accelerometer based on the initial position of the curved mirror, and calculating the first average value of the sensitive axis acceleration as the zero-point offset value; wherein, the sensitive axis is perpendicular to the rotation axis.

[0038] In some embodiments, the control curved mirror assembly is in its initial position (i.e., the reference reflection angle preset by the HUD system, denoted as 0°). The microcontroller unit is triggered by a timer to continuously collect N sets (N≥50) of sensitive axis acceleration data output by the first accelerometer, calculate the average value of the set of data as the zero-point offset value A0, and store the zero-point offset value in the storage unit of the microcontroller unit for error compensation in subsequent angle calculations.

[0039] It should be noted that the curved mirror assembly is used to reflect the projected light of the HUD system, and includes a curved mirror body and a rotating axis. The rotating axis can rotate around a preset axis, thereby driving the curved mirror body to adjust the reflection angle.

[0040] In the above technical solution, the accelerometer may have a zero-point offset problem in actual use. That is, when the curved mirror is in an initial static state, the acceleration value output by the accelerometer is not zero. By collecting multiple sets of sensitive axis accelerations and calculating the average value as the zero-point offset value, the collected real-time acceleration can be corrected in subsequent calculations, thereby eliminating the error caused by the zero-point offset and improving the accuracy of angle measurement.

[0041] Furthermore, in some embodiments, after the initial zero-point calibration is completed, when the curved mirror assembly rotates around the rotation axis under the control of the HUD main control unit, the microcontroller unit triggers data acquisition every 10ms through a timer to read the real-time acceleration A_raw of the first accelerometer sensitive axis; the real-time acceleration A_raw is verified (e.g., the data validity bit is checked), and if the verification is successful, the next step is executed.

[0042] Furthermore, when the real-time acceleration verification fails, the method also includes discarding the real-time acceleration.

[0043] In the above technical solution, during the data acquisition process, the real-time acceleration data may be inaccurate or unreliable due to various reasons (such as sensor failure, external interference, etc.). By verifying the real-time acceleration, these abnormal data can be detected in time and discarded, avoiding the use of erroneous data for subsequent calculations, thereby ensuring the accuracy and reliability of the entire angle calculation and control process.

[0044] Furthermore, obtaining the actual acceleration based on the preset group of real-time accelerations includes: performing filtering processing on the preset group of real-time accelerations to obtain a second average value, and calculating the actual acceleration based on the second average value and the zero-point offset value.

[0045] In some embodiments, the real-time acceleration A_raw that has passed the verification is filtered, such as by using a smoothing filter, taking the average of 10 consecutive sets of real-time accelerations (i.e., the second average value) to remove random noise, and then subtracting the stored zero-point offset value A0 to obtain the compensated actual acceleration A = second average value - A0.

[0046] In the above technical solution, filtering can remove noise and interference signals from real-time acceleration data, making the data smoother and more stable; by calculating the average value of the real-time acceleration of the preset group, the influence of random errors can be further reduced; and by combining the zero-point offset value for correction, a more accurate actual acceleration value can be obtained, providing reliable data support for subsequent accurate calculation of the curved mirror angle.

[0047] Step S200: Obtain the measurement angle of the curved mirror based on the actual acceleration and gravitational acceleration, and obtain the parking tilt angle of the second accelerometer, so as to calculate the angle of the curved mirror based on the measurement angle and the parking tilt angle.

[0048] In some embodiments, the rotation angle θ of the curved mirror is calculated based on the geometric relationship between gravitational acceleration and acceleration components. Specifically, when the curved mirror rotates by an angle θ around the rotation axis, the actual acceleration A detected by the sensitive axis of the accelerometer module is equal to the projection of gravitational acceleration g (9.8 m / s²) onto the sensitive axis, i.e., A = g × cosθ. By reversing the above formula, the measured angle θm = arccos(A / g) is obtained. At the same time, the parking tilt angle θc is measured using a second accelerometer fixed on the main control board PCB, thereby obtaining the curved mirror angle θ = θm - θc to compensate for the error caused by measuring the parking on the inclined surface.

[0049] Step S300: Adjust the drive motor of the curved mirror rotation axis according to the angle of the curved mirror.

[0050] The drive motor for adjusting the rotation axis of the curved mirror according to the angle of the curved mirror includes: obtaining a target adjustment value based on the angle of the curved mirror and the target reflection angle, and adjusting the rotation axis of the curved mirror based on the target adjustment value.

[0051] In some embodiments, the microcontroller transmits the calculated rotation angle θ to the main control unit of the HUD system via a communication module; the HUD main control unit adjusts the drive motor of the curved mirror rotation axis according to the deviation between θ and the target reflection angle, thereby achieving dynamic calibration of the curved mirror angle and ensuring accurate imaging position.

[0052] In the above technical solution, by comparing the actual angle of the curved mirror (i.e., the calculated angle of the curved mirror) with the target reflection angle, the amount of adjustment that needs to be made to the curved mirror, i.e. the target adjustment value, can be determined. Adjusting the drive motor according to this target adjustment value can make the curved mirror rotate accurately to the target angle, thereby ensuring that the image projected by the HUD system can accurately appear in the driver's field of vision, improving the accuracy and stability of imaging.

[0053] In summary, this application enables closed-loop control, allowing the curved mirror to rotate precisely to a predetermined angle to ensure the accuracy and stability of the imaging position, thereby improving the reliability and usability of the HUD system. Furthermore, it is not affected by environmental interference and can operate stably under different temperature, voltage, and other conditions, further enhancing the adaptability and stability of the HUD system in various complex environments.

[0054] Based on the same concept, please refer to Figure 3 This application also provides a HUD curved mirror angle control system, the system including at least an accelerometer module, a microcontroller unit and a main control unit.

[0055] The accelerometer module includes at least a first accelerometer and a second accelerometer; wherein the first accelerometer is fixed on the curved mirror and is used to collect a set of real-time accelerations at set intervals; the second accelerometer is fixed on the main control board.

[0056] In some embodiments, a first accelerometer is fixedly installed in a non-optical reflection area of ​​the curved mirror body (such as the edge of the curved mirror or the non-reflective coating area on the back). The sensitivity of the first accelerometer is perpendicular to the rotation axis of the curved mirror, and the plane of the sensitive axis is parallel to the plane of the reflected light of the curved mirror. It is used to detect the acceleration component when the curved mirror rotates. The second accelerometer is fixed on the main control PCB of the HUD system and is used for compensation of the road surface tilt angle when the vehicle is parked.

[0057] The microcontroller unit is electrically connected to the accelerometer module and is used to verify the real-time acceleration. When the verification is successful, the actual acceleration is obtained based on a preset set of real-time accelerations. The measured angle of the curved mirror is obtained based on the actual acceleration and the gravitational acceleration. The parking tilt angle of the second accelerometer is also obtained. The angle of the curved mirror is calculated based on the measured angle and the parking tilt angle.

[0058] The main control unit is used to adjust the drive motor of the curved mirror rotation axis according to the angle of the curved mirror.

[0059] In the above technical solution, the accelerometer module, by combining data from two accelerometers, can more comprehensively and accurately calculate the actual angle of the curved mirror relative to the vehicle, improving the accuracy of angle measurement. The microcontroller unit undertakes important tasks such as data verification, filtering, and calculation, and can process and analyze the collected raw data to ultimately calculate the accurate angle of the curved mirror. Its efficient data processing capabilities and precise calculation algorithms ensure the performance and accuracy of the entire system. The main control unit adjusts the drive motor based on the curved mirror angle calculated by the microcontroller unit, forming a closed-loop control system. This closed-loop control method can monitor and adjust the angle of the curved mirror in real time, ensuring that the curved mirror is always in the correct position, thus improving the stability and reliability of the HUD system.

[0060] Furthermore, the system also includes a communication module electrically connected to the microcontroller unit, used to transmit the angle of the curved mirror to the main control unit mounted on the main control board.

[0061] In the above technical solution, the communication module can accurately and timely transmit the curved mirror angle data calculated by the microcontroller to the main control unit, so that the main control unit can adjust the drive motor according to the data. It ensures the data flow between various parts of the system and ensures the normal operation of the entire control system.

[0062] Furthermore, the system also includes a power supply module, which is electrically connected to the accelerometer module and the microcontroller unit respectively, for supplying power (3.3V±0.1V) to the accelerometer module and the microcontroller unit.

[0063] In the above technical solution, the power module provides a stable power supply to the accelerometer module and the microcontroller unit, ensuring that these key components can work normally.

[0064] It should be noted that traditional contact measurement methods typically employ a potentiometer, encoder, and mechanical connection to the rotating axis of the curved mirror. The angle is calculated by detecting the mechanical displacement of the rotating axis. However, this approach carries the risk of mechanical wear, leading to a decrease in accuracy over long-term use. Furthermore, the mechanical connection structure increases the size and weight of the HUD system, contradicting the trend towards lightweight HUD design. Additionally, mechanical jamming may affect the adjustment flexibility of the curved mirror. In contrast, the HUD curved mirror angle control system of this application eliminates the problems of mechanical connections and contact, avoiding mechanical wear and maintaining high measurement accuracy during long-term use. This ensures the stability and reliability of the HUD system. Moreover, the system primarily relies on electronic components such as accelerometers and microcontroller units, eliminating the need for complex mechanical connections. The overall structure is more compact and lightweight, facilitating a lightweight HUD system design. It also avoids mechanical jamming issues, enabling more precise and rapid angle adjustment.

[0065] It should also be noted that traditional non-contact optical measurement methods typically use laser rangefinders or optical cameras to photograph marked points and calculate angles. Such solutions are susceptible to interference from the internal optical environment of the HUD (such as reflection of projected light and obstruction by internal components), and have high requirements for installation space, making them difficult to adapt to miniaturized HUD systems. In addition, the response speed of optical measurement is slow (usually below 5Hz), which cannot meet the real-time angle feedback requirements (≥10Hz) when the curved mirror is dynamically adjusted. The HUD curved mirror angle control system of this application uses accelerometer measurement. Its working principle is relatively independent of the optical environment and is less affected by factors such as reflection of projected light and obstruction by internal components. It can work stably in the complex internal environment of HUD, ensuring the accuracy of angle measurement. Moreover, the accelerometer is small in size, easy to install, and does not require a large installation space. It can well meet the design requirements of miniaturized HUD systems and provide support for the miniaturization development of HUD systems. At the same time, the system of this application can achieve a high response speed by acquiring accelerometer data in real time and performing rapid processing and calculation. This meets the real-time angle feedback requirements when the curved mirror is dynamically adjusted, enabling the HUD system to adjust the angle of the curved mirror in a timely and accurate manner, providing the driver with a clear and stable information display.

[0066] Based on the same concept, this application also provides a vehicle equipped with a HUD curved mirror angle control system, wherein the system uses the HUD curved mirror angle control method described above to control the angle of the curved mirror.

[0067] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0068] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0069] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0070] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules according to the embodiments of this application. This application can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0071] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0072] Although the description of this application has been made in conjunction with the specific embodiments described above, it will be apparent to those skilled in the art that many substitutions, modifications, and variations can be made based on the foregoing. Therefore, all such substitutions, modifications, and variations are included within the spirit and scope of the appended claims.

Claims

1. A method for controlling the angle of a HUD curved mirror, characterized in that, A first accelerometer and a second accelerometer are respectively fixed on the curved mirror and the main control board; the HUD curved mirror angle control method includes the following steps: At set intervals, a set of real-time accelerations output by the first accelerometer are collected, and the real-time accelerations are verified. When the verification passes, the actual acceleration is obtained based on the preset set of real-time accelerations. The measured angle of the curved mirror is obtained based on the actual acceleration and gravitational acceleration, and the parking tilt angle of the second accelerometer is obtained, so as to calculate the angle of the curved mirror based on the measured angle and the parking tilt angle. And a drive motor for adjusting the rotation axis of the curved mirror according to the angle of the curved mirror.

2. The HUD curved mirror angle control method according to claim 1, characterized in that, Before collecting real-time acceleration, the following is included: The system is initialized, the set period is set, the detection parameters of the first and second accelerometers are set, and the system connection status is verified.

3. The HUD curved mirror angle control method according to claim 2, characterized in that, When the system connection status verification is successful, before collecting real-time acceleration, the following steps are also included: Based on the initial position of the curved mirror, multiple sets of sensitive axis accelerations output by the first accelerometer are collected, and the first average value of the sensitive axis acceleration is calculated as the zero-point offset value; wherein, the sensitive axis is perpendicular to the rotation axis.

4. The HUD curved mirror angle control method according to claim 3, characterized in that, The method of obtaining actual acceleration based on a preset group of real-time accelerations includes: The real-time acceleration of the preset group is filtered to obtain a second average value, and the actual acceleration is calculated based on the second average value and the zero-point offset value.

5. The HUD curved mirror angle control method according to claim 1, characterized in that, The drive motor for adjusting the rotation axis of the curved mirror according to the angle of the curved mirror includes: The target adjustment value is obtained based on the curved mirror angle and the target reflection angle, and the drive motor of the curved mirror rotation axis is adjusted based on the target adjustment value.

6. The HUD curved mirror angle control method according to claim 1, characterized in that, When the real-time acceleration verification fails, the following also applies: Discard the real-time acceleration.

7. A system employing the HUD curved mirror angle control method as described in any one of claims 1-6, characterized in that, The system includes: An accelerometer module includes at least a first accelerometer and a second accelerometer; wherein the first accelerometer is fixed on a curved mirror and is used to collect a set of real-time accelerations at set intervals; the second accelerometer is fixed on a main control board; The microcontroller unit is used to verify the real-time acceleration, so that when the verification passes, it obtains the actual acceleration based on the preset group of real-time acceleration, and obtains the measurement angle of the curved mirror according to the actual acceleration and the gravitational acceleration, and obtains the parking tilt angle of the second accelerometer, so as to calculate the angle of the curved mirror based on the measurement angle and the parking tilt angle. The main control unit is used to adjust the drive motor of the curved mirror rotation axis according to the angle of the curved mirror.

8. The system according to claim 7, characterized in that, The system also includes: A communication module is used to transmit the angle of the curved mirror to the main control unit located on the main control board.

9. The system according to claim 8, characterized in that, The system also includes: A power supply module is used to supply power to the accelerometer module and the microcontroller unit.

10. A vehicle, characterized in that, The system is equipped with a HUD curved mirror angle control system, wherein the system uses the HUD curved mirror angle control method as described in any one of claims 1-6 to achieve angle control of the curved mirror.

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