Method for adjusting the position of a head-up display projection on a vehicle's windshield and system

Abstract

Method for adjusting the position of a projection (1) of a head-up display (2) of a vehicle (3) on a windscreen (4) of the vehicle (3), comprising the steps: a) Providing trajectory information for the vehicle (3); b) Determining an expected sideslip angle of the vehicle (3) and / or an expected roll angle of the vehicle (3) and / or an expected displacement of the vehicle (3) towards a lane center (13) of a lane to be traveled (15) depending on the trajectory information; c) Adjusting the position of the projection (1) of the head-up display (2) onto the windshield depending on the specific expected sideslip angle and / or the specific expected roll angle and / or the specific expected displacement towards the center of the lane (13), characterized in that a driving trajectory (10) is provided as trajectory information, wherein the vehicle (3) follows the provided driving trajectory (10) at least semi-autonomously, in particular with an autonomy level 2 or 2+ or 3, when carrying out the procedure.

Description

[0001] Aspects of the invention relate to a method for adjusting the position of a projection of a head-up display of a vehicle on a windshield of the vehicle and a system.

[0002] From JP5805341B1, a device for dynamically controlling the position for displaying HUD (Head-Up Display) information is known. External information is acquired in this process.

[0003] Furthermore, DE 102018 219 089 A1 discloses a method, a device, and a computer program with instructions for providing correction values ​​for the display of augmented reality content on a head-up display for a motor vehicle. In a first step, road information representing unevenness of the road surface in front of the vehicle is received. Additionally, the trajectory of the vehicle is determined. Based on the road information and the trajectory, correction values ​​for stabilizing the display of the augmented reality content are calculated. Finally, the correction values ​​are provided to a control unit of the head-up display.

[0004] A disadvantage of the known device is that a time delay can occur when acquiring external information. This results in a delayed shift in the display.

[0005] The invention is based on the objective of providing a method and a system to improve the positional adjustment of a projection image.

[0006] The problem is solved by the subject matter of the independent claims. Advantageous embodiments of the invention are defined by the dependent claims, the following description, and the figures.

[0007] One aspect of the invention relates to a method for adjusting the position of a head-up display (HUD) projection onto the windshield of a vehicle. In particular, the method comprises the following steps: a) Providing trajectory information for the vehicle; b) Determining an expected sideslip angle of the vehicle and / or an expected roll angle of the vehicle and / or an expected displacement of the vehicle towards the center of a lane to be traveled on, depending on the trajectory information; c) Adjusting the position of the head-up display projection onto the windscreen depending on the specific sideslip angle and / or roll angle and / or the specific shift towards the center of the lane.

[0008] The projection is, in particular, a projected image. This process improves the adaptation of the projected image. Specifically, the process enables predictive adaptation. The visibility of the information represented in the projection is enhanced because the projected image is dynamically moved to a position suitable for perception, depending on the angles. This allows for an automatically and dynamically shifting position that is always advantageous for the observer. This enables the projection image to be positioned in a way that is coupled to the observer's viewing direction, which is particularly relevant in reality.

[0009] The windshield can also be referred to as the front windscreen. The sideslip angle is the angle between a direction of movement of the vehicle, particularly at its center of gravity, and a longitudinal axis of the vehicle. The roll angle describes a rotation of the vehicle around its longitudinal axis. Trajectory information contains, in particular, information about a planned and / or expected driving trajectory of the vehicle. Specifically, the trajectory information is the driving trajectory. Alternatively, the trajectory information contains more or less information than the driving trajectory. For example, the provided trajectory information concerns an area to be traveled within the next 50 to 200 meters in front of the vehicle.

[0010] Determining the expected sideslip angle and / or roll angle and / or displacement relative to the lane center is done, for example, based on simulations and / or using a trained machine learning algorithm. Alternatively or additionally, in step b), this determination is performed, for example, by a path planning algorithm that estimates future driving behavior based on the vehicle's current position and dynamics. This estimate becomes more accurate with a higher degree of automation, as vehicle control is partially transferred from the driver to the vehicle. Adjusting the position means, in particular, that the projection is shifted and / or rotated within a display area. Distorting, enlarging, or reducing the projection image, especially its content, may not be possible.

[0011] In particular, the vehicle is driven at least semi-autonomously. Especially during semi-autonomous driving, unfamiliar drift angles can occur for the driver. When the driver monitors the semi-autonomous driving, they keep an eye on the road ahead and the information displayed on the head-up display (HUD). At large drift angles, the road ahead and the projected image can become misaligned. This process adjusts the projection, specifically shifting it, to reduce this misalignment.

[0012] In one embodiment, a displacement parameter is determined based on a specific drift angle and / or roll angle to adjust the position. This displacement parameter specifies a displacement distance and / or a rotation angle from an actual position to a target position of the projection. For example, the displacement parameter specifies the displacement distance per pixel of the image projection. This allows the projection to be adjusted very precisely. Alternatively or additionally, the displacement parameter specifies the displacement distance and / or rotation angle for the entire projection.

[0013] According to the invention, the driving trajectory is provided as trajectory information. For example, the vehicle follows the provided driving trajectory at least partially autonomously during the execution of the method. In particular, the vehicle follows the provided trajectory with an autonomy level of 2, 2+, 3, or higher. The driver of the vehicle monitors the autonomous or at least semi-autonomous driving. For monitoring the driving, it is advantageous that the method enables the driver to simultaneously monitor both the road layout and information displayed by the head-up display.

[0014] In one embodiment, steps b) and c) are repeated depending on the current and / or expected speed of the vehicle. For example, the slower the vehicle travels, the more frequently the position is adjusted. For instance, the position is adjusted every two milliseconds and at most every 20 milliseconds.

[0015] This embodiment allows for smooth position adjustment while reducing computing power.

[0016] In one embodiment, such trajectory information is provided, allowing the sideslip angle to be adjusted by controlling a front axle and / or a rear axle of the vehicle. This adjustment can be described, for example, as a comfort drift with an increased sideslip angle. In particular, further process steps are performed during or before the execution of the method, as disclosed, for example, in DE 10 2022 202 130 A1. This so-called comfort drift results in particularly large sideslip angles. In this case, in particular, the method improves the adjustment of the projection position and, in particular, enhances the driver's comfort when monitoring the vehicle.

[0017] In one embodiment, the expected pitch angle of the vehicle is determined based on the provided trajectory information. The projection position is then adjusted according to this predicted pitch angle. This increases the visibility of the head-up display and better aligns it with the driver's field of vision. The pitch angle is, in particular, a rotation of the vehicle around a transverse axis. Such a rotation occurs, for example, when the vehicle drives over uneven surfaces. Alternatively or additionally, such a rotation occurs when the vehicle brakes and / or accelerates. For example, information about braking or acceleration of the vehicle may be part of the trajectory information.If necessary, information about the unevenness of the road surface may be provided to the vehicle by a navigation device in the vehicle and / or by a map in a cloud, and this information may be taken into account when determining the expected pitch angle.

[0018] For example, the position of the projection is adjusted depending on the expected pitch angle, shifting it downwards towards the road if, according to the expected pitch angle, the front of the vehicle moves upwards during travel. If the front of the vehicle dips, the projection may be shifted upwards from the driver's perspective. Thus, pitching movements of the vehicle are visually compensated for by adjusting the projection.

[0019] In one embodiment, a mirror in the head-up display is controlled to adjust the projection position. The mirror's orientation is adjusted. For example, the mirror's control is based on specific displacement parameters. The head-up display, for instance, has an image generation unit and a dual-mirror system with a folding mirror and a magnifying mirror. This embodiment allows for simple and precise adjustment of the projection. In particular, no adjustment of the displayed image is necessary.

[0020] In one embodiment, the projection position is adjusted by shifting it horizontally depending on the drift angle. For example, in a drift planned according to the trajectory information, which can also be referred to as a comfort drift, the vehicle drifts on a straight stretch of road as it approaches curves. In this case, adjusting the projection horizontally is advantageous.

[0021] The method is particularly useful for non-linear sections of the vehicle's trajectory. Larger roll angles and / or pitch angles occur when traveling along non-linear sections of the trajectory, especially compared to straight sections. Therefore, the method is particularly advantageous for non-linear sections of the trajectory.

[0022] In one embodiment, to adjust the position of the projection during the non-straight section of the vehicle's trajectory, the projection is shifted horizontally in the direction of the curve of that section. For example, if the vehicle travels along a right-hand curve, the projection is also shifted to the right (as viewed in the direction of travel). If the vehicle travels along a left-hand curve along its trajectory, the projection is also shifted to the left (as viewed in the direction of travel). Optionally, the shift parameter can be a constant that converts the curvature of the trajectory into a shift distance. This allows the projection to be displayed overlapping with the area being traveled. In particular, it allows the projection to be displayed without overlapping with an oncoming lane.

[0023] This embodiment improves the position, adapting it to the driver's viewing angle. This allows the driver, for example, to better monitor at least a partially autonomous driving experience.

[0024] In one embodiment, the projection is shifted horizontally to adjust the position if the vehicle is traveling off-center in the lane in the lateral direction.

[0025] Such a situation arises, for example, with a driver assistance system where the driver learns a target course that deviates from the system's reference course. If the driver learns a course to the left of the reference course, the projection position is shifted to the right. Specifically, the projection is not necessarily positioned in the center of the roadway, but it is prevented from being displayed overlapping an area that should not be driven on.

[0026] This embodiment further improves the adjustment of the projection position.

[0027] In one embodiment, the projection position is adjusted depending on the past, current, and / or anticipated future head position of the vehicle's driver. Specifically, the head position is detected by an interior camera in the vehicle. This allows the projection position to be individually adjusted based on the driver and their head position.

[0028] It is possible to use a machine learning algorithm to link past recorded head positions with past, determined driving trajectories. This makes it possible, for example, to determine a future expected head position based on the determined driving trajectory yet to be traveled. This allows for predictive adjustment of the projection position.

[0029] Alternatively or additionally, the projection position can be adjusted depending on the currently detected head position. This can reduce the discrepancy between the predicted head position and the actual head position.

[0030] Another aspect of the invention relates to a system with a head-up display and a determination unit. In particular, the system is configured to perform a method for adjusting the position of a projection of a vehicle's head-up display onto the vehicle's windshield according to the aforementioned aspect of the invention or an embodiment thereof. Specifically, the system performs the method. Advantages and embodiments of the method according to the first-mentioned aspect of the invention can be transferred to the system and vice versa.

[0031] The invention also includes combinations of the features of the described embodiments.

[0032] The following describes exemplary embodiments of the invention. This is illustrated by: Fig. 1 an exemplary situation in which an embodiment of a method according to the invention for adjusting the position of a projection of a head-up display of a vehicle on a windshield of the vehicle is carried out; Fig. 2 a schematic diagram of an exemplary embodiment of the head-up display; Fig. 3 exemplary positions of the projection, which were adapted by means of a further embodiment of the method according to the invention; Fig. 4 another exemplary situation in which a further embodiment of the method according to the invention is carried out; Fig. 5 further exemplary positions of the projection, which were adapted by means of a further embodiment of the method according to the invention; and Fig. 6 another exemplary situation in which a further embodiment of the method according to the invention is carried out.

[0033] The embodiments described below are preferred embodiments of the invention. In these embodiments, the described components each represent individual features of the invention that can be considered independently of one another. Each of these features further develops the invention independently and can therefore be considered part of the invention individually or in a combination other than that shown. Furthermore, the described embodiments can also be supplemented by other features of the invention already described.

[0034] In the figures, functionally identical elements are each provided with the same reference symbols.

[0035] Fig. Figure 1 shows an exemplary situation in which an embodiment of a method for adjusting the position of a projection 1 of a head-up display 2 of a vehicle 3 on a windscreen 4 of the vehicle 3 is carried out.

[0036] In Fig. Figure 2 shows a schematic diagram of an exemplary embodiment of the head-up display 2. In particular, differently structured head-up displays are also possible. In the diagram shown... Fig. In the schematic diagram shown in Figure 2, the head-up display 2 has an image source 5. The image source 5 is specifically designed to emit an image, particularly in the form of light. The head-up display 2 has, for example, a folding mirror 7, a magnifying mirror 6, and, in particular, a cover glass 8. For example, the light emitted by the image source 5 is reflected at the folding mirror 7 to the magnifying mirror 6 and from the magnifying mirror 6 through the cover glass 8 to the windshield 4. From the driver's perspective 9, this creates, in particular, a virtual image, specifically the projection 1, behind the windshield 4.

[0037] For example, time is taken before and during the in Fig. In the situation shown in section 1, the following steps are carried out. In particular, a driving trajectory 10 ( Fig. 4) of the vehicle 3 is provided as trajectory information. In particular, an expected sideslip angle of the vehicle 3 and / or a roll angle of the vehicle 3 is determined depending on the driving trajectory 10. In particular, the position of the projection 1 of the head-up display 2 on the windshield 4 is adjusted depending on the determined expected sideslip angle and / or the determined expected roll angle. In particular, in the Fig. The situation depicted in 1 represents the step of adaptation. In particular, in Fig. 1. To recognize the swaying of vehicle 3. Vehicle 3 is swaying about its longitudinal axis 11 ( Fig. 4) rotated. In particular, the projection 1 is adjusted within a display field 12.

[0038] In particular, in Fig. 1. A future route, in particular the travel trajectory 10, is known in advance. The vehicle 3 may have a curve tilting device. This is used, for example, situationally depending on the desired future roll angle, in particular the expected roll angle, which is based on a future curvature of the travel trajectory 10. The projection 1 tilts accordingly, for example, by adjusting it. By taking information from the curve tilting device into account, the projection 1 can be stabilized within the display field 12, in particular with respect to a road surface and / or a horizon.

[0039] In Fig. Figure 3 shows exemplary positions of projection 1, which were adjusted using the procedure. For example, projection 1 is rotated in display field 12 such that it compensates for any rolling of the vehicle 3. For example, position a) is the one for Fig. 1 adjusted position.

[0040] In Fig. Figure 4 shows another exemplary situation in which the procedure can be carried out. For example, vehicle 3 plans its driving trajectory 10. Based on the planned driving trajectory 10, vehicle 3, in particular a processing unit and / or an evaluation unit of vehicle 3, determines a predicted sideslip angle of vehicle 3 relative to its longitudinal axis 11. It may be expected that the driver's field of vision 14 lies along and around a section of the planned driving trajectory 10. By adjusting the projection 1, it is positioned within the field of vision 14 while vehicle 3 follows the planned driving trajectory 10. This adjustment is particularly advantageous when negotiating curves.

[0041] The in Fig. The depicted driving trajectory 10 can, for example, be described as a jerk-minimized trajectory. When following the jerk-minimized trajectory, higher drift angles occur than with a standard trajectory when cornering, which means that the longitudinal axis 11 of the vehicle 3 may not behave analogously, in particular parallel, to the driving trajectory 10 or to a lane center 13. If the head-up display 2 or the displayed content, i.e., the projection 1, remains in a fixed position, this can lead to confusion, for example, if the projection 1 is not on a roadway, especially a lane, but outside of it, or does not correspond to the driver's field of vision 14. Shifting the displayed information, especially the projection 1, can provide improved visibility.For example, by precisely planning the vehicle trajectory 10 and the movements to be performed by the vehicle 3, the expected sideslip angle and, for example, information regarding the longitudinal axis 11 in relation to a reference line, such as the vehicle trajectory 10, can be used to adapt the head-up display 2 to the current situation. This adaptation can be based, for example, on the speed of the vehicle 3 or on future expected states using a predictive function, since motion planning, including, for example, the vehicle trajectory 10 and the movements to be performed by the vehicle 3, enables an estimation of the future motion behavior of the vehicle 3, particularly with regard to roll and sideslip angle. This can, for example, prevent phase delays caused by delayed adaptation, which are perceived as unpleasant.

[0042] Fig. Figure 4 shows, for example, an exemplary driving trajectory 10 for a comfort drift, as well as a vehicle orientation in different steps a, b, c, d, e while following the driving trajectory 10. Furthermore, the lane center 13 is shown schematically as a reference, along with a lane 15 to be traveled by the vehicle 3, an oncoming lane 16, and a non-drivable area 17, as well as the approximate field of vision 14, which varies depending on the driving situation a, b, c, d. It is particularly evident that a driver's viewing angle and, consequently, the field of vision 14 may not remain fixed. Information from the motion planning, especially the drift angle, is preferably translated into a shift of the projection 1 within the display field 12. This can be done, for example, continuously and predictively based on the current position of the vehicle 3 and / or via a temporal preview.

[0043] Fig. Figure 5 shows further exemplary positions of projection 1, which were adjusted using the procedure. For example, positions b and d are in Fig. 5 the adjusted positions for the trajectory positions at time b and d in the in Fig. 4 situations shown.

[0044] Fig. Figure 6 shows another exemplary situation in which the procedure is carried out. In particular, it shows Fig. 6. Four different situations a, b, c, d in which the procedure is carried out. For example, in situation a, Fig. 6 the position of projection 1 as in a in Fig. 5 is shown adapted. The same applies to situations b, c and d in Fig. 6 to the positions that are in Fig. 5 are shown. For example, vehicle 3 is driving in situation a in Fig. 6 along a planned travel trajectory 10, which runs along the center of the lane 13. In situations b and d in Fig. In situation 6, vehicle 3 moves to the right, offset from the center of lane 13. The same applies in situations b and d. Fig. 6. Projection 1 within display field 12 is shifted to the left from the perspective of the driver of vehicle 3. In situation c in Fig. 6 The vehicle 3 travels along a trajectory 10 which is offset to the left relative to the lane center 13. Accordingly, the projection 1 is shifted to the right from the driver's perspective.

[0045] In particular, in the Fig. In the situation depicted in Figure 1, the position of projection 1 is adjusted primarily depending on the expected roll angle. In the situation shown in Figure 1, the position of projection 1 is adjusted primarily depending on the expected roll angle. Fig. In the situation shown in section 4, the position of projection 1 is adjusted primarily depending on the expected swimming angle. In the situation shown in Fig.In the situation shown in Figure 6, the position of the projection 1 is adjusted primarily depending on an offset of the vehicle 3 relative to the lane center 13. Reference symbol list 1 Projection 2 Head-up display 3 vehicles 4 Windscreen 5 Image source 6 magnifying mirrors 7 Folding mirrors 8 Cover glass 9 Driver's view 10. Travel trajectory 11 Longitudinal axis 12 Display field 13 Lane Center 14 Field of vision 15 lanes 16 opposite lane 17 non-drivable space

Claims

Method for adjusting the position of a projection (1) of a head-up display (2) of a vehicle (3) on a windscreen (4) of the vehicle (3), comprising the steps: a) providing trajectory information for the vehicle (3); b) determining an expected sideslip angle of the vehicle (3) and / or an expected roll angle of the vehicle (3) and / or an expected displacement of the vehicle (3) towards a lane center (13) of a lane (15) to be traveled on, depending on the trajectory information;c) Adjusting the position of the projection (1) of the head-up display (2) onto the windshield depending on the specific expected sideslip angle and / or the specific expected roll angle and / or the specific expected displacement towards the center of the lane (13), characterized in that a driving trajectory (10) is provided as trajectory information, wherein the vehicle (3) follows the provided driving trajectory (10) at least semi-autonomously, in particular with an autonomy level 2 or 2+ or 3, when carrying out the procedure. Method according to claim 1, wherein steps b) and c) are repeated depending on a current and / or an expected speed of the vehicle (3). Method according to one of the preceding claims, wherein trajectory information is provided by which the sideslip angle is set by controlling a front axle of the vehicle (3) and / or a rear axle of the vehicle (3). Method according to one of the preceding claims, wherein, depending on the trajectory information provided, an expected pitch angle of the vehicle (3) is determined and the position of the projection (1) is adjusted depending on the determined pitch angle. Method according to one of the preceding claims, wherein a mirror of the head-up display (2) is controlled and an alignment of the mirror is adjusted to adjust the position of the projection (1). Method according to one of the preceding claims, wherein the travel trajectory (10) is provided as trajectory information, wherein, in order to adjust the position of the projection (1) in the case of a non-straight section of the travel trajectory (10), the projection (1) is shifted horizontally in a direction of a curvature of the non-straight section. Method according to one of the preceding claims, wherein if the vehicle (3) travels off-center in the lane (15) in the width direction of the lane (15) on which the vehicle (3) travels, the projection (1) is shifted horizontally depending on the displacement towards the lane center (13) to adjust the position. Method according to one of the preceding claims, wherein the position is adjusted depending on a past and / or current and / or future expected head position of a driver of the vehicle (3). System comprising a head-up display (2) and a determination unit, wherein the system is configured to perform a method according to one of the preceding claims.

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