Augmented reality head-up display system parameter calibration method, device and vehicle

Abstract

This application relates to the field of augmented reality technology, and in particular to a method, apparatus, and vehicle for calibrating parameters of an augmented reality head-up display (ARHUD) system. The method includes: controlling a vehicle to enter a calibration space and placing a reference object in the calibration space; controlling the ARHUD system to display an augmented reality image based on diagnostic commands; calculating the target placement position of the vehicle based on the position of the reference object, controlling the vehicle to move to the target placement position, and acquiring a forward image from the target field of view position at the driver's seat; and calibrating the augmented reality parameters of the ARHUD system based on the forward image. This solves the problem of ARHUD malfunctioning in after-sales vehicle maintenance due to the inability to return it to the vehicle production line for recalibration.

Description

Technical Field

[0001] This application relates to the field of augmented reality technology, and in particular to a method, apparatus and vehicle for calibrating parameters of an augmented reality head-up display system. Background Technology

[0002] ARHUD (Augmented Reality Head-Up Display) enables AR (Augmented Reality) navigation, which integrates navigation with the real scene, ensuring that the user's view does not leave the road, thereby guaranteeing driving safety and navigation accuracy.

[0003] However, during the after-sales problem resolution process at offline car dealerships and other locations across the country, if the ARHUD cannot be returned to the vehicle production line for calibration due to a series of operations such as parts replacement, initialization, or replacement of the vehicle's infotainment system, the original AR parameter calibration data will become invalid, affecting user experience. Summary of the Invention

[0004] This application provides a method, apparatus, and vehicle for calibrating parameters of an augmented reality head-up display system, in order to solve the problem that ARHUD cannot be used normally in the after-sales service of vehicles because it cannot be returned to the vehicle production line for recalibration.

[0005] The first aspect of this application provides a method for calibrating parameters of an augmented reality head-up display system, comprising the following steps: controlling a vehicle to enter a calibration space and placing a reference object in the calibration space; controlling the augmented reality head-up display system to display an augmented reality image based on a diagnostic command; calculating the target placement position of the vehicle based on the position of the reference object, controlling the vehicle to move to the target placement position, and acquiring a forward image from the target field of view position at the driver's seat; and calibrating the augmented reality parameters of the augmented reality head-up display system based on the forward image.

[0006] According to one embodiment of this application, controlling an augmented reality head-up display system to display augmented reality images based on diagnostic commands includes: identifying a calibration command in the diagnostic command; responding to the calibration command by reading a pre-set augmented reality image, wherein the pre-set augmented reality image serves as a reference image for the augmented reality head-up display system during calibration; and controlling the augmented reality head-up display system to display the augmented reality image.

[0007] According to one embodiment of this application, controlling an augmented reality head-up display system to display an augmented reality image includes: obtaining a target display brightness of the augmented reality head-up display system at a calibration time; and controlling the augmented reality head-up display system to display the augmented reality image at the target display brightness.

[0008] According to one embodiment of this application, calculating the target placement position of a vehicle based on the position of a reference object includes: obtaining the field of view direction of the target field of view position at the driver's seat; calculating the target fusion position when the reference object and the augmented reality image are fused based on the display position and field of view direction of the augmented reality image; calculating the relative positional relationship between the reference object and the vehicle based on the position of the reference object, the target fusion position and the position of the vehicle; and determining the target placement position of the vehicle based on the relative positional relationship.

[0009] According to one embodiment of this application, before acquiring a forward image from the target field of view position at the driver's seat, the method further includes: acquiring the driver's height data and seat posture data; and determining the target field of view position based on the height data and seat posture data.

[0010] According to one embodiment of this application, calibrating the augmented reality parameters of the augmented reality head-up display system based on the foreground image includes: identifying whether a reference object in the foreground image overlaps with the augmented reality image; if the reference object does not overlap with the augmented reality image, adjusting the augmented reality parameters of the augmented reality head-up display system until the reference object overlaps with the augmented reality image, thereby completing the parameter calibration of the augmented reality head-up display system.

[0011] A second aspect of this application provides an augmented reality head-up display system parameter calibration device, comprising: The first control module is used to control the vehicle to drive into the calibration space and place a reference object in the calibration space. The second control module is used to control the augmented reality head-up display system to display augmented reality images based on diagnostic commands; The third control module is used to calculate the target placement position of the vehicle based on the position of the reference object, control the vehicle to move to the target placement position, and acquire the frontal image from the target field of view position at the driver's seat. The calibration module is used to calibrate the augmented reality parameters of the augmented reality head-up display system based on the image in front.

[0012] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the augmented reality head-up display system parameter calibration method as described in the above embodiments.

[0013] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the augmented reality head-up display system parameter calibration method as described in the above embodiments.

[0014] A fifth aspect of this application provides a computer program that, when executed, is used to implement the augmented reality head-up display system parameter calibration method as described in the above embodiments.

[0015] Therefore, this application includes the following beneficial effects: The augmented reality head-up display system parameter calibration method of this application improves the accuracy of parameter calibration by placing reference objects in the calibration space to anchor physical benchmarks and controlling the vehicle to move precisely to the target position; it controls the augmented reality head-up display system to display augmented reality images based on diagnostic commands, reducing manual intervention and errors through process automation; it calculates the target placement position of the vehicle based on the position of the reference objects, controls the vehicle to move to the target placement position, and collects the frontal image from the target field of view position at the driver's seat to restore the driver's real field of view, improving the adaptability of the parameter calibration method to the real scene; it calibrates the augmented reality parameters of the augmented reality head-up display system based on the frontal image, laying the foundation for subsequent calibration and realizing the expansion of the parameter calibration method in subsequent scenarios. It can effectively solve the dependence of AR parameter calibration on professional equipment after ARHUD replacement, allowing after-sales personnel to perform effective AR parameter calibration based on the hardware environment of 4S stores, greatly improving calibration efficiency and cost. Therefore, it solves the problem that ARHUD cannot be used normally in vehicle after-sales issues because it cannot be returned to the vehicle production line for recalibration.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of an augmented reality head-up display system parameter calibration method provided according to an embodiment of this application; Figure 2 This is a flowchart illustrating an embodiment of the augmented reality head-up display system parameter calibration method provided in this application. Figure 3 This is a structural diagram of the location of storage file calibration parameters according to an embodiment of this application; Figure 4 This is an example diagram of an augmented reality head-up display system parameter calibration device provided according to an embodiment of this application; Figure 5 This is a structural schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0019] The following description, with reference to the accompanying drawings, outlines an augmented reality head-up display (ARHUD) system parameter calibration method, apparatus, and vehicle according to embodiments of this application. Addressing the issue of invalid AR parameter calibration data mentioned in the background section, this application provides an ARHUD system parameter calibration method. In this method, a vehicle is controlled to enter a calibration space, where a reference object is placed. Based on diagnostic commands, the ARHUD system is controlled to display an augmented reality image. The target placement position of the vehicle is calculated based on the position of the reference object, and the vehicle is controlled to move to the target placement position. A forward image is acquired from the target field of view position at the driver's seat. The augmented reality parameters of the ARHUD system are calibrated based on the forward image. This solves the problem of ARHUD malfunctioning in after-sales vehicle repairs due to the inability to return to the vehicle production line for recalibration.

[0020] Specifically, Figure 1 This is a flowchart illustrating a parameter calibration method for an augmented reality head-up display system provided in an embodiment of this application.

[0021] like Figure 1 As shown, the parameter calibration method for this augmented reality head-up display system includes the following steps: In step S101, the vehicle is controlled to drive into the calibration space, and a reference object is placed in the calibration space.

[0022] Understandably, if the vehicle's augmented reality head-up display (AR) system is replaced, initialized, or the in-vehicle infotainment system is replaced, recalibration of the AR system is necessary. Since vehicle AR parameters cannot be returned to the vehicle production line for calibration, calibrating the AR parameters within the 4S dealership environment is the best solution for both the dealership and the customer. During the calibration process, the reference object must be aligned with the position calibrated by the AR head-up display system. Therefore, the vehicle being calibrated needs to be a certain distance from the reference object and parked properly to facilitate successful calibration.

[0023] In this application, the calibration space can be a relatively open enclosed area or an open area, such as a parking lot or a playground. The reference object can be an object whose height does not exceed half the height of the car and whose width does not exceed half the width of the car, such as a small cylindrical barrel or cone of moderate size. When it is necessary to calibrate the augmented reality head-up display system, the driver or maintenance personnel drive the vehicle, or the vehicle sent to the autonomous driving function automatically drives into the calibration space. In this application embodiment, the calibration space is an open parking lot, and the reference object is a cone.

[0024] In step S102, the augmented reality head-up display system is controlled to display augmented reality images based on diagnostic commands.

[0025] Understandably, the calibration method for augmented reality head-up display (ARHUD) systems determines whether calibration is complete based on the degree of overlap between the reference object and the augmented reality image. The augmented reality image is the calibration image for the ARHUD. Diagnostic commands are used to retrieve the augmented reality image, and the reference object is moved and observed based on the image. The ARHUD system responds to the diagnostic commands and displays the augmented reality image on the vehicle's screen.

[0026] According to one embodiment of this application, controlling an augmented reality head-up display system to display augmented reality images based on diagnostic commands includes: identifying a calibration command in the diagnostic command; responding to the calibration command by reading a pre-set augmented reality image, wherein the pre-set augmented reality image serves as a reference image for the augmented reality head-up display system during calibration; and controlling the augmented reality head-up display system to display the augmented reality image.

[0027] Understandably, the augmented reality head-up display system first parses the received diagnostic commands and accurately identifies the calibration instructions within them. After confirming the calibration instructions, the system responds randomly and retrieves pre-stored augmented reality images specifically used for the calibration scene. Finally, the augmented reality head-up display system outputs and displays the retrieved augmented reality images, providing a clear and standardized virtual image benchmark for subsequent augmented reality parameter calibration based on reference objects and actual images.

[0028] Specifically, the augmented reality head-up display system recognizes the calibration command in the diagnostic command, then responds to the calibration command by reading a pre-set augmented reality image. This augmented reality image can be a single character image, which is used as a reference image during calibration. Finally, the augmented reality head-up display system displays the single character image.

[0029] According to one embodiment of this application, controlling an augmented reality head-up display system to display an augmented reality image includes: obtaining a target display brightness of the augmented reality head-up display system at a calibration time; and controlling the augmented reality head-up display system to display the augmented reality image at the target display brightness.

[0030] Understandably, augmented reality (AR) head-up display systems display AR images based on a stable target display brightness preset during system calibration. First, the target display brightness is determined and stored during the system calibration phase. Then, when actually displaying the AR image, this preset target display brightness parameter is called, ensuring that the output AR image brightness precisely matches the target display brightness. This ultimately achieves a stable AR image display, avoiding the impact of brightness fluctuations on image readability.

[0031] Specifically, the target display brightness of the augmented reality head-up display (HUD) system during calibration can be set according to user or calibration requirements. A target display brightness level of 1 results in lower brightness, while level 5 provides higher brightness. Higher target display brightness levels result in brighter displayed images, making them easier for users to observe. If the target display brightness is set to level 5, and the HUD system detects a current brightness level of 3, then the HUD system will display the augmented reality image at level 5 brightness to ensure clear visibility.

[0032] In step S103, the target placement position of the vehicle is calculated based on the position of the reference object, the vehicle is controlled to move to the target placement position, and a forward image is acquired from the target field of view position at the driver's seat.

[0033] Understandably, in the process of controlling the vehicle to move to the target placement position, the first step is to use a reference object as a spatial benchmark and calculate the target placement position that the vehicle needs to reach based on the known position of the reference object. Then, the vehicle corrects its trajectory in real time through the coordinated action of the drive motor and braking system to ensure that the vehicle moves accurately to the target placement position and parks stably. Finally, the target field of view position of the driver's seat is used as the image acquisition benchmark. The target field of view position refers to the observation range that is pre-calibrated and conforms to the driver's normal driving perspective. The environmental image in front of the vehicle is acquired, completing the entire process from positioning to image acquisition, ensuring the accurate correspondence between the vehicle position and the image acquisition perspective.

[0034] According to one embodiment of this application, calculating the target placement position of a vehicle based on the position of a reference object includes: obtaining the field of view direction of the target field of view position at the driver's seat; calculating the target fusion position when the reference object and the augmented reality image are fused based on the display position and field of view direction of the augmented reality image; calculating the relative positional relationship between the reference object and the vehicle based on the position of the reference object, the target fusion position and the position of the vehicle; and determining the target placement position of the vehicle based on the relative positional relationship.

[0035] Understandably, the process of calculating the target placement position of the vehicle by using the position of a reference object involves several steps. First, a driver of suitable height sits in the driver's seat and obtains the visual direction corresponding to the target field of view position at the driver's seat, using this as a visual reference for spatial positioning. Next, combining the preset display position of the augmented reality image with this visual direction, trigonometric function calculations are used to determine the target fusion position required for the fusion of the reference object and the augmented reality image. Subsequently, based on the actual position of the reference object, the calculated target fusion position, and the current real-time position of the vehicle, the relative positional relationship between the reference object and the vehicle is further calculated using coordinates. Finally, using this relative positional relationship as the core basis, the target placement position where the vehicle needs to be parked is derived and determined, thereby achieving precise spatial alignment of the vehicle and the reference object in the augmented reality visual fusion scenario.

[0036] Specifically, the system obtains the field of view direction of the target's visual position at the driver's seat. In-vehicle sensors detect the driver's posture and eye angle to determine the driver's normal visual direction when looking at the target (e.g., at a 15° angle to the horizontal, pointing towards the windshield area 12 meters in front of the vehicle). Based on the display position and field of view direction of the augmented reality image, the target fusion position (X,Y) when the reference cone is fused with the augmented reality image is calculated. Based on the reference cone's position (A,B), the target fusion position (X,Y), and the vehicle's actual position, the relative positional relationship with the reference cone and with the vehicle is calculated. Finally, the target placement position of the vehicle is determined based on these relative positional relationships.

[0037] According to one embodiment of this application, before acquiring a forward image from the target field of view position at the driver's seat, the method further includes: acquiring the driver's height data and seat posture data; and determining the target field of view position based on the height data and seat posture data.

[0038] Understandably, before acquiring images of the front, height data reflecting the driver's physiological characteristics and seat posture data reflecting the current seat adjustment (such as seat height, fore-aft distance, backrest angle, etc.) are first obtained. Then, based on the approximate eye height range corresponding to the height data and the actual seating space position of the driver determined by the seat posture data, the target field of vision position of the driver's seat is determined, providing an accurate initial field of vision for subsequent acquisition of images of the front.

[0039] Specifically, the driver's height (175cm) and seat position data are obtained, such as the seat's fore-and-aft position (18cm from the brake pedal), seat height (42cm from the top of the seat cushion to the vehicle floor), and seat back angle (25° angle to the vertical). Based on this data, the driver's actual field of vision is determined, which is the driver's target field of vision position.

[0040] In step S104, the augmented reality parameters of the augmented reality head-up display system are calibrated based on the foreground image.

[0041] Understandably, after the driver observes whether the augmented reality image and the reference object overlap, the calibration is considered complete when they do. The vehicle records the gear calibration data at this point and stores it in the head-up display system. The next time the vehicle is started, the head-up display system automatically retrieves the stored height values ​​for the five gears and displays them in the vehicle. This completes the on-vehicle calibration of the augmented reality parameters.

[0042] According to one embodiment of this application, calibrating the augmented reality parameters of the augmented reality head-up display system based on the foreground image includes: identifying whether a reference object in the foreground image overlaps with the augmented reality image; if the reference object does not overlap with the augmented reality image, adjusting the augmented reality parameters of the augmented reality head-up display system until the reference object overlaps with the augmented reality image, thereby completing the parameter calibration of the augmented reality head-up display system.

[0043] Understandably, during parameter calibration, a specific reference object in the real-world scene is used as a benchmark. A pre-set augmented reality image is superimposed onto the real field of view according to initially set augmented reality parameters. The driver then visually observes to determine if the relative positions of the reference object and the augmented reality image on the screen or in the field of view are perfectly aligned. If there is a misalignment, the augmented reality parameters of the head-up display system are dynamically adjusted. This cycle of observation, comparison, and parameter adjustment is repeated until the relative positions of the reference object and the augmented reality image in space are precisely aligned, thus completing the parameter calibration of the augmented reality head-up display system. This ensures that subsequent augmented reality information is always accurately superimposed on the corresponding position in the real-world scene, guaranteeing visual consistency and information accuracy for the user.

[0044] Specifically, the driver can directly observe the augmented reality image projected by the augmented reality head-up display system to determine if the image coincides with the bottom of the reference cone. If the observation confirms that the augmented reality image coincides with the bottom of the reference cone, the calibration process of the augmented reality head-up display system is complete. If the observation finds that the augmented reality image does not coincide with the bottom of the reference cone, the driver sends a diagnostic command to the system based on the preset fifth position. After receiving the diagnostic command, the system adjusts the step value of the motor used to control the display height of the augmented reality image according to the corresponding position information in the command, thereby fine-tuning the display height of the augmented reality image. The above operation of "observing with the naked eye to determine whether it coincides, and if it does not coincide, sending a diagnostic command based on the fifth position to adjust the motor step value" is repeated until the driver observes with the naked eye that the augmented reality image and the bottom of the reference cone are completely coincident.

[0045] The augmented reality head-up display (ARHUD) parameter calibration method proposed in this application improves the accuracy of parameter calibration by placing a reference object in the calibration space to anchor the physical benchmark and controlling the vehicle to move precisely to the target position. It controls the ARHUD to display augmented reality images based on diagnostic commands, reducing manual intervention and errors through process automation. The method calculates the vehicle's target placement position based on the reference object's location, controls the vehicle to move to the target placement position, and acquires a forward image from the driver's seat's target field of view to restore the driver's true field of view, improving the adaptability of the parameter calibration method to real-world scenarios. The method calibrates the ARHUD parameters based on the forward image, laying the foundation for subsequent calibration and enabling the extension of the parameter calibration method to subsequent scenarios. This solves the problem of ARHUD malfunctioning in after-sales vehicle issues due to the inability to return to the vehicle production line for recalibration.

[0046] The following describes a method for calibrating parameters of an augmented reality head-up display system through a specific embodiment. For example... Figure 2 As shown, the parameter calibration method for augmented reality head-up display systems is as follows: In step S201, the prototype vehicle to be calibrated is parked upright, with at least 15-20 meters of open space in front of the vehicle. A driver of suitable height is selected, with a height range of 165-175cm, and the tester is asked to adjust the seat to the most comfortable position.

[0047] In step S202, the head-up display system is turned on and allowed to display the image normally. The brightness is adjusted to the highest level and the height is adjusted to level 5. The augmented reality image of the augmented reality head-up display system is retrieved using the diagnostic command.

[0048] In step S203, the position of the object fusion based on the augmented reality image is calculated using trigonometric functions, which is the position (X,Y) of the reference cone.

[0049] In step S204, the reference cone is placed at the calculated (X,Y) position, and a forward image is acquired from the target field of view position outside the driver's seat.

[0050] In step S205, the driver visually observes whether the augmented reality image coincides with the bottom of the reference cone. If they coincide, the calibration is complete.

[0051] In step S206, if they do not coincide, a diagnostic command is sent based on the fifth position to adjust the motor step value for fine-tuning the height until the bottom of the augmented reality image and the reference cone coincide. The position calibration data at this point is recorded and stored in the EEPROM (Electrically Erasable Programmable Read-Only Memory) of the augmented reality head-up display system. Figure 3 As shown in the diagram, the EEPROM stores the height calibration parameters. Upon the next power-on, the augmented reality head-up display system will automatically retrieve the five height values ​​stored in the EEPROM for display.

[0052] In step S207, the on-vehicle calibration of the augmented reality head-up display system parameter calibration method is thus completed.

[0053] Next, with reference to the accompanying drawings, an augmented reality head-up display system parameter calibration device according to an embodiment of this application is described.

[0054] Figure 4 This is a block diagram of an augmented reality head-up display system parameter calibration device according to an embodiment of this application.

[0055] like Figure 4 As shown, the augmented reality head-up display system parameter calibration device 10 includes: a first control module 110, a second control module 120, a third control module 130, and a calibration module 140.

[0056] The system includes a first control module 110 for controlling the vehicle to enter a calibration space and placing a reference object there; a second control module 120 for controlling the augmented reality head-up display system to display augmented reality images based on diagnostic commands; a third control module 130 for calculating the target placement position of the vehicle based on the position of the reference object, controlling the vehicle to move to the target placement position, and acquiring a forward image from the target field of view position at the driver's seat; and a calibration module 140 for calibrating the augmented reality parameters of the augmented reality head-up display system based on the forward image.

[0057] According to one embodiment of this application, the second control module 120 is used to identify the calibration instruction in the diagnostic command; in response to the calibration instruction, read a pre-set augmented reality image, wherein the pre-set augmented reality image serves as a reference image for the augmented reality head-up display system during calibration; and control the augmented reality head-up display system to display the augmented reality image.

[0058] According to one embodiment of this application, the second control module 120 is used to obtain the target display brightness of the augmented reality head-up display system during calibration; and to control the augmented reality head-up display system to display the augmented reality image at the target display brightness.

[0059] According to one embodiment of this application, the third control module 130 is used to obtain the field of view direction of the target field of view position at the driver's seat; calculate the target fusion position when the reference object and the augmented reality image are fused based on the display position and field of view direction of the augmented reality image; calculate the relative positional relationship between the reference object and the vehicle based on the position of the reference object, the target fusion position and the position of the vehicle; and determine the target placement position of the vehicle based on the relative positional relationship.

[0060] According to one embodiment of this application, the calibration module 140 is used to identify whether the reference object in the foreground image overlaps with the augmented reality image; if the reference object does not overlap with the augmented reality image, the augmented reality parameters of the augmented reality head-up display system are adjusted until the reference object overlaps with the augmented reality image, thus completing the parameter calibration of the augmented reality head-up display system.

[0061] It should be noted that the foregoing explanation of the embodiment of the augmented reality head-up display system parameter calibration method also applies to the augmented reality head-up display system parameter calibration device of this embodiment, and will not be repeated here.

[0062] According to the parameter calibration device for an augmented reality head-up display system proposed in this application, the first control module controls the vehicle to enter the calibration space and places a reference object in the calibration space, improving the accuracy of the parameter calibration method; the second control module controls the augmented reality head-up display system to display augmented reality images based on diagnostic commands, reducing manual intervention and errors through process automation; the third control module calculates the target placement position of the vehicle based on the position of the reference object, controls the vehicle to move to the target placement position, and acquires a forward image from the target field of view position at the driver's seat, restoring the driver's real field of view and improving the adaptability of the parameter calibration method to the real scene; the calibration module calibrates the augmented reality parameters of the augmented reality head-up display system based on the forward image, laying the foundation for subsequent calibration and realizing the expansion of the parameter calibration method in subsequent scenarios. Therefore, this solves the problem that ARHUD cannot be used normally in after-sales vehicle issues because it cannot be returned to the vehicle production line for recalibration.

[0063] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include: The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0064] When processor 502 executes the program, it implements the augmented reality head-up display system parameter calibration method provided in the above embodiments. Furthermore, the vehicle also includes: Communication interface 503 is used for communication between memory 501 and processor 502.

[0065] The memory 501 is used to store computer programs that can run on the processor 502.

[0066] The memory 501 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0067] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0068] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0069] The processor 502 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0070] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described augmented reality head-up display system parameter calibration method.

[0071] This application also provides a computer program, which, when executed, is used to implement the above-described augmented reality head-up display system parameter calibration method.

[0072] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0073] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0074] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0075] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0076] Those skilled in the art will understand that all or part of the steps of the methods implementing the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0077] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for calibrating parameters of an augmented reality head-up display system, characterized in that, Includes the following steps: Control the vehicle to drive into the calibration space, and place a reference object in the calibration space; The augmented reality head-up display system is controlled based on diagnostic commands to display augmented reality images. Calculate the target placement position of the vehicle based on the position of the reference object, control the vehicle to move to the target placement position, and acquire a forward image from the target field of view position at the driver's seat; The augmented reality parameters of the augmented reality head-up display system are calibrated based on the foreground image.

2. The parameter calibration method for an augmented reality head-up display system according to claim 1, characterized in that, The augmented reality head-up display system controlled by diagnostic commands to display augmented reality images includes: Identify the calibration instructions in the diagnostic commands; In response to the calibration command, a pre-set augmented reality image is read, wherein the pre-set augmented reality image serves as a reference image for the augmented reality head-up display system during calibration; Control the augmented reality head-up display system to display the augmented reality image.

3. The parameter calibration method for an augmented reality head-up display system according to claim 2, characterized in that, The control of the augmented reality head-up display system to display the augmented reality image includes: Obtain the target display brightness of the augmented reality head-up display system at the calibration time; Control the augmented reality head-up display system to display the augmented reality image at a target display brightness.

4. The parameter calibration method for an augmented reality head-up display system according to claim 1, characterized in that, The step of calculating the target placement position of the vehicle based on the position of the reference object includes: Obtain the direction of vision at the target view position from the driver's seat; Based on the display position of the augmented reality image and the field of view direction, calculate the target fusion position when the reference object is fused with the augmented reality image; Based on the position of the reference object, the target fusion position, and the position of the vehicle, the relative positional relationship between the reference object and the vehicle is calculated, and the target placement position of the vehicle is determined based on the relative positional relationship.

5. The parameter calibration method for an augmented reality head-up display system according to claim 1, characterized in that, Before acquiring the forward image from the target field of view position at the driver's seat, the following steps are also included: Obtain the driver's height and seat position data; The target field of view position is determined based on the height data and the seat posture data.

6. The parameter calibration method for an augmented reality head-up display system according to claim 1, characterized in that, The step of calibrating the augmented reality parameters of the augmented reality head-up display system based on the foreground image includes: Identify whether the reference object in the foreground image overlaps with the augmented reality image; If the reference object and the augmented reality image do not overlap, the augmented reality parameters of the augmented reality head-up display system are adjusted until the reference object and the augmented reality image overlap, thus completing the parameter calibration of the augmented reality head-up display system.

7. A parameter calibration device for an augmented reality head-up display system, characterized in that, include: The first control module is used to control the vehicle to drive into the calibration space and place a reference object in the calibration space. The second control module is used to control the augmented reality head-up display system to display augmented reality images based on diagnostic commands; The third control module is used to calculate the target placement position of the vehicle based on the position of the reference object, control the vehicle to move to the target placement position, and acquire a forward image from the target field of view position at the driver's seat. A calibration module is used to calibrate the augmented reality parameters of the augmented reality head-up display system based on the foreground image.

8. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the augmented reality head-up display system parameter calibration method according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they implement the augmented reality head-up display system parameter calibration method according to any one of claims 1-6.

10. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed, they implement the augmented reality head-up display system parameter calibration method according to any one of claims 1-6.

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