Dual-focal-plane arhud image height calibration method and apparatus, and vehicle

Abstract

Disclosed in the present invention are a dual-focal-plane ARHUD image height calibration method and apparatus and a vehicle. The method comprises: in response to a calibration instruction, generating a long-distance diagnosis instruction; in response to the long-distance diagnosis instruction, acquiring a first height value of a long-distance image; on the basis of the first height value and a first standard value, determining a first height difference; when the first height difference is greater than a first threshold value, performing a first height adjustment on the long-distance image, then cyclically performing an adjustment judgment until the judgment has passed, and generating a short-distance diagnosis instruction; in response to the short-distance diagnosis instruction, acquiring a second height value of a short-distance image; on the basis of the second height value and a second standard value, determining a second height difference; and, when the second height difference is greater than a second threshold value, performing a second height adjustment on the short-distance image, and then cyclically performing an adjustment judgment. The embodiments of the present invention can effectively solve the problem of height adjustment of two pictures of dual-focal-plane ARHUDs, and can be widely applied to the technical field of image data processing.

Description

A method and device for calibrating image height of a dual-focal-plane ARHUD, and a vehicle TECHNICAL FIELD

[0001] The present application relates to the technical field of image data processing, and in particular to a method and device for calibrating image height of a dual-focal-plane ARHUD, and a vehicle. BACKGROUND

[0002] ARHUD has become a point of attraction for passenger cars in recent years. The further development of ADAS (Advanced Driver Assistance System) and AR (Augmented Reality) interactive technology has driven the innovation of HUD technology. AR HUD, which combines practicality, technology, and immersive experience for users, has become the focus of major automakers. To meet the viewing comfort of key parameters and the immersive experience of AR, dual-focal-plane ARHUD has been introduced. This technology uses a design scheme in which two light sources share a set of lenses. On the basis of resource conservation, the two light sources control the images separately, and project a near-focal and a far-focal fusion image. The near-focal plane displays basic information, and the far-focal plane displays fusion information. The near-focal plane has better tolerance for glass precision and clearer display information, while the far-focal plane has higher tolerance for ghosting and displays short-time information. By switching the display content of the near-focal and far-focal planes, a better sense of depth is achieved. While the product's point of attraction has been improved, some technical problems have also emerged. The original image height adjustment method is no longer suitable for adjusting the height of the two images of the dual-focal-plane ARHUD. To meet the viewing needs of users of different heights and the fusion accuracy of AR, a solution to this problem is urgently needed.

[0003] SUMMARY

[0004] The present application aims to at least partially solve the limitations of the related art. To this end, the present application provides a method and device for calibrating image height of a dual-focal-plane ARHUD, which effectively solves the problem of calibrating image height of a dual-focal-plane ARHUD.

[0005] In one aspect, the present application provides a method for calibrating image height of a dual-focal-plane ARHUD, comprising:

[0006] In response to a calibration instruction, a long-distance diagnosis instruction is generated, and a first standard value and a second standard value are obtained.

[0007] In response to the long-distance diagnosis instruction, a first height value of a long-distance image is obtained, and a first height difference is determined based on the first height value and the first standard value.

[0008] When the first height difference is greater than the first threshold, performing first height adjustment on the long-distance image based on the first height difference, regenerating the long-distance diagnosis instruction, and then returning to perform the step of obtaining the first height value of the long-distance image in response to the long-distance diagnosis instruction until the first height difference is less than or equal to the first threshold, and generating the near-distance diagnosis instruction;

[0009] In response to the near-distance diagnosis instruction, obtaining a second height value of the near-distance image; and determining a second height difference based on the second height value and a second standard value.

[0010] When the second height difference is greater than the second threshold, performing second height adjustment on the near-distance image based on the second height difference, regenerating the near-distance diagnosis instruction, and then returning to perform the step of obtaining the second height value of the near-distance image in response to the near-distance diagnosis instruction until the second height difference is less than or equal to the second threshold.

[0011] In some embodiments, in response to the calibration instruction, the long-distance diagnosis instruction is generated, including:

[0012] Obtaining a calibration instruction sent by a calibration device, and transmitting the calibration instruction to the head-up display controller through a vehicle communication interface;

[0013] In response to the calibration instruction, the long-distance diagnosis instruction is generated by the head-up display controller.

[0014] In some embodiments, the method further includes:

[0015] In response to an operation action of the target object, an access request is sent to the head-up display controller by the calibration device;

[0016] When the access request is authorized, the calibration instruction is sent by the calibration device.

[0017] In some embodiments, in response to the long-distance diagnosis instruction, the first height value of the long-distance image is obtained, including:

[0018] In response to the long-distance diagnosis instruction, the long-distance image is projected onto a preset imaging medium by the head-up display device;

[0019] The first height value of the projected long-distance image is obtained from the imaging medium.

[0020] In some embodiments, the first height adjustment on the long-distance image based on the first height difference includes:

[0021] Based on the first height difference, the height of the long-distance image is adjusted by a large mirror motor.

[0022] In some embodiments, in response to the near-distance diagnosis instruction, the second height value of the near-distance image is obtained, including:

[0023] In response to the near-distance diagnosis instruction, project the near-distance image onto the preset imaging medium through the head-up display device;

[0024] Obtain the second height value of the projected near-distance image from the imaging medium.

[0025] In some embodiments, the second height adjustment of the far-distance image based on the second height difference comprises:

[0026] Adjust the height of the near-distance image through software picture migration based on the second height difference.

[0027] In another aspect, the embodiments of the present application provide a device for calibrating the height of a dual-focal-plane ARHUD image, comprising:

[0028] The first module is configured to generate a far-distance diagnosis instruction in response to a calibration instruction, and obtain a first standard value and a second standard value.

[0029] The second module is configured to obtain a first height value of a far-distance image in response to the far-distance diagnosis instruction, and determine a first height difference based on the first height value and the first standard value.

[0030] The third module is configured to, when the first height difference is greater than a first threshold value, perform first height adjustment of the far-distance image based on the first height difference, regenerate the far-distance diagnosis instruction, and then return to execute the step of obtaining the first height value of the far-distance image in response to the far-distance diagnosis instruction until the first height difference is less than or equal to the first threshold value, and generate a near-distance diagnosis instruction.

[0031] The fourth module is configured to obtain a second height value of a near-distance image in response to the near-distance diagnosis instruction, and determine a second height difference based on the second height value and the second standard value.

[0032] The fifth module is configured to, when the second height difference is greater than a second threshold value, perform second height adjustment of the near-distance image based on the second height difference, regenerate the near-distance diagnosis instruction, and then return to execute the step of obtaining the second height value of the near-distance image in response to the near-distance diagnosis instruction until the second height difference is less than or equal to the second threshold value.

[0033] In some embodiments, the device further comprises:

[0034] The sixth module is configured to, in response to an operation action of a target object, make an access request to the head-up display controller by the calibration device.

[0035] The seventh module is configured to, when the access request is authorized, issue a calibration instruction by the calibration device.

[0036] In another aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory; the memory is configured to store a program; and the processor is configured to execute the program to implement the method for calibrating the image height of the dual-focal-plane ARHUD.

[0037] In another aspect, an embodiment of the present application provides a computer storage medium, which stores a program executable by a processor, and the program executable by the processor is configured to implement the method for calibrating the image height of the dual-focal-plane ARHUD when executed by the processor.

[0038] In another aspect, an embodiment of the present application provides a vehicle, which comprises the device for calibrating the image height of the dual-focal-plane ARHUD or the electronic device.

[0039] The embodiment of the present application generates a long-distance diagnosis instruction in response to a calibration instruction; acquires a first standard value and a second standard value; acquires a first height value of a long-distance image in response to the long-distance diagnosis instruction; determines a first height difference according to the first height value and the first standard value; when the first height difference is greater than a first threshold value, performs first height adjustment on the long-distance image based on the first height difference, re-generates the long-distance diagnosis instruction, and then returns to execute the step of acquiring the first height value of the long-distance image in response to the long-distance diagnosis instruction until the first height difference is less than or equal to the first threshold value, and generates a near-distance diagnosis instruction; acquires a second height value of a near-distance image in response to the near-distance diagnosis instruction; determines a second height difference according to the second height value and the second standard value; when the second height difference is greater than a second threshold value, performs second height adjustment on the near-distance image based on the second height difference, re-generates the near-distance diagnosis instruction, and then returns to execute the step of acquiring the second height value of the near-distance image in response to the near-distance diagnosis instruction until the second height difference is less than or equal to the second threshold value. The embodiment of the present application can ensure the accuracy of image adjustment by pre-setting the standard value to cyclically adjust the two images of the dual-focal-plane ARHUD, and can effectively solve the problem of adjusting the height of the two images of the dual-focal-plane ARHUD. BRIEF DESCRIPTION OF DRAWINGS

[0040] The accompanying drawings are used to provide a further understanding of the technical solutions of the present application, constitute a part of the specification, and are used to explain the technical solutions of the embodiments of the present application together with the embodiments of the present application, and do not constitute a limitation on the technical solutions of the present application.

[0041] FIG. 1 is a schematic diagram of an implementation environment for calibrating the image height of the dual-focal-plane ARHUD according to an embodiment of the present application;

[0042] FIG. 2 is a flowchart of a method for calibrating the image height of the dual-focal-plane ARHUD according to an embodiment of the present application;

[0043] Fig. 3 is a schematic diagram of an architecture of a system for calibrating the height of a bifocal ARHUD image according to an embodiment of the present application;

[0044] Fig. 4 is another flowchart of a method for calibrating the height of a bifocal ARHUD image according to an embodiment of the present application;

[0045] Fig. 5 is a flowchart of a method for generating a long-distance diagnosis instruction according to an embodiment of the present application;

[0046] Fig. 6 is a flowchart of a method for obtaining a first height value according to an embodiment of the present application;

[0047] Fig. 7 is a schematic diagram of a principle for calculating the relationship between a height value and a standard value and an angle according to an embodiment of the present application;

[0048] Fig. 8 is a flowchart of an implementation of a method for calibrating the height of a bifocal ARHUD image according to an embodiment of the present application;

[0049] Fig. 9 is a schematic diagram of a structure of a device for calibrating the height of a bifocal ARHUD image according to an embodiment of the present application;

[0050] Fig. 10 is a schematic diagram of a structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0052] It should be noted that although the functional modules are divided in the system schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the system or the order in the flowchart. The terms "first / S100", "second / S200" and the like in the specification and claims and the above-described drawings are used to distinguish similar objects and do not necessarily describe a specific order or sequence.

[0053] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive or alternative embodiments. It is explicitly understood that the embodiments described herein can be combined with each other, explicitly and implicitly.

[0054] In order to facilitate the understanding of the technical solutions of the present application, first, the meanings of the parameters that can be cited in the embodiments of the present application are explained and described as follows:

[0055] HUD: is the abbreviation of head-up display, head-up display system, which can display some important information in the normal observation direction of the field of view, while also not affect the attention to the environment, also do not always shift the line of sight to observe the instrument panel of those pointers and data. HUD in the automotive field is to project the speed, navigation and other important driving information, to the windshield in front of the driver, so that the driver can try to do not lower, not to turn to see the speed, navigation and other important driving information.

[0056] ARHUD: AR technology and the combination of head-up display. AR technology, the full name of Augmented Reality, translated into augmented reality. It is a new technology that integrates real-world information and virtual world information "seamlessly". The goal of this technology is to put the virtual world on the screen and interact with the real world. ARHUD is to integrate AR technology into the HUD optical projection system, overlay digital images on the real world we see, so that the information projected by the HUD is integrated with the real driving environment.

[0057] ODB diagnostic port: is an international standard automobile communication interface. Later, the transmission speed of OBD is improved, and it is upgraded to OBD-II interface. It is a standard interface for communication between car computer and external. With the development of automobiles, the interfaces of various manufacturers are different. Early car manufacturers are relatively few, and all use OBD external interface. There are dozens of car computer communication interfaces, but most of the cars produced in Europe and Germany still use OBD interface. The general interface is below the steering wheel of the car, in a position easy to connect data lines.

[0058] LVDS: Low-Voltage Differential Signaling, low-voltage differential signaling, is a low-power, low-error rate, low-crosstalk and low-radiation differential signal technology. This transmission technology can reach more than 155Mbps, the core of LVDS technology is to use very low voltage swing high-speed differential transmission data, which can realize point-to-point or one-to-many connection, and its transmission medium can be copper PCB wiring or balanced cable.

[0059] It can be understood that the double-focal-plane ARHUD image height calibration method provided by the embodiments of the present application can be applied to any computer device with data processing and calculation capability, and the computer device can be various terminals or servers. When the computer device in the embodiments is a server, the server is an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and basic cloud computing services such as big data and artificial intelligence platforms. In some embodiments, the terminal is a smartphone, a tablet computer, a notebook computer, a desktop computer, and the like, but is not limited thereto.

[0060] As shown in FIG. 1, it is an implementation environment schematic diagram provided by the embodiments of the present application. Referring to FIG. 1, the implementation environment includes at least one terminal 102 and a server 101. The terminal 102 and the server 101 can be connected through wireless or wired network connection to complete data transmission and exchange.

[0061] The server 101 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and basic cloud computing services such as big data and artificial intelligence platforms.

[0062] In addition, the server 101 can also be a node server in a blockchain network. The blockchain is a new application mode of distributed data storage, point-to-point transmission, consensus mechanism, encryption algorithm, and other computer technologies.

[0063] The terminal 102 can be a smartphone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, and the like. The terminal 102 can also be a vehicle-mounted terminal of various device types as exemplified above, but is not limited thereto. The terminal 102 and the server 101 can be directly or indirectly connected through wired or wireless communication, and the embodiments of the present application do not limit this.

[0064] Exemplarily based on the implementation environment shown in FIG. 1, the embodiment of the present application provides a method for calibrating the height of a dual-focal-plane ARHUD image. The following takes the method for calibrating the height of a dual-focal-plane ARHUD image as an example applied to the server 101, and it can be understood that the method for calibrating the height of a dual-focal-plane ARHUD image can also be applied to the terminal 102.

[0065] Referring to FIG. 2, FIG. 2 is a flowchart of the method for calibrating the height of a dual-focal-plane ARHUD image applied to a server provided by the embodiment of the present application. The execution subject of the method for calibrating the height of a dual-focal-plane ARHUD image can be any one of the aforementioned computer devices (including servers or terminals). Referring to FIG. 2, the method includes the following steps:

[0066] S100, in response to a calibration instruction, generating a long-distance diagnosis instruction; obtaining a first standard value and a second standard value;

[0067] In some embodiments, as shown in FIG. 4, the method can further include: in response to the operation action of the target object, making an access request to the head-up display controller by the calibration device; and when the access request is authorized, issuing a calibration instruction by the calibration device.

[0068] Exemplarily, in some specific embodiments, the method of the present application is applied to a dual-focal-plane ARHUD image calibration system as shown in FIG. 3. The system includes:

[0069] Calibration device: responsible for acquiring calibration images, issuing control instructions (calibration instructions), accepting ARHUD feedback instructions ARHUD controller (i.e. head-up display controller) and ARHUD light machine: providing standard calibration images, feedback calibration information calibration device, executing calibration instructions;

[0070] Vehicle-mounted system: providing power supply system, calibration environment;

[0071] Windshield: providing imaging medium;

[0072] ARHUD (i.e. head-up display device) inside: motor, MCU, TFT light machine, etc., as an execution mechanism.

[0073] Specifically, first, calibration is started, and the specific implementation is as follows:

[0074] 1) Start the ARHUD calibration device and enter an extended session;

[0075] 2) Enter a security access request seed, key execution, and issue a calibration instruction.

[0076] It should be noted that in some embodiments, as shown in FIG. 5, in response to the calibration instruction, generating the long-distance diagnosis instruction can include: S101, obtaining the calibration instruction sent by the calibration device, and transmitting the calibration instruction to the head-up display controller through the automobile communication interface; S102, in response to the calibration instruction, generating the long-distance diagnosis instruction by the head-up display controller.

[0077] Exemplarily, in some specific embodiments, as shown in FIG. 3, after the vehicle receives the diagnosis instruction (calibration instruction), the calibration and verification process of the long-distance image is first forwarded to the ARHUD controller through the OBD diagnosis port (i.e. the automobile communication interface), and then performed by the ARHUD controller.

[0078] S200, in response to the long-distance diagnosis instruction, obtaining a first height value of the long-distance image; determining a first height difference according to the first height value and a first standard value;

[0079] It should be noted that in some embodiments, as shown in FIG. 6, in response to the long-distance diagnosis instruction, obtaining the first height value of the long-distance image can include: S201, in response to the long-distance diagnosis instruction, projecting the long-distance image to the preset imaging medium through the head-up display device; S202, obtaining the first height value of the projected long-distance image from the imaging medium.

[0080] Exemplarily, in some specific embodiments, as shown in FIG. 3, the ARHUD controller can send the long-distance test image diagnosis instruction (1F instruction, i.e. long-distance diagnosis instruction) to the ARHUD (head-up display device) based on the LVDS (low voltage differential signal), and then the ARHUD projects the long-distance image to the windshield, and the height value of the projected long-distance image is read from the fixed eye box center point through the visual acquisition technology.

[0081] In some specific embodiments, the first height difference is determined according to the first height value and the first standard value, which can be directly obtained by subtracting the first height value from the first standard value, and correspondingly, the first threshold value can be a preset length threshold. In some preferred embodiments, since the first height value is obtained by reading from the windshield (glass) through visual acquisition, the processing of the first height difference can also convert the first height value and the first standard value into an angle difference in the visual angle, and correspondingly, the first threshold value can be a preset angle threshold. It should be noted that the visual angle is the angle between the visual line and the vertical direction of the display, and the angle between the light rays drawn from both ends (top, bottom or left, right) of the object and the optical center of the eye. The smaller the size of the object and the farther away from the observer, the smaller the visual angle. The normal eye can distinguish the minimum visual angle of two points on the object, which is about 1 minute. As shown in FIG. 7, according to the definition of the visual angle (the angle between the center line of the eye box and the virtual image center of the HUD and the horizontal direction), the relationship between the first height value and the first standard value and the angle can be calculated through a simple trigonometric conversion relationship.

[0082] S300, when the first height difference is greater than the first threshold value, the first height of the long-distance image is adjusted based on the first height difference, the long-distance diagnosis instruction is regenerated, and then the step of acquiring the first height value of the long-distance image in response to the long-distance diagnosis instruction is returned until the first height difference is less than or equal to the first threshold value, and the short-distance diagnosis instruction is generated;

[0083] It should be noted that in some embodiments, the first height adjustment of the long-distance image based on the first height difference can include adjusting the height of the long-distance image through the large reflector motor based on the first height difference.

[0084] For example, in some specific embodiments, the long-distance image is projected through the large reflector, and the height adjustment of the long-distance image can be achieved by controlling the step motor to drive the large reflector to rotate, and adjusting the rotation angle based on the height difference to drive the large reflector to adjust the height of the projected long-distance image. In some specific embodiments, in order to improve the height adjustment accuracy, the first height value of the long-distance image to be adjusted and the height difference can be written into the adjustment device (i.e. the large reflector motor) at the same time, and the first height value is used as the adjustment reference and the height difference is used as the adjustment parameter.

[0085] In some specific embodiments, the long-distance image calibration and verification process can be implemented through the following process:

[0086] 1) Send a long-distance test image diagnosis instruction (1F instruction) and read the long-distance image height value;

[0087] 2) Determine the difference AH between the long-distance image height value and the long-distance image height standard value;

[0088] 3) Perform the write distance height value, supplement the height difference of △H; carry out height adjustment;

[0089] 4) Restart the HUD image display, send the distance test image diagnostic instruction (1F instruction), and read the distance image height value;

[0090] 5) Perform the calibration process (such as step 2)), and the criterion is △H = H1-H2≤0.3°; if it does not meet the criterion, the image adjustment and calibration steps are cycled until it meets the criterion, and the next calibration is entered.

[0091] S400, in response to the near distance diagnostic instruction, a second height value of the near distance image is obtained; and a second height difference is determined according to the second height value and a second standard value;

[0092] It should be noted that in some embodiments, in response to the near distance diagnostic instruction, the second height value of the near distance image can be obtained, which can include: in response to the near distance diagnostic instruction, projecting the near distance image to the preset imaging medium through the head-up display device; and obtaining the second height value of the projected near distance image from the imaging medium.

[0093] Exemplarily, as shown in FIG. 3, in some specific embodiments, the ARHUD controller can send the near distance test image diagnostic instruction (2F instruction, i.e., the near distance diagnostic instruction) to the ARHUD (head-up display device) based on the LVDS (low voltage differential signal), and then the ARHUD projects the near distance image to the windshield, and the height value of the projected near distance image is read from the fixed eyebox center point through the visual acquisition technology.

[0094] In some specific embodiments, the second height difference can be directly obtained by subtracting the second height value from the second standard value, and correspondingly, the second threshold value can be a preset length threshold value; in some preferred embodiments, since the second height value is obtained by reading from the windshield (glass) through visual acquisition, the processing of the second height difference can also convert the second height value and the second standard value into an angle difference in the visual angle, and correspondingly, the second threshold value can be a preset angle threshold value. It should be noted that the visual angle is the angle between the visual line and the vertical direction of the display, and the angle between the light rays drawn from both ends (top, bottom or left, right) of the object and the optical center of the eye when observing the object. The smaller the size of the object and the farther the distance from the observer, the smaller the visual angle. The normal eye can distinguish two points on the object with a minimum visual angle of about 1 minute. As shown in FIG. 7, according to the definition of the visual angle (the angle between the eyebox center point and the HUD virtual image center line and the horizontal direction), the relationship between the second height value, the second standard value and the angle can be calculated through the simple conversion relationship of the trigonometric function.

[0095] S500, when the second height difference is greater than the second threshold, performing second height adjustment on the close-range image based on the second height difference, regenerating the close-range diagnostic instruction, and then returning to perform the step of obtaining the second height value of the close-range image in response to the close-range diagnostic instruction until the second height difference is less than or equal to the second threshold.

[0096] It should be noted that in some embodiments, the second height adjustment on the close-range image based on the second height difference can include adjusting the height of the close-range image by software patch migration based on the second height difference.

[0097] Exemplarily, in some specific embodiments, the height adjustment of the close-range image can be directly implemented by scaling the close-range image through software patch migration. In some specific embodiments, in order to improve the height adjustment accuracy, the second height value of the close-range image to be adjusted and the height difference can be written into the adjustment device (i.e., the device performing software patch migration) at the same time, and the second height value is taken as the adjustment reference and the height difference is taken as the adjustment parameter.

[0098] In some specific embodiments, the close-range image calibration and verification process can be implemented through the following process:

[0099] 1) Send a close-range test image diagnostic instruction (2F instruction) and read the close-range image height value;

[0100] 2) Determine the difference Ah between the close-range image height value and the close-range image height standard value;

[0101] 3) Perform writing of the close-range height value and supplementing of the height difference Ah; perform height adjustment;

[0102] 4) Restart the HUD image display, send the close-range test image diagnostic instruction (2F instruction), and read the image height value;

[0103] 5) Perform the calibration process (such as step 2)), determine the standard Ah = h1-h2≤0.3°; if not met, perform the image adjustment and calibration steps in a loop until the determination standard is met, and then enter other calibration or end.

[0104] To explain the principle of the technical scheme of the present application in detail, the overall process of the present application will be described below in combination with some specific embodiments. It should be easily understood that the following is an explanation of the technical principle of the present application and cannot be regarded as a limitation of the present application.

[0105] First of all, it should be noted that the embodiment of the present application provides a double-focus ARHUD image height calibration system, as shown in FIG. 3, and the system block diagram is as follows:

[0106] Calibration device: responsible for the acquisition of calibration image, issuing control instructions (calibration instructions), receiving ARHUD feedback instructions ARHUD controller and ARHUD light machine: provide standard calibration image, feedback calibration information calibration device, execute calibration instructions;

[0107] Vehicle-mounted system: provide power supply system, calibration environment;

[0108] Windshield: provide imaging medium;

[0109] ARHUD internal: motor, MCU, TFT light machine, etc., as an actuator.

[0110] In some specific embodiments, the above system is used as the application scenario of the double-focal-plane ARHUD image height calibration method provided by the present application, as shown in FIG. 8, and the specific implementation is as follows:

[0111] 1. Calibration start:

[0112] 1) Start the ARHUD calibration device and enter the extended session;

[0113] 2) Enter the security access request seed, key execution, and issue calibration instructions.

[0114] 2. After the vehicle receives the diagnostic instructions (calibration instructions), the long-distance image calibration verification process is performed:

[0115] 1) Send long-distance test image diagnostic instructions (1F instructions) and read the long-distance image height value;

[0116] 2) Determine the difference AH between the long-distance image height value and the long-distance image height standard value;

[0117] 3) Perform write long-distance height value, supplement the height difference AH; height adjustment;

[0118] 4) Restart the HUD image display, send long-distance test image diagnostic instructions (1F instructions), and read the long-distance image height value;

[0119] 5) Perform calibration process (such as step 2)), determine the standard AH = H1-H2≤0.3°; If it does not meet the standard, it will be recycled for image adjustment and calibration steps until it meets the standard, and proceed to the next calibration.

[0120] 3. After the vehicle receives the diagnostic instructions, the near-distance image calibration verification process is performed:

[0121] 1) Send near-distance test image diagnostic instructions (2F instructions) and read the near-distance image height value;

[0122] 2) Determine the difference Ah between the near-distance image height value and the near-distance image height standard value;

[0123] 3) Perform the write-in near distance height value, supplement the height difference of △h; carry out the height adjustment;

[0124] 4) Restart the HUD image display, send the near distance test image diagnosis instruction (2F instruction), and read the image height value;

[0125] 5) Perform the calibration process, and the criterion is △h = h1-h2≤0.3°; if not met, the image adjustment and calibration steps are cycled until the criterion is met;

[0126] 4. Perform subsequent other calibration processes, and exit.

[0127] In summary, the present application aims to solve the adjustment problem of the two picture heights of the bifocal ARHUD. The present application can improve the total assembly offline precision of the ARHUD, the single vehicle 100% calibration pass rate, improve the yield of the IFC calibration line body, and reduce the energy consumption of the factory; the present application can perform differential learning and differential fine calibration for each vehicle, and is more accurate; the algorithm is refined and effective, no one intervenes, and the robustness is improved.

[0128] On the other hand, as shown in FIG. 9, the embodiment of the present application provides a bifocal ARHUD image height calibration device 900, which can include:

[0129] The first module 910 is configured to generate a far distance diagnosis instruction in response to a calibration instruction; and obtain a first standard value and a second standard value;

[0130] The second module 920 is configured to obtain a first height value of a far distance image in response to the far distance diagnosis instruction; and determine a first height difference according to the first height value and the first standard value;

[0131] The third module 930 is configured to, when the first height difference is greater than a first threshold value, perform a first height adjustment on the far distance image based on the first height difference, regenerate the far distance diagnosis instruction, and then return to execute the step of obtaining the first height value of the far distance image in response to the far distance diagnosis instruction, until the first height difference is less than or equal to the first threshold value, and a near distance diagnosis instruction is generated;

[0132] The fourth module 940 is configured to obtain a second height value of a near distance image in response to the near distance diagnosis instruction; and determine a second height difference according to the second height value and the second standard value;

[0133] The fifth module 950 is configured to, when the second height difference is greater than a second threshold value, perform a second height adjustment on the near distance image based on the second height difference, regenerate the near distance diagnosis instruction, and then return to execute the step of obtaining the second height value of the near distance image in response to the near distance diagnosis instruction, until the second height difference is less than or equal to the second threshold value.

[0134] In some embodiments, the apparatus can further include:

[0135] a sixth module configured to, in response to the operation action of the target object, send an access request to the head-up display controller by the calibration device;

[0136] a seventh module configured to, when the access request is authorized, send a calibration instruction by the calibration device.

[0137] The method embodiments of the present application are applicable to the apparatus embodiments, and the apparatus embodiments achieve the same functions and have the same advantages as the method embodiments.

[0138] In another aspect, the present application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor implements the above-mentioned method for calibrating the height of the dual-focal-plane ARHUD image when executing the computer program. The electronic device can be any smart terminal, such as a tablet computer or a vehicle-mounted computer.

[0139] It can be understood that the above-mentioned method embodiments are applicable to the apparatus embodiments, and the apparatus embodiments achieve the same functions and have the same advantages as the method embodiments.

[0140] As shown in FIG. 10, FIG. 10 illustrates the hardware structure of the electronic device of another embodiment, which includes:

[0141] The processor 1001 can be implemented in the form of a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is configured to execute related programs to implement the technical solutions provided by the embodiments of the present application.

[0142] The memory 1002 can be implemented in the form of a ROM (ReadOnly Memory), a static storage device, a dynamic storage device, or a RAM (Random Access Memory). The memory 1002 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 1002 and are called and executed by the processor 1001 to implement the network node population optimization method of the embodiments of the present application.

[0143] The input / output interface 1003 is configured to realize information input and output.

[0144] The communication interface 1004 is configured to realize the communication interaction between the device and other devices, and the communication can be realized through a wired manner (for example, a USB, a network cable and the like) or a wireless manner (for example, a mobile network, WIFI, Bluetooth and the like).

[0145] The bus 1005 is configured to transmit information between various components (for example, the processor 1001, the memory 1002, the input / output interface 1003 and the communication interface 1004) of the device.

[0146] The processor 1001, the memory 1002, the input / output interface 1003 and the communication interface 1004 are connected to each other through the bus 1005 to realize the communication connection between the device.

[0147] The electronic device embodiments described above are only schematic, and the units described as separate components can or can not be physically separate, that is, can be located in one place or distributed on multiple network units. According to actual needs, part or all of the modules can be selected to realize the purposes of the embodiments.

[0148] The contents of the method embodiments of the present application are applicable to the electronic device embodiments, the functions realized by the electronic device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved by the electronic device embodiments are also the same as those achieved by the above method.

[0149] Another aspect of the embodiments of the present application further provides a computer readable storage medium, the storage medium stores a program, and the program is executed by a processor to realize the above method.

[0150] It should be noted that the computer readable medium shown in the embodiments of the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component. In the present application, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component. The program code contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired or the like, or any suitable combination thereof.

[0151] The contents of the method embodiments of the present application are applicable to the computer readable storage medium embodiments of the present application. The computer readable storage medium embodiments specifically implement the same functions as the above-mentioned method embodiments, and achieve the same beneficial effects as the above-mentioned methods.

[0152] The embodiments of the present application also disclose a computer program product or computer program, which comprises computer instructions stored in a computer readable storage medium. The processor of the computer device can read the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to make the computer device execute the above method.

[0153] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0154] It should be noted that although several modules for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0155] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, portable hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the method according to the embodiments of the present invention.

[0156] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this invention are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0157] Furthermore, although the present application is described in the context of functional modules, it is to be understood that one or more of the functions and / or features of'can be integrated in a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It will also be understood that detailed discussion of the actual implementation of each module is unnecessary to an understanding of the present application. Rather, the actual implementation is to be understood within the context of the properties, functions and internal relationships of the various functional modules disclosed herein. Accordingly, those skilled in the art will appreciate that the present application is practiced with ordinary skill in the art in view of the disclosure herein, and that the present application can be realized in alternative embodiments that do not depart from the scope of the application. It is therefore intended that the scope of'be determined by the full scope of the appended claims and their equivalents, and that'be construed as including any alterations and modifications to the illustrative embodiments such as would be apparent to those skilled in the art.

[0158] If the functions are implemented in software, the functions can be stored in or implemented as one or more computer program products, which can be incorporated into a computer-readable medium for use by or in connection with an apparatus, method, or system as described herein. The computer-readable medium can be a computer- readable storage medium or a computer-readable signal medium. The computer-readable storage medium can be, for example, but is not limited to, volatile memory, non-volatile memory, or a combination of the two. The computer-readable signal medium can be, for example, but is not limited to, a baseband signal, a carrier wave, a packet, or a bitstream.

[0159] The logic and / or steps represented in the flowcharts and / or otherwise described herein, for example, can be embodied in non-transitory computer-readable media, which can be executed by, used in, or performed by, an instruction execution device, apparatus, or equipment, such as a computer-based device, a processor-based device, or other device for example. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution device, apparatus, or equipment. The computer-readable medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, propagation medium, or computer medium. More specific examples of a computer-readable medium include an electrical connection, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a compact disk (CD), a digital versatile disk (DVD), an optical fiber, a cable, a memory card, a memory stick, and a flash memory.

[0160] More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection (electronic) having one or more wires, a portable computer diskette (magnetic), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can also be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

[0161] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the embodiments described above, various steps or methods can be implemented, for example, by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and in another embodiment, any of the following techniques can be used to implement the hardware: discrete logic circuits having logic gates for implementing logic functions upon data signals, application specific integrated circuits having logic gates for implementing logic functions upon data signals, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0162] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0163] Although embodiments of the present application have been shown and described, it would be recognized by those of ordinary skill in the art that various changes, modifications, alternatives, and variations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

[0164] The above is a specific description of the preferred embodiments of the present application, but the present application is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. A method for calibrating the height of a bifocal ARHUD image, characterized in that, The method comprises the following steps: In response to the calibration instruction, a long-distance diagnosis instruction is generated; a first standard value and a second standard value are obtained; In response to the long-distance diagnosis instruction, a first height value of a long-distance image is obtained; a first height difference is determined according to the first height value and the first standard value; When the first height difference is greater than a first threshold value, the long-distance image is adjusted in height based on the first height difference; the long-distance diagnosis instruction is regenerated; then the step of obtaining the first height value of the long-distance image in response to the long-distance diagnosis instruction is executed again until the first height difference is less than or equal to the first threshold value, and a near-distance diagnosis instruction is generated; In response to the near-distance diagnosis instruction, a second height value of a near-distance image is obtained; a second height difference is determined according to the second height value and the second standard value; When the second height difference is greater than a second threshold value, the near-distance image is adjusted in height based on the second height difference; the near-distance diagnosis instruction is regenerated; then the step of obtaining the second height value of the near-distance image in response to the near-distance diagnosis instruction is executed again until the second height difference is less than or equal to the second threshold value, and the calibration of the height of the bifocal head-up display image is completed.

2. The method of calibrating the bi-focal ARHUD image height according to claim 1, wherein, The step of generating the long-distance diagnosis instruction in response to the calibration instruction comprises the following steps: A calibration instruction sent by a calibration device is obtained, and the calibration instruction is transmitted to a head-up display controller through a vehicle communication interface; In response to the calibration instruction, the long-distance diagnosis instruction is generated by the head-up display controller.

3. The method of calibrating the height of a bifocal ARHUD image according to claim 1, wherein, The method further comprises the following steps: In response to an operation action of a target object, an access request is sent to the head-up display controller by the calibration device; When the access request is authorized, the calibration instruction is sent by the calibration device.

4. The method of calibrating the dual-focal-plane ARHUD image height of claim 1, wherein, The step of obtaining the first height value of the long-distance image in response to the long-distance diagnosis instruction comprises the following steps: In response to the long-distance diagnosis instruction, the long-distance image is projected onto a preset imaging medium by a head-up display device; The first height value of the projected long-distance image is obtained from the imaging medium.

5. The method of calibrating the height of a bifocal ARHUD image of claim 1, wherein, The step of adjusting the long-distance image in height based on the first height difference comprises the following steps: Based on the first height difference, the height of the long-distance image is adjusted by a large reflector motor.

6. The method of calibrating the height of a bifocal ARHUD image of claim 1, wherein, The step of obtaining the second height value of the near-distance image in response to the near-distance diagnosis instruction comprises the following steps: In response to the near-distance diagnosis instruction, the near-distance image is projected onto a preset imaging medium by a head-up display device; The second height value of the projected near-distance image is obtained from the imaging medium.

7. The method of calibrating the height of a bifocal ARHUD image of claim 1, wherein, The step of adjusting the near-distance image in height based on the second height difference comprises the following steps: Based on the second height difference, the height of the near-distance image is adjusted by a software picture migration.

8. A device for calibrating the height of a bifocal ARHUD image, characterized in that, The method comprises: A first module is configured to generate a long-distance diagnosis instruction in response to a calibration instruction; a first standard value and a second standard value are obtained; A second module is configured to obtain a first height value of a long-distance image in response to the long-distance diagnosis instruction; determine a first height difference according to the first height value and the first standard value; the third module is configured to, when the first height difference is greater than a first threshold value, perform first height adjustment on the long-distance image based on the first height difference, regenerate the long-distance diagnosis instruction, and then return to perform the step of obtaining a first height value of a long-distance image in response to the long-distance diagnosis instruction until the first height difference is less than or equal to the first threshold value, and generate a near-distance diagnosis instruction; the fourth module is configured to, in response to the near-distance diagnosis instruction, obtain a second height value of a near-distance image; and determine a second height difference according to the second height value and the second standard value; the fifth module is configured to, when the second height difference is greater than a second threshold value, perform second height adjustment on the near-distance image based on the second height difference, regenerate the near-distance diagnosis instruction, and then return to perform the step of obtaining a second height value of a near-distance image in response to the near-distance diagnosis instruction until the second height difference is less than or equal to the second threshold value, and complete the calibration of the height of the bifocal ARHUD image.

9. The bifocal ARHUD image height calibrating device of claim 8, wherein, The device further comprises: a sixth module configured to, in response to an operation action of a target object, send an access request to the head-up display controller by the calibration device; a seventh module configured to, when the access request is authorized, send the calibration instruction by the calibration device.

10. An electronic device, comprising: a processor and a memory; the memory is configured to store a program; the processor executes the program to implement the method in any one of claims 1 to 7.

11. A computer storage medium having stored thereon a program that is executable by a processor, the program comprising instructions for causing the processor to perform the method of any one of claims 1-10. The program executable by the processor, when executed by the processor, is configured to implement the method in any one of claims 1 to 7.

12. A vehicle characterized by comprising: The vehicle comprises the calibration device for the height of the bifocal ARHUD image according to claim 8 or the electronic device according to claim 10.

Images