A head-up display method, system, vehicle, storage medium and program product

Abstract

This application provides a head-up display (HUD) method, system, vehicle, storage medium, and program product, relating to the vehicle field. The method includes: acquiring position data and pre-aiming data of a target object, where the target object includes a road or traffic participant on which the vehicle is traveling; the pre-aiming data includes road surface information and a compensation time; the road surface information includes the dimensions of bumps or depressions on the road; the road surface information is used to determine the target compensation amplitude of the HUD image; the compensation time is related to the road surface information; and the compensation time is used to determine the time to display the HUD image; and then displaying the HUD image. By predicting the amplitude of impending jitter in the HUD image using the pre-aiming data, the required compensation amplitude can be determined in advance. This allows the position of the HUD image to be adjusted based on the compensation amplitude when the vehicle runs over a bump or depression, making the HUD image more closely aligned with the target object, thereby improving the driver's experience.

Description

A head-up display method, system, vehicle, storage medium, and program product Technical Field

[0001] This application relates to the field of vehicles, and more particularly to a head-up display method, system, vehicle, storage medium, and program product. Background Technology

[0002] When an augmented reality heads-up display (ARHUD) displays augmented reality (AR) content such as intelligent driving intentions and vehicle-to-vehicle alignment, it uses a spatial engine to calculate the correct position of the image based on the target location and the driver's eye position. When the driver looks through the ARHUD, they will see the corresponding icon superimposed on the real-world object.

[0003] In current head-up display (HUD) methods, when a vehicle travels over uneven surfaces (such as potholes or bumps), the vehicle body vibrates, causing changes in the vehicle's pitch angle. Consequently, the HUD image also vibrates. In such cases, data from an advanced driving system (ADS) can be used to continuously refresh the HUD image's position, and compensation can be made based on acceleration data from an inertial measurement unit (IMU). However, with this HUD method, there is a delay between the ADS detecting a change in object position and transmitting the data to the ARHUD rendering module. This delay can cause misalignment in the HUD image, resulting in poor alignment between the HUD image and real-world objects, thus affecting the driver's experience. Summary of the Invention

[0004] This application provides a head-up display method, system, vehicle, storage medium, and program product, with the aim of making the head-up display image more closely match the real-world object.

[0005] In a first aspect, this application provides a head-up display method that can be applied to a vehicle. The steps of the method can be executed by the vehicle, or the method can be executed by a component (such as a chip, chip system, head-up display device, head-up display system, etc.) configured in the vehicle, or it can be implemented by a logic module or software capable of realizing all or part of the vehicle functions. This application does not limit the scope of the method.

[0006] For example, the method includes: acquiring position data and pre-aiming data of a target object, the target object including a road or traffic participant on which the vehicle is traveling, the pre-aiming data including road surface information and compensation time, the road surface information including the size of bumps or depressions on the road, the road surface information being used to determine the target compensation magnitude for the head-up display image, the compensation time being related to the road surface information, the compensation time being used to determine the time for displaying the head-up display image; and displaying the head-up display image.

[0007] The target object is also known as the real-world object. In other words, the target object can include the road on which the vehicle travels or traffic participants, such as vehicles, pedestrians, two-wheeled vehicles, and three-wheeled vehicles.

[0008] The position data of the target object can be the position data of the target object relative to the vehicle.

[0009] The dimensions of a protrusion can include its length, width, and height, while the dimensions of a depression can include its length, width, and depth.

[0010] Based on the above technical content, the compensation range and compensation time can be determined in advance by using the pre-aiming data. This allows the position of the head-up display image to be adjusted based on the compensation range when the vehicle actually runs over a bump or depression on the road and vibrates. This makes the head-up display image fit the target object better, thereby improving the driver's experience.

[0011] In conjunction with the first aspect, in some possible implementations, the method further includes: obtaining the status of the chassis pre-aiming function, which includes whether it is on or off.

[0012] The chassis anti-sighting function can detect information such as undulations, curves, and potholes on the road ahead. Based on this information, it adjusts parameters such as suspension stiffness, suspension height, and damping coefficient. By adjusting the chassis height in advance, the vehicle can better cope with upcoming road surface changes, thus providing a smoother and safer driving experience. For vehicles equipped with chassis anti-sighting, the target compensation range can be determined by combining the status of the chassis anti-sighting function, making the head-up display image more closely match the target object.

[0013] In conjunction with the first aspect, in some possible implementations, the method further includes: determining a first target compensation range when the chassis pre-aiming function is enabled; or determining a second target compensation range when the chassis pre-aiming function is disabled.

[0014] Considering that the vehicle's suspension stiffness, suspension height, damping coefficient, and other parameters differ when the chassis pre-aiming function is enabled and disabled, the vehicle's pitch angle changes differently when traversing bumps or dips. Consequently, the vibration amplitude of the head-up display image will also differ, requiring different adjustments to the head-up display image position (i.e., compensation). This ensures that the head-up display image more closely matches the target object.

[0015] In conjunction with the first aspect, in some possible implementations, the head-up display image includes an icon that fits the target object, and the method further includes: determining the position of the compensated icon on the windshield of the vehicle based on the target compensation magnitude.

[0016] In conjunction with the first aspect, in some possible implementations, the method further includes: acquiring inertial measurement unit (IMU) data; and adjusting the position of the icon on the windshield of the vehicle based on the IMU data.

[0017] During the process of a vehicle running over a bump or dent, the position of the head-up display image is adjusted not only by combining the compensation amplitude, but also by combining IMU data, so that the head-up display image can be more closely aligned with the target object.

[0018] Secondly, this application provides a head-up display system, comprising: a rendering module and a display module. The rendering module is used to acquire position data and pre-aiming data of a target object from an advanced driving system (ADS). The target object includes the road on which the vehicle is traveling or a traffic participant. The pre-aiming data includes road surface information and compensation time. The road surface information includes the dimensions of protrusions or depressions on the road surface. The road surface information is used to determine the target compensation magnitude for the head-up display image. The compensation time is related to the road surface information and is used to determine the time for displaying the head-up display image. The display module is used to display the head-up display image based on the compensation magnitude and the compensation time.

[0019] Based on the above technical content, the head-up display system can determine the compensation range and compensation time in advance through pre-aiming data. This allows the head-up display image to be adjusted based on the compensation range when the vehicle actually runs over a bump or depression on the road and vibrates. This makes the head-up display image fit the target object more closely, thereby improving the driver's experience.

[0020] In conjunction with the second aspect, in some possible implementations, the rendering module can also be used to obtain the status of the chassis pre-aiming function from the cockpit domain controller, including whether it is on or off.

[0021] The chassis anti-sighting function can detect information such as undulations, curves, and potholes on the road ahead. Based on this information, it adjusts parameters such as suspension stiffness, suspension height, and damping coefficient. By adjusting the chassis height in advance, the vehicle can better cope with upcoming road surface changes, thus providing a smoother and safer driving experience. For vehicles equipped with chassis anti-sighting, the target compensation range can be determined by combining the status of the chassis anti-sighting function, making the head-up display image more closely match the target object.

[0022] In conjunction with the second aspect, in some possible implementations, the rendering module can also be used to: determine the first target compensation range when the chassis pre-aiming function is enabled; or, determine the second target compensation range when the chassis pre-aiming function is disabled.

[0023] Considering that the vehicle's suspension stiffness, suspension height, damping coefficient, and other parameters differ when the chassis pre-aiming function is enabled and disabled, the vehicle's pitch angle changes differently when traversing bumps or dips. Consequently, the vibration amplitude of the head-up display image will also differ, requiring different adjustments to the head-up display image position (i.e., compensation). This ensures that the head-up display image more closely matches the target object.

[0024] In conjunction with the second aspect, in some possible implementations, the head-up display image includes an icon that fits the target object, and the rendering module can also be used to: determine the position of the compensated icon on the windshield of the vehicle based on the target compensation magnitude.

[0025] In conjunction with the second aspect, in some possible implementations, the rendering module can also be used to: acquire IMU data; and adjust the position of the icon on the windshield of the vehicle based on the IMU data.

[0026] During the process of a vehicle running over a bump or dent, the position of the head-up display image is adjusted not only by combining the compensation amplitude, but also by combining IMU data, so that the head-up display image can be more closely aligned with the target object.

[0027] In conjunction with the first and second aspects, in some possible implementations, the target compensation magnitude is determined based on the vehicle speed, the size of the bumps or depressions on the road, and a first correspondence, which includes one or more sets of correspondences between the compensation magnitude and the vehicle speed and the size of the bumps or depressions on the road.

[0028] Thirdly, this application provides a vehicle including modules or units for implementing the methods of the first aspect and any possible implementation thereof. It should be understood that each module or unit can implement its respective function by executing a computer program.

[0029] Fourthly, this application provides a vehicle including the head-up display system of the second aspect and any possible implementation thereof.

[0030] Fifthly, this application provides a head-up display device, including modules or units for implementing the methods of the first aspect and any possible implementation thereof. It should be understood that each module or unit can implement its corresponding function by executing a computer program.

[0031] In a sixth aspect, this application provides a head-up display device, including a processor that can be used to execute the methods in the first aspect and any possible implementation of the first aspect.

[0032] In a seventh aspect, this application provides a chip system including at least one processor for supporting the implementation of the functions involved in the first aspect and any possible implementation of the first aspect, such as receiving or processing data and / or information involved in the above methods.

[0033] In one possible design, the chip system also includes a memory for storing program instructions and data, which may be located inside or outside the processor.

[0034] The chip system can consist of chips or include chips and other discrete components.

[0035] Eighthly, this application provides a computer-readable storage medium including a computer program that, when run on a computer, causes the computer to implement the methods of the first aspect and any possible implementation of the first aspect.

[0036] Ninthly, this application provides a computer program product comprising: a computer program (also referred to as code or instructions) that, when executed, causes a computer to perform the methods of the first aspect and any possible implementation thereof.

[0037] It should be understood that the third to ninth aspects of this application correspond to the technical solutions of the first and second aspects of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here. Attached Figure Description

[0038] Figure 1 is a schematic diagram of a scenario applicable to the head-up display method provided in this application;

[0039] Figure 2 is a schematic flowchart of the head-up display method provided in an embodiment of this application;

[0040] Figure 3 is a schematic diagram showing the relationship between the compensation amplitude-time curve and the jitter amplitude-time curve;

[0041] Figure 4 is another schematic flowchart of the head-up display method provided in the embodiments of this application;

[0042] Figure 5 is a schematic block diagram of the head-up display system provided in an embodiment of this application;

[0043] Figure 6 is another schematic block diagram of the head-up display device provided in an embodiment of this application;

[0044] Figure 7 is another schematic block diagram of the head-up display device provided in the embodiments of this application. Detailed Implementation

[0045] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0046] First, in this application, the terms “comprising” and “having” and any variations thereof are intended to cover non-exclusive inclusion, for example, an apparatus, system, product or device that includes a series of modules, units or units is not necessarily limited to those modules, units or units that are explicitly listed, but may include other modules, units or units that are not explicitly listed or that are inherent to such apparatus, system, product or device.

[0047] Second, in this application, the words "exemplarily" and "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design that is described as "exemplarily" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0048] Third, in this application, "when," "under the circumstances," "if," and "if" all refer to the device making a corresponding action under certain objective circumstances, and are not time-limited, nor do they require the device to make a judgment action when it is implemented, nor do they mean that there are other limitations.

[0049] Fourth, in this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect. For example, "first target compensation range" and "second target compensation range" are used to distinguish different target compensation ranges and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" do not necessarily imply that they are different.

[0050] Fifth, in this application, "preset" can be understood as predefined, defined, pre-defined, stored, pre-stored, pre-negotiated, or pre-configured, etc.

[0051] Sixth, in this application, "at least one (kind, type)" refers to one (kind, type) or multiple (kinds, types). "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone, where A and B can be singular or plural. The character " / " generally indicates an "or" relationship between the preceding and following related objects, but it does not exclude the possibility of indicating an "and" relationship. The specific meaning can be understood in conjunction with the context.

[0052] Seventh, in this application, information C is used to determine information D, including both determining information D based solely on information C and determining it based on information C and other information. Furthermore, information C can also be used to determine information D indirectly, for example, in the case where information D is determined based on information E, and information E is determined based on information C.

[0053] Eighth, in this application, the various correspondences (e.g., the correspondence between compensation amplitude and vehicle speed and the size of the protrusion or dent, the correspondence between jitter amplitude and vehicle speed and the size of the protrusion or dent, etc.) can be configured or predefined. When configuring the various correspondences, it is not necessarily required that they be configured in the form of a mapping table (or table). For example, in the tables of this application, the correspondences shown in certain rows may not be configured. Furthermore, appropriate modifications and adjustments can be made based on the tables exemplified in this application, such as splitting, merging, etc. The names of the parameters indicated in the headers of each table can also use other names understandable to the device, and the values ​​or representations of the parameters can also use other values ​​or representations understandable to the device. When implementing the above tables, other data structures can also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables, or hash tables, etc. This application does not impose any limitations on this.

[0054] To facilitate understanding of the embodiments of this application, some technical terms or vocabulary involved in this application will be briefly explained below.

[0055] 1. Road Preview: ADS can identify bumps / dimples on the road ahead. Based on the distance between the bump / dimple and the vehicle and the current vehicle speed, ADS can calculate the time to reach the bump / dimple and send the time and the size of the identified bump / dimple to other systems or modules.

[0056] The pre-aiming data may include, but is not limited to, the arrival time of the protrusion / depression calculated by the ADS mentioned above, and the size of the protrusion / depression identified. The size of the protrusion may include its length, width, and height, and the size of the depression may include its length, width, and depth.

[0057] 2. IMU data: can be divided into three-axis IMU data and six-axis IMU data. Three-axis IMU data can include the vehicle's acceleration in the front-rear direction, acceleration in the left-right direction, and angular velocity in the up-down direction. Six-axis IMU data includes the vehicle's acceleration in the front-rear direction, acceleration in the left-right direction, and acceleration in the up-down direction, as well as the vehicle's angular velocity in the front-rear direction, angular velocity in the left-right direction, and angular velocity in the up-down direction.

[0058] In this application, the IMU data involved is preferably six-axis IMU data.

[0059] 3. Real-world objects: These can include roads or traffic participants, such as vehicles, pedestrians, two-wheeled vehicles, and three-wheeled vehicles.

[0060] 4. Chassis Pre-Timing Function: The chassis preview function uses data collected by sensors, cameras, and other data to predict and analyze the road conditions ahead, thereby adjusting the vehicle's chassis settings in advance. This function helps optimize the vehicle's suspension system under different road conditions, improving driving comfort and vehicle handling. Specifically, the chassis preview function can detect information such as undulations, curves, and potholes on the road ahead, and then adjust parameters such as suspension stiffness, suspension height, and damping coefficient based on this information. By adjusting the chassis height in advance, the vehicle can better cope with upcoming road changes, thus providing a smoother and safer driving experience.

[0061] Figure 1 is a schematic diagram of a scenario applicable to the head-up display method provided in this application.

[0062] As shown in Figure 1, when the ARHUD displays AR content such as intelligent driving intentions and vehicle alignment, it uses a spatial engine to calculate the position where the head-up display image should be displayed based on the target location and the driver's eye position. When the driver looks through the ARHUD, they will see the corresponding icon superimposed on the real-world object.

[0063] In current head-up display (HUD) methods, when a vehicle travels over uneven surfaces (such as potholes or bumps), the vehicle body vibrates, causing changes in the vehicle's pitch angle. Consequently, the HUD image also vibrates. In such cases, the display position of the HUD image can be continuously refreshed using Adaptive Detection and Reduction (ADS) data, along with compensation based on IMU acceleration data. However, with this method, there is a delay between the ADS detecting a change in object position and transmitting the data to the ARHUD rendering module. This delay can cause misalignment in the HUD image, resulting in poor alignment between the HUD image and real-world objects, thus affecting the driver's experience.

[0064] To address the aforementioned technical issues, this application provides a head-up display method that uses pre-aiming data to predict the magnitude of vehicle vibration and calculates the required compensation magnitude in advance. This allows the head-up display image to be adjusted based on the compensation magnitude when the vehicle vibrates, making the head-up display image more closely aligned with the target object and thus improving the driver's experience.

[0065] The head-up display method provided in the embodiments of this application will be described exemplarily below with reference to the accompanying drawings.

[0066] Figure 2 is a schematic flowchart of the head-up display method provided in an embodiment of this application.

[0067] The method 200 shown in Figure 2 may include steps 210 and 220.

[0068] The steps of this method can be executed by a vehicle, or by a component (such as a chip, chip system, etc.) configured in the vehicle, or by a logic module or software capable of implementing all or part of the vehicle's functions, or by a head-up display device; this application does not limit the scope of the method. The following describes each step of method 200 in detail, taking the execution of method 200 by a head-up display device as an example.

[0069] In step 210, the position data and aiming data of the target object are acquired.

[0070] The target object is also known as the real-world object. In other words, the target object can include the road on which the vehicle travels or traffic participants, such as vehicles, pedestrians, two-wheeled vehicles, and three-wheeled vehicles.

[0071] The position data of the target object can be the position data of the target object relative to the vehicle.

[0072] The preview data may include road surface information and compensation time for the road the vehicle is traveling on. The road surface information may include the dimensions of bumps or depressions on the road; the dimensions of bumps may include their length, width, and height, and the dimensions of depressions may include their length, width, and depth. This road surface information can be used to determine the target compensation magnitude for the head-up display image. The compensation time is related to this road surface information and can be used to determine the time for displaying the head-up display image.

[0073] In one possible implementation, A, the compensation time can be a specific point in time, i.e., the expected time when a vehicle arrives at or runs over a bump or depression in the road. In this implementation, the time T for displaying the head-up display image can satisfy the following formula: T = T b +ΔT, where T b The compensation time can be represented by ΔT, which can represent the acceptable time difference.

[0074] Understandably, in practical applications, the value of ΔT can be preset; ΔT can be positive, negative, or 0. As an example and not a limitation, ΔT can be in the millisecond range, such as -5 milliseconds, 0 milliseconds, 5 milliseconds, 6 milliseconds, 8 milliseconds, 10 milliseconds, etc. This application does not limit the specific value of ΔT.

[0075] In one possible implementation, B, the compensation time can be a time interval, i.e., how much longer it is expected that the vehicle will have to reach or run over the bump or depression in the road. In this implementation, the time T for displaying the head-up display image can satisfy the following formula: T = T N +T B +ΔT, where T N T can represent the point in time when a vehicle detects a bump or depression on the road. B The compensation time can be represented by ΔT, which represents the acceptable time difference. For a detailed description of ΔT, please refer to the relevant description in Implementation Method A above. For the sake of brevity, it will not be repeated here.

[0076] For a detailed description of the target compensation range, please refer to the relevant descriptions below. For the sake of brevity, it will not be repeated here.

[0077] For example, the head-up display device can obtain the position data and preview data of the target object from other systems or modules on the vehicle. For instance, the head-up display device can obtain the position data and preview data of the target object from the ADS on the vehicle.

[0078] Understandably, vehicles can be equipped with sensors (such as vision sensors, LiDAR, millimeter-wave sensors, etc.). These sensors can identify target objects, determine their location, and detect road surface information. The vehicle's sensors can transmit the identified target object's location data and road surface information to the ADS (Advanced Device Controller). The ADS can calculate a compensation time based on the time it takes for the sensors to detect bumps or depressions on the road surface, combined with IMU (Installation Unit) data. After calculating the compensation time, the ADS can transmit the target object's location data and pre-aiming data to the head-up display (HUD). Correspondingly, the HUD obtains the target object's location data and pre-aiming data from the ADS. As mentioned above, the pre-aiming data includes the road surface information of the road the vehicle is traveling on and the compensation time.

[0079] In step 220, a head-up display image is shown.

[0080] For example, after acquiring the position data and pre-aiming data of the target object, the head-up display device can determine the target compensation range in advance based on the size of the bump or depression on the road and the vehicle speed. Thus, when the vehicle runs over the bump or depression, the position of the head-up display image can be adjusted based on the compensation range, and the adjusted head-up display image can be displayed.

[0081] In one possible implementation, the target compensation magnitude is determined based on the vehicle speed, the size of the bumps or depressions on the road as identified by the sensors on the vehicle, and a first correspondence, which includes one or more sets of correspondences between the compensation magnitude and the vehicle speed and the size of the bumps or depressions on the road.

[0082] The first correspondence can be pre-existing in the head-up display device.

[0083] In practical applications, the compensation magnitude can be positive or negative. For example, a positive value can represent adjusting the head-up display image upwards, and a negative value can represent adjusting the head-up display image downwards. Alternatively, a positive value can represent adjusting the head-up display image downwards, and a negative value can represent adjusting the head-up display image upwards. This application does not limit this. Furthermore, it is understood that a compensation magnitude of 0 can indicate that the position of the head-up display image does not need to be adjusted.

[0084] It is understandable that the target compensation range is, in the first correspondence, the compensation range corresponding to the vehicle speed and the size of the bumps or depressions on the road as identified by the sensors on the vehicle.

[0085] Optionally, the target compensation amplitude can be a series of time-related compensation amplitude values, or, in other words, the target compensation amplitude can be a curve showing the changes in multiple compensation amplitude values ​​over time (which can be simply referred to as the compensation amplitude-time curve). The head-up display device can continuously adjust and display the head-up display image based on the pre-determined compensation amplitude-time curve as it passes through the protrusion or depression.

[0086] As an example rather than a limitation, the first correspondence can be stored in tabular form, as shown in Table 1.

[0087] Table 1

[0088] For example, if the vehicle's sensor detects a bump or dent at a speed of 30 km / h, and the size of the detected bump or dent is closest to the size 1 of the bump or dent, then the target compensation amplitude is the compensation amplitude-time curve 31. In other words, as the vehicle passes over the bump or dent, the head-up display device can continuously adjust and display the head-up display image based on the compensation amplitude-time curve 31.

[0089] In one possible implementation, the compensation amplitude-time curve is obtained based on the jitter amplitude-time curve.

[0090] The vibration amplitude indicator refers to the vibration amplitude of the head-up display image when a vehicle passes over a bump or indentation. For ease of description, the vibration amplitude of the head-up display image will be referred to as vibration amplitude in the following text.

[0091] Optionally, the compensation amplitude can be the opposite of the jitter amplitude.

[0092] Figure 3 is a schematic diagram showing the relationship between the compensation amplitude-time curve and the jitter amplitude-time curve.

[0093] As shown in Figure 3, the compensation amplitude-time curve and the jitter amplitude-time curve are two curves that are symmetrical about the time axis.

[0094] The vibration amplitude-time curve is obtained by collecting and recording data as the vehicle passes over bumps or depressions of different sizes at different speeds.

[0095] The process of obtaining the jitter amplitude-time curve is described below.

[0096] An acceleration sensor is installed at the head-up display (HUD) of the vehicle, and a camera is installed and fixed at the human eye position. The vehicle passes through (or rolls over) protrusions or depressions of different sizes at speeds of 5 km / h, 10 km / h, 15 km / h, 20 km / h, 25 km / h, 30 km / h, 35 km / h, 40 km / h, 45 km / h, 50 km / h, 55 km / h, 6 km / h, 65 km / h, 70 km / h, 75 km / h, 80 km / h, 85 km / h, 90 km / h, 95 km / h, 100 km / h, 105 km / h, 110 km / h, 115 km / h, and 120 km / h. Data on the change of vibration amplitude over time during the process of the vehicle passing through the protrusions or depressions is collected and recorded, i.e., vibration amplitude-time curve. In this way, we obtain the correspondence between the vibration amplitude and the vehicle speed and the size of the bump or dent. More precisely, we obtain the correspondence between the vibration amplitude-time curve and the vehicle speed and the size of the bump or dent (for ease of description, we call it the second correspondence).

[0097] The compensation amplitude-time curve can be derived from the vibration amplitude-time curve. Furthermore, the correspondence between the compensation amplitude-time curve and the vehicle speed and the size of the protrusion or dent can be obtained (i.e., the first correspondence), and this first correspondence can be pre-stored (or deployed) in the head-up display device.

[0098] Optionally, the head-up display image includes an icon that fits the target object, and the method 200 further includes: determining the position of the compensated icon on the windshield of the vehicle based on the target compensation magnitude.

[0099] For example, the head-up display image may include some fixed icons, such as speed icons, gear icons, navigation indicator icons, traffic sign recognition icons, turn icons, etc. The head-up display image may also include icons that need to be aligned with a target object, such as road virtual image icons, collision warning icons, etc. When the head-up display image includes icons that need to be aligned with the target object, the head-up display device can determine the position of the compensated icon that needs to be aligned with the target object on the windshield of the vehicle based on the target compensation range and the position data of the target object. That is, the position of the icon that needs to be aligned with the target object on the windshield of the vehicle is adjusted based on the target compensation range.

[0100] In one possible implementation, the method 200 further includes: obtaining the status of the chassis pre-aiming function, which includes whether it is on or off.

[0101] For example, the head-up display device can obtain the status of the chassis pre-aiming function from the cockpit domain controller.

[0102] The status of the chassis preview function can be set by the driver. The driver can adjust the status of the chassis preview function through the vehicle's user interface as needed. For example, the driver can turn the chassis preview function on or off through the user interface. When the chassis preview function is on, the head-up display (HUD) is aware of the chassis preview function's status; when the chassis preview function is off, the HUD is aware of the chassis preview function's status.

[0103] Understandably, for vehicles equipped with chassis pre-aiming capabilities, the target compensation range can be determined by combining the status of the chassis pre-aiming capability, making the head-up display image more closely match the target object.

[0104] In one possible implementation, the method 200 further includes: determining a first target compensation range when the chassis pre-aiming function is enabled; or determining a second target compensation range when the chassis pre-aiming function is disabled.

[0105] For example, for a vehicle equipped with chassis pre-aiming function, the second correspondence can be obtained by obtaining the vibration amplitude-time curve as described above, when the chassis pre-aiming function is on and when the chassis pre-aiming function is off. Then, the first correspondence when the chassis pre-aiming function is on (referred to as first correspondence 1 for ease of description) and the first correspondence when the chassis pre-aiming function is off (referred to as first correspondence 2 for ease of description) can be obtained by reverse deduction. Furthermore, the first correspondence 1 and the first correspondence 2 can be pre-stored in the head-up display device.

[0106] When the chassis pre-aiming function is enabled, the head-up display device can determine the target compensation range (i.e., the first target compensation range) based on the vehicle speed, the size of the bumps or depressions on the road detected by the sensors on the vehicle, and the first correspondence 1; when the chassis pre-aiming function is disabled, the head-up display device can determine the target compensation range (i.e., the second target compensation range) based on the vehicle speed, the size of the bumps or depressions on the road detected by the sensors on the vehicle, and the first correspondence 2.

[0107] It is understood that the first target compensation range is the compensation range corresponding to the vehicle speed and the size of the bumps or depressions on the road as identified by the sensors on the vehicle in the first correspondence relationship 1; the second target compensation range is the compensation range corresponding to the vehicle speed and the size of the bumps or depressions on the road as identified by the sensors on the vehicle in the first correspondence relationship 2.

[0108] As an example rather than a limitation, the first correspondence 1 and the first correspondence 2 can also be stored in the form of a table. For details, please refer to the relevant content of Table 1 above. For the sake of brevity, it will not be repeated here.

[0109] Considering that the vehicle's suspension stiffness, suspension height, damping coefficient, and other parameters differ when the chassis pre-aiming function is enabled and disabled, the vehicle's pitch angle changes differently when traversing bumps or dips. Consequently, the vibration amplitude of the head-up display image will also differ, requiring different adjustments to the head-up display image position (i.e., compensation). This ensures that the head-up display image more closely matches the target object.

[0110] In one possible implementation, the method 200 further includes: acquiring IMU data; and adjusting the position of the icon on the windshield of the vehicle based on the IMU data.

[0111] For a detailed description of IMU data, please refer to the relevant description in the technical terminology section above. For the sake of brevity, it will not be repeated here.

[0112] In other words, during the process of a vehicle running over a bump or dent, the position of the head-up display image is adjusted not only by combining the compensation amplitude, but also by combining IMU data to continuously adjust the position of the head-up display image, so that the head-up display image can fit the target object more closely.

[0113] For ease of understanding, the header display method provided in this application will be further explained below with reference to Figure 4.

[0114] Figure 4 is another schematic flowchart of the head-up display method provided in the embodiments of this application.

[0115] The following explanation uses a head-up display device as the main execution unit to illustrate each step in Figure 4.

[0116] In step 401, ARHUD is activated.

[0117] The head-up display device can respond to user operations, activating ARHUD, enabling augmented reality (AR) bonding, and other functions.

[0118] In step 402, is the pre-aiming data obtained?

[0119] The target data includes road surface information and compensation time for the road the vehicle is traveling on. For a detailed description, please refer to the relevant description in step 210 of method 200 above. For the sake of brevity, it will not be repeated here.

[0120] For example, the head-up display device can obtain the aiming data from the ADS.

[0121] If the head-up display device acquires the pre-aiming data, step 403 can be executed; if the head-up display device does not acquire the pre-aiming data, step 409 can be executed.

[0122] A detailed description of steps 403 and 409 will be provided below, and for the sake of brevity, it will not be repeated here.

[0123] In step 403, the status of the chassis pre-aiming function is obtained.

[0124] For a detailed description of the chassis pre-aiming function, please refer to the relevant description in Method 200 above. For the sake of brevity, it will not be repeated here.

[0125] For example, the head-up display device can obtain the status of the chassis pre-aiming function from the cockpit domain controller.

[0126] In step 404, is the chassis pre-aiming function enabled?

[0127] After obtaining the status of the chassis pre-aiming function, the head-up display device can determine whether the chassis pre-aiming function is enabled. If the chassis pre-aiming function is enabled, the head-up display device can execute steps 405 and 406; if the chassis pre-aiming function is disabled, the head-up display device can execute steps 407 and 408.

[0128] A detailed description of steps 405 to 408 will be provided below, and will not be repeated here for the sake of brevity.

[0129] In step 405, the first target compensation range is determined.

[0130] For a detailed description of the compensation range for the first target, please refer to the relevant description in Method 200 above. For the sake of brevity, it will not be repeated here.

[0131] For example, when the chassis pre-aiming function is enabled, the head-up display device can determine the first target compensation range based on the vehicle speed, the size of the bumps or depressions on the road identified by the sensors on the vehicle, and the first correspondence 1.

[0132] In step 406, the position data of the target object is acquired, and a head-up display image is displayed based on the position data of the target object, the first target compensation amplitude, and the compensation time.

[0133] For a detailed explanation of the target object and its position data, please refer to the relevant description in Method 200 above. For the sake of brevity, it will not be repeated here.

[0134] For example, the head-up display device can determine the position of the icon that needs to be affixed to the target object on the windshield of the vehicle at a corresponding time point based on the position data of the target object and the first target compensation amplitude, based on the compensation time, and then display the head-up display image based on the position of the icon that needs to be affixed to the target object on the windshield of the vehicle.

[0135] In step 407, the second target compensation magnitude is determined.

[0136] For a detailed description of the compensation range for the second objective, please refer to the relevant description in Method 200 above. For the sake of brevity, it will not be repeated here.

[0137] For example, when the chassis pre-aiming function is enabled, the head-up display device can determine the second target compensation range based on the vehicle speed, the size of the bumps or depressions on the road identified by the sensors on the vehicle, and the first correspondence 2.

[0138] In step 408, the position data of the target object is acquired, and a head-up display image is displayed based on the position data of the target object, the second target compensation amplitude, and the compensation time.

[0139] For a detailed explanation of the target object and its position data, please refer to the relevant description in Method 200 above. For the sake of brevity, it will not be repeated here.

[0140] For example, the head-up display device can determine the position of the icon that needs to be affixed to the target object on the windshield of the vehicle at a corresponding time point based on the position data of the target object and the second target compensation amplitude, based on the compensation time, and then display the head-up display image based on the position of the icon that needs to be affixed to the target object on the windshield of the vehicle.

[0141] In step 409, IMU data and the position data of the target object are acquired, and the position of the icon that needs to be aligned with the target object is adjusted.

[0142] Understandably, the vehicle's IMU can periodically collect IMU data, and the ADS can periodically calculate the position data of the target object based on the vehicle's vision sensors. After collecting IMU data, the vehicle's IMU can transmit it to the head-up display (HUD), and the ADS can also transmit the calculated position data of the target object to the HUD. Based on the acquired IMU data and the target object's position data, the HUD can continuously adjust the position of the icon that needs to be aligned with the target object and display the HUD image.

[0143] Based on the above technology, by predicting the amplitude of the impending jitter in the head-up display image through pre-aiming data, the required compensation amplitude can be determined in advance. This allows the position of the head-up display image to be adjusted based on the compensation amplitude when the vehicle runs over a bump or dent, making the head-up display image fit the target object more closely and thus improving the driver's experience.

[0144] The head-up display method provided in this application has been described in detail above with reference to the accompanying drawings. The head-up display system and head-up display device provided in the embodiments of this application will be described in detail below with reference to Figures 5 to 7.

[0145] Figure 5 is a schematic block diagram of the head-up display system provided in an embodiment of this application.

[0146] As shown in Figure 5, this application embodiment also provides a head-up display system, which may include a rendering module and a display module. The rendering module can be used to acquire position data and preview data of a target object from an Adaptive Digital Subsystem (ADS). The target object includes the road surface where the vehicle is traveling or a traffic participant. The preview data includes road surface information and a compensation time. The road surface information includes the dimensions of bumps or depressions on the road surface, which is used to determine the target compensation magnitude for the head-up display image. The compensation time is related to the road surface information and is used to determine the time for displaying the head-up display image. The display module can be used to display the head-up display image based on the compensation magnitude and the compensation time.

[0147] For a detailed description of the target object, its position data, aiming data, target compensation range, compensation time, and the size of protrusions or depressions, please refer to the relevant description in Method 200 above. For the sake of brevity, it will not be repeated here.

[0148] For example, after obtaining the position data and preview data of the target object, the rendering module can analyze and process the data to obtain ARHUD content, which is the rendering data related to the head-up display image to be displayed. The rendering module can then pass the ARHUD content to the display module, which can then display the head-up display image based on the ARHUD content.

[0149] In one possible implementation, the target compensation magnitude is determined based on the vehicle speed, the size of the bumps or depressions on the road as identified by the sensors on the vehicle, and a first correspondence, which includes one or more sets of correspondences between the compensation magnitude and the vehicle speed and the size of the bumps or depressions on the road.

[0150] For a detailed description, please refer to the relevant description in Method 200 above. For the sake of brevity, it will not be repeated here.

[0151] Optionally, the head-up display image includes an icon that fits the target object, and the rendering module can also be used to: determine the position of the compensated icon on the windshield of the vehicle based on the target compensation magnitude.

[0152] For a detailed description, please refer to the relevant description in Method 200 above. For the sake of brevity, it will not be repeated here.

[0153] In one possible implementation, the rendering module can also be used to: obtain the status of the chassis pre-aiming function, including whether it is on or off.

[0154] For a detailed description, please refer to the relevant description in Method 200 above. For the sake of brevity, it will not be repeated here.

[0155] In one possible implementation, the rendering module can also be used to: determine the first target compensation range when the chassis pre-aiming function is enabled; or, determine the second target compensation range when the chassis pre-aiming function is disabled.

[0156] For a detailed description, please refer to the relevant description in Method 200 above. For the sake of brevity, it will not be repeated here.

[0157] In one possible implementation, the rendering module can also be used to: acquire IMU data; and adjust the position of the icon on the windshield of the vehicle based on the IMU data.

[0158] For a detailed description, please refer to the relevant description in Method 200 above. For the sake of brevity, it will not be repeated here.

[0159] In one possible implementation, the head-up display system includes an Adaptive Digital Switch (ADS).

[0160] Of course, in practical applications, the head-up display system may or may not include an ADS.

[0161] In one possible implementation, the head-up display system includes an IMU.

[0162] Of course, in practical applications, the head-up display system may or may not include an IMU.

[0163] In one possible implementation, the head-up display system includes a cockpit domain controller.

[0164] Of course, in practical applications, the head-up display system may or may not include a cockpit domain controller.

[0165] As described in Method 200 above, the status of the chassis pre-aiming function can be set by the driver.

[0166] For example, drivers can adjust the status of the chassis pre-aiming function through the user interface of the vehicle's cockpit domain controller as needed. As another example, drivers can turn the chassis pre-aiming function on or off through the user interface of the vehicle's cockpit domain controller.

[0167] Understandably, when the chassis pre-aiming function is turned on, the values ​​of parameters such as suspension stiffness, suspension height, and damping coefficient in the vehicle's chassis controller will be different from those when the chassis pre-aiming function is turned off.

[0168] Based on the above technical content, the head-up display system can determine the compensation range and compensation time in advance through pre-aiming data. This allows the head-up display image to be adjusted based on the compensation range when the vehicle actually runs over a bump or depression on the road and vibrates. This makes the head-up display image fit the target object more closely, thereby improving the driver's experience.

[0169] It should be understood that the head-up display devices shown in Figures 6 and 7 can be used to implement the functions of the head-up display devices in the above method embodiments, and therefore can also achieve the beneficial effects of the above method embodiments. In the embodiments of this application, the head-up display device can be a vehicle, or a component (such as a chip, chip system, processor, etc.) configured in a vehicle, or a logic module or software capable of implementing some or all of the functions of the vehicle.

[0170] Figure 6 is another schematic block diagram of the head-up display device provided in the embodiments of this application.

[0171] As shown in Figure 6, the head-up display device 600 includes an acquisition module 610 and a processing module 620. This head-up display device 600 can be used to implement the functions of the head-up display device in any of the method embodiments shown in Figure 2 or Figure 4.

[0172] For example, when the head-up display device 600 is used to implement the function of the head-up display device in the method embodiment shown in FIG2, the acquisition module 610 can be used to acquire the position data and pre-aiming data of the target object. The target object includes the road on which the vehicle is traveling or a traffic participant. The pre-aiming data includes the road surface information and compensation time of the road. The road surface information includes the size of the protrusions or depressions on the road. The road surface information is used to determine the target compensation magnitude for the head-up display image. The compensation time is related to the road surface information and is used to determine the time to display the head-up display image. The processing module 620 can be used to display the head-up display image.

[0173] Optionally, the acquisition module 610 can also be used to acquire the status of the chassis pre-aiming function, including whether it is on or off.

[0174] Optionally, the processing module 620 can also be used to determine the first target compensation range when the chassis pre-aiming function is enabled; or to determine the second target compensation range when the chassis pre-aiming function is disabled.

[0175] Optionally, the head-up display image includes an icon that fits the target object, and the processing module 620 can also be used to: determine the position of the compensated icon on the windshield of the vehicle based on the target compensation magnitude.

[0176] Optionally, the acquisition module 610 can also be used to acquire IMU data; the processing module 620 can also be used to adjust the position of the icon on the windshield of the vehicle based on the IMU data.

[0177] Optionally, the target compensation range is determined based on the vehicle speed, the size of the bumps or depressions on the road, and a first correspondence, which includes one or more sets of correspondences between the compensation range and the vehicle speed and the size of the bumps or depressions on the road.

[0178] For a more detailed description of each of the above modules, please refer directly to the relevant descriptions in the method embodiment shown in Figure 2, which will not be repeated here.

[0179] It should be understood that the module division in the embodiments of this application is illustrative and only represents a logical functional division. In actual implementation, there may be other division methods. Furthermore, the functional modules in the various embodiments of this application can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0180] Figure 7 is another schematic block diagram of the head-up display device provided in the embodiments of this application.

[0181] The head-up display device 700 can be a chip system, or it can be a device configured with a chip system to implement the methods described in the above-described method embodiments. In the embodiments of this application, the chip system can be composed of chips, or it can include chips and other discrete devices.

[0182] As shown in FIG7, the head-up display device 700 may include a processor 710, which can be used to execute computer programs or instructions in memory to implement the steps performed by the head-up display device in either FIG2 or FIG4.

[0183] Optionally, the head-up display device 700 further includes a communication interface 720. The communication interface 720 can be used to communicate with other devices via a transmission medium, thereby enabling the head-up display device 700 to communicate with other devices. The communication interface 720 can be, for example, a transceiver, interface, bus, circuit, or a device capable of transmitting and receiving data. The processor 710 can use the communication interface 720 to input and output data and to implement the method described in any embodiment corresponding to FIG. 2 or FIG. 4. Specifically, the head-up display device 700 can be used to implement the functions of the head-up display device in the above method embodiments.

[0184] Optionally, the head-up display device 700 further includes at least one memory 730 for storing program instructions and / or data. The memory 730 is coupled to the processor 710. The coupling in this embodiment is an indirect coupling or communication connection between devices, units, or modules, and can be electrical, mechanical, or other forms, used for information exchange between devices, units, or modules. The processor 710 may operate in conjunction with the memory 730. The processor 710 may execute program instructions stored in the memory 730.

[0185] In this application, the memory 730 can be integrated into the processor 710, or the processor 710 and the memory 730 can be set up separately. This application does not limit this.

[0186] It should be understood that the coupling in the embodiments of this application is an indirect coupling or communication connection between devices, units, or modules, which can be electrical, mechanical, or other forms, used for information interaction between devices, units, or modules. The processor 710 may operate in conjunction with the memory 730. The specific connection medium between the processor 710, communication interface 720, and memory 730 is not limited in the embodiments of this application. In Figure 7, the processor 710, communication interface 720, and memory 730 are connected via a bus 740. The bus 740 is represented by a thick line in Figure 7. The connection methods between other components are only illustrative and not intended to be limiting. The bus can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used in Figure 7, but this does not indicate that there is only one bus or one type of bus.

[0187] This application also provides a vehicle that includes the head-up display device as described above.

[0188] This application also provides a vehicle that includes the head-up display system as described above.

[0189] This application also provides a vehicle that includes modules capable of implementing the method described in either the embodiment of FIG2 or FIG4.

[0190] This application also provides a chip system, which includes at least one processor for supporting the implementation of the functions involved in any possible implementation of the embodiments shown in FIG2 or FIG4, such as receiving or processing data and / or instruction information involved in the above methods.

[0191] In one possible design, the chip system also includes a memory for storing program instructions and data, which may be located within or outside the processor.

[0192] The chip system can consist of chips or include chips and other discrete components.

[0193] This application also provides a computer program product, which includes a computer program (also referred to as code or instructions) that, when run, can implement the steps performed by the head-up display device in any of the embodiments shown in FIG2 or FIG4.

[0194] This application also provides a computer-readable storage medium storing a computer program (also referred to as code or instructions). When the computer program is run, it can implement the steps performed by the head-up display device in any of the embodiments shown in FIG2 or FIG4.

[0195] It should be understood that the processor in the embodiments of this application can be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method embodiments can be completed by the integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0196] It should also be understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0197] The terms "unit," "module," etc., used in this specification can be used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. In the embodiments of this application, "unit" and "module" have the same meaning and can be used interchangeably.

[0198] Those skilled in the art will recognize that the various illustrative logical blocks and steps 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. In the several embodiments provided in this application, it should be understood that the disclosed apparatus, devices, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, 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 system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0199] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0200] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0201] In the above embodiments, the functions of each functional unit can be implemented entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions (programs). When the computer program instructions (programs) are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital video discs, DVDs), or semiconductor media (e.g., solid-state disks, SSDs), etc.

[0202] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the technology, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0203] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A head-up display method, characterized in that, The method includes: The location data and aiming data of the target object are acquired. The target object includes the road on which the vehicle is traveling or a traffic participant. The aiming data includes the road surface information and compensation time of the road. The road surface information includes the size of the bumps or depressions on the road. The road surface information is used to determine the target compensation range for the head-up display image. The compensation time is related to the road surface information. The compensation time is used to determine the time to display the head-up display image. The head-up display image is displayed.

2. The method according to claim 1, characterized in that, The method further includes: The status of the chassis pre-aiming function is obtained, including whether it is on or off.

3. The method according to claim 2, characterized in that, The method further includes: With the chassis pre-aiming function enabled, determine the compensation range for the first target; or, With the chassis pre-aiming function turned off, the compensation range for the second target is determined.

4. The method according to any one of claims 1 to 3, characterized in that, The head-up display image includes an icon that fits the target object, and the method further includes: Based on the target compensation range, the position of the compensated icon on the windshield of the vehicle is determined.

5. The method according to claim 4, characterized in that, The method further includes: Acquire inertial measurement unit (IMU) data; The position of the icon on the windshield of the vehicle is adjusted based on the IMU data.

6. The method according to any one of claims 1 to 5, characterized in that, The target compensation range is determined based on the vehicle speed, the size of the bumps or depressions on the road, and a first correspondence, which includes one or more sets of correspondences between the compensation range and the vehicle speed and the size of the bumps or depressions on the road.

7. A head-up display system, characterized in that, include: The rendering module is used to acquire the position data and pre-aiming data of the target object from the Advanced Intelligent Driving System (ADS). The target object includes the road or traffic participants on which the vehicle is traveling. The pre-aiming data includes the road surface information and compensation time of the road. The road surface information includes the size of the bumps or depressions on the road. The road surface information is used to determine the target compensation magnitude for the head-up display image. The compensation time is related to the road surface information and is used to determine the time to display the head-up display image. The display module is used to display the head-up display image based on the compensation amplitude and the compensation time.

8. The head-up display system according to claim 7, characterized in that, The rendering module can also be used to: obtain the status of the chassis pre-aiming function from the cockpit domain controller, the status including whether it is on or off.

9. The head-up display system according to claim 8, characterized in that, The rendering module can also be used for: With the chassis pre-aiming function enabled, determine the compensation range for the first target; or, With the chassis pre-aiming function turned off, the compensation range for the second target is determined.

10. The head-up display system according to any one of claims 7 to 9, characterized in that, The head-up display image includes an icon that fits the target object, and the rendering module can also be used for: Based on the target compensation range, the position of the compensated icon on the windshield of the vehicle is determined.

11. The head-up display system according to claim 10, characterized in that, The rendering module can also be used for: Acquire inertial measurement unit (IMU) data; The position of the icon on the windshield of the vehicle is adjusted based on the IMU data.

12. The head-up display system according to any one of claims 7 to 11, characterized in that, The target compensation range is determined based on the vehicle speed, the size of the bumps or depressions on the road, and a first correspondence, which includes one or more sets of correspondences between the compensation range and the vehicle speed and the size of the bumps or depressions on the road.

13. A vehicle, characterized in that, The vehicle is a module used to perform the method as described in any one of claims 1 to 6.

14. A vehicle, characterized in that, The vehicle includes a head-up display system as described in any one of claims 7 to 12.

15. A computer-readable storage medium having a program stored thereon, characterized in that, When the program is executed, the method as described in any one of claims 1 to 6 is performed.

16. A computer program product, characterized in that, Includes a computer program that, when run, causes the method as described in any one of claims 1 to 6 to be performed.

17. A chip system, characterized in that, It includes at least one processor, said at least one processor being configured to run a computer program or instructions to perform the method as described in any one of claims 1 to 6.

Images