Image display method and related device

Abstract

An image display method and a related device. The image display method comprises: acquiring current central eye position coordinates of a user, and when the current central eye position coordinates indicate that the current central eye position of the user does not fall within a target eye box area, acquiring current position coordinates of a reflector (S501); on the basis of the current central eye position coordinates and the current position coordinates of the reflector, determining a target direction vector of the current central eye position with respect to the reflector (S502); on the basis of the target direction vector and a preset basic rotation angle of the reflector, determining a reference rotation angle at which the reflector rotates toward the current central eye position (S503); acquiring an angle correction value, and correcting the reference rotation angle on the basis of the angle correction value, so as to obtain a target rotation angle at which the reflector rotates toward the current central eye position (S504); and adjusting the reflector on the basis of the target rotation angle, and displaying a first target image formed by means of reflection by the adjusted reflector (S505).

Description

Image display method and related device

[0001] This application claims priority to the Chinese patent application No. 202411368819.3, filed on September 29, 2024, to the Chinese Patent Office, the whole content of the above application being incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of automotive electronics, for example to an image display method and related device. BACKGROUND

[0003] A head-up display (HUD) can project instrument panel information, navigation information, warning information, etc. obtained by analyzing the vehicle and road conditions through sensors of intelligent driving to the front windshield or display of the vehicle in the form of images or characters, so that the user can view the required information without lowering his head during driving. Through optical design of the HUD system, a 3D HUD can also be realized, and the user can directly view three-dimensional images with depth without wearing special 3D glasses. For example, by setting a light splitting element in front of the liquid crystal screen, the image light emitted by the liquid crystal screen is split by the light splitting element, and then reflected by the mirror assembly, and enters the left eye and right eye of the user respectively, so that the left eye and right eye see different pictures and fuse into a 3D effect picture in the brain.

[0004] In the application process of 3D HUD, ideally the user can view a normal and clear 3D image within the eyebox area, but when the user moves his head left and right, he may exceed the eyebox range, resulting in a certain image distortion, blurring, etc. of the 3D image seen by the user, affecting the user experience. SUMMARY

[0005] To solve the above technical problems, the present application discloses an image display method, applied to a head-up display system, the method comprising:

[0006] obtaining a current center eye position coordinate of the user in real time; in the case that the current center eye position coordinate indicates that the current center eye position of the user does not fall into a target eyebox area, obtaining a current position coordinate of a mirror;

[0007] determining a target direction vector of the current center eye position relative to the mirror based on the current center eye position coordinate and the current position coordinate of the mirror;

[0008] determining a reference rotation angle of the mirror rotating to the current center eye position based on the target direction vector and a preset basic rotation angle of the mirror;

[0009] An angle correction value is obtained, a reference rotation angle is corrected based on the angle correction value, and a target rotation angle of the mirror rotating to the current center eye position is obtained; the angle correction value is determined by manually adjusting the mirror in advance;

[0010] The mirror is adjusted based on the target rotation angle, and a first target image formed by reflection of the adjusted mirror is displayed.

[0011] Further, the method further comprises:

[0012] A target eyebox region is obtained; the target eyebox region includes a plurality of eye position coordinates;

[0013] The current center eye position coordinates are compared with the plurality of eye position coordinates, and whether the current center eye position of the user falls into the target eyebox region is determined based on the comparison result.

[0014] Further, the method further comprises:

[0015] In a case where the comparison result is that the current center eye position of the user falls into the target eyebox region, the mirror is controlled to maintain a preset basic rotation angle;

[0016] A second target image formed by reflection of the mirror at the preset basic rotation angle is displayed.

[0017] Further, based on the current center eye position coordinates and the current mirror position coordinates, determining a target direction vector of the current center eye position relative to the mirror comprises:

[0018] Extracting a vector component of the current center eye position coordinates and a vector component of the current mirror position coordinates;

[0019] Based on a difference between the vector component of the current center eye position coordinates and the vector component of the current mirror position coordinates, determining a vector value of a reference direction vector; the direction of the reference direction vector is that the current center eye position points to the mirror;

[0020] According to the vector value of the reference direction vector and the opposite direction of the reference direction vector, the target direction vector is obtained.

[0021] Further, the method further comprises:

[0022] An initial default angle of the mirror and a user preset condition are obtained; the user preset condition includes an eye point height and a seat position;

[0023] The initial default angle of the mirror is adjusted based on the user preset condition, and a preset basic rotation angle of the mirror is obtained.

[0024] Further, based on the target direction vector and the preset basic rotation angle of the mirror, determining a reference rotation angle of the mirror rotating to the current center eye position comprises:

[0025] determine a first rotation angle of the mirror rotating to the current center eye position based on the target direction vector;

[0026] determine a reference rotation angle of the mirror rotating to the current center eye position based on a product of the first rotation angle and a preset basic rotation angle.

[0027] Further, the obtaining the angle correction value comprises:

[0028] obtaining a plurality of test eye positions in a preset eye position region; the preset eye position region comprises a target eye box region;

[0029] for each test eye position, determining a reference rotation angle of the mirror rotating to the test eye position;

[0030] obtaining a test rotation angle of the mirror rotating to the test eye position; the test rotation angle is determined by manually rotating and adjusting the mirror;

[0031] determining the angle correction value based on the reference rotation angle and the test rotation angle of the mirror rotating to each test eye position.

[0032] Further, the obtaining the test rotation angle of the mirror rotating to the test eye position comprises:

[0033] manually rotating and adjusting the angle of the mirror so that a test image reflected by the mirror after the manual rotation and adjustment directly faces the test eye position;

[0034] determining a change angle of the mirror after the manual rotation and adjustment relative to the preset basic rotation angle as the test rotation angle.

[0035] Further, the determining the angle correction value based on the reference rotation angle and the test rotation angle of the mirror rotating to each test eye position comprises:

[0036] determining a difference value between the reference rotation angle and the test rotation angle of the mirror rotating to each test eye position;

[0037] for the difference values corresponding to the plurality of test eye positions, determining a difference value statistical value, and taking the difference value statistical value as the angle correction value.

[0038] Further, the determining the difference value statistical value for the difference values corresponding to the plurality of test eye positions comprises:

[0039] determining a difference value average value for the difference values corresponding to the plurality of test eye positions.

[0040] Further, the real-time obtaining the current center eye position coordinate of the user comprises:

[0041] in response to an eye detection request for the user, obtaining a current left eye coordinate and a current right eye coordinate of the user;

[0042] determine a current center eye position coordinate based on the current left eye coordinate and the current right eye coordinate.

[0043] In another aspect, the present application provides an image display device applied to a head-up display system, the device comprising:

[0044] an eye detection module configured to acquire a current center eye position coordinate of a user in real time, and acquire a current mirror position coordinate of a mirror in a case where the current center eye position coordinate indicates that a current center eye position of the user does not fall into a target eye box region;

[0045] a vector calculation module configured to determine a target direction vector of the current center eye position relative to the mirror based on the current center eye position coordinate and the current mirror position coordinate;

[0046] an angle calculation module configured to determine a reference rotation angle of the mirror rotating to the current center eye position based on the target direction vector and a preset basic rotation angle of the mirror;

[0047] an angle correction module configured to acquire an angle correction value, correct the reference rotation angle based on the angle correction value to obtain a target rotation angle of the mirror rotating to the current center eye position, and the angle correction value is determined by pre-manual adjustment of the mirror;

[0048] a display module configured to adjust the mirror based on the target rotation angle, and display a first target image formed by reflection of the adjusted mirror.

[0049] Further, the device further comprises a judgment module configured to:

[0050] acquire the target eye box region, and the target eye box region comprises a plurality of eye position coordinates;

[0051] compare the current center eye position coordinate with the plurality of eye position coordinates, and determine whether the current center eye position of the user falls into the target eye box region based on a comparison result.

[0052] Further, the display module is further configured to:

[0053] in a case where the comparison result is that the current center eye position of the user falls into the target eye box region, control the mirror to maintain the preset basic rotation angle;

[0054] display a second target image formed by reflection of the mirror with the preset basic rotation angle.

[0055] Further, the vector calculation module is further configured to:

[0056] extract a vector component of the current center eye position coordinate and a vector component of the current mirror position coordinate;

[0057] determining a vector value of a reference direction vector based on a difference between a vector component of the current center eye position coordinate and a vector component of the current mirror position coordinate; a direction of the reference direction vector is from the current center eye position to the mirror;

[0058] obtaining a target direction vector according to the vector value of the reference direction vector and an opposite direction of the reference direction vector.

[0059] Further, the device further comprises an angle pre-adjustment module, configured to:

[0060] obtaining an initial default angle of the mirror and a user preset condition; the user preset condition comprises an eye point height and a seat position;

[0061] adjusting the initial default angle of the mirror based on the user preset condition to obtain a preset basic rotation angle of the mirror.

[0062] Further, the angle calculation module is further configured to:

[0063] determining a first rotation angle of the mirror rotating to the current center eye position based on the target direction vector;

[0064] determining a reference rotation angle of the mirror rotating to the current center eye position based on a product of the first rotation angle and the preset basic rotation angle.

[0065] Further, the angle correction module is further configured to:

[0066] obtaining a plurality of test eye positions in a preset eye position area; the preset eye position area comprises a target eye box area;

[0067] determining a reference rotation angle of the mirror rotating to each test eye position for each test eye position;

[0068] obtaining a test rotation angle of the mirror rotating to the test eye position; the test rotation angle is determined by manually rotating and adjusting the mirror;

[0069] determining an angle correction value based on the reference rotation angle of the mirror rotating to each test eye position and the test rotation angle.

[0070] Further, the angle correction module is further configured to:

[0071] manually rotating and adjusting the angle of the mirror to make a test image reflected by the mirror after the manual rotation and adjustment directly face the test eye position;

[0072] determining a change angle of the mirror after the manual rotation and adjustment relative to the preset basic rotation angle as the test rotation angle.

[0073] Further, the angle correction module is further configured to:

[0074] determine a difference between the reference rotation angle and the test rotation angle of the mirror to each test eye position;

[0075] For the difference corresponding to the plurality of test eye positions, determine a difference statistical value, and take the difference statistical value as an angle correction value.

[0076] Further, the angle correction module is further configured to: for the difference corresponding to the plurality of test eye positions, determine a difference average value.

[0077] Further, the eye detection module is further configured to:

[0078] In response to an eye detection request for the user, obtain a current left eye coordinate and a current right eye coordinate of the user;

[0079] Based on the current left eye coordinate and the current right eye coordinate, determine a current center eye position coordinate.

[0080] On the other hand, the present application also provides a head-up display system, comprising: an image generation unit, an image adjustment unit, an imaging component, a memory and a processor;

[0081] The image generation unit is configured to generate a real image of a target image;

[0082] The image adjustment unit is configured to adjust the reflection angle of the mirror to the target image;

[0083] The imaging component is configured to display a virtual image of the target image formed via the reflection of the mirror;

[0084] The memory is configured to store a memory of processor executable instructions;

[0085] The processor is configured to execute instructions to implement the image display method as described above.

[0086] On the other hand, the present application also provides a vehicle comprising the head-up display system as described above.

[0087] On the other hand, the present application also provides a computer readable storage medium, the storage medium storing at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by a processor to implement the image display method as described above.

[0088] By adopting the above technical solutions, the image display method provided by the present application has the following beneficial effects:

[0089] The current center eye position coordinate of the user is acquired in real time. In the case that the current center eye position coordinate is not located in the target eyebox region, a target rotation angle that the mirror needs to rotate is determined, so that the target image formed after the image generated by the image generation unit is reflected by the mirror can still be clearly and non-distortedly displayed in the user's eyes, and the 3D image without distortion can be viewed even if the center eye position of the user is not in the target eyebox region. BRIEF DESCRIPTION OF DRAWINGS

[0090] FIG. 1 is a schematic diagram of a structure component of a head-up display system according to an embodiment of the present application;

[0091] FIG. 2 is a schematic diagram of an application scene of a head-up display system according to an embodiment of the present application;

[0092] FIG. 3 is a schematic diagram of a naked-eye 3D display technology principle according to an embodiment of the present application;

[0093] FIG. 4 is a schematic diagram of an eyebox range according to an embodiment of the present application;

[0094] FIG. 5 is a schematic diagram of a flow of an image display method according to an embodiment of the present application;

[0095] FIG. 6 is a schematic diagram of a DMS detection range according to an embodiment of the present application;

[0096] FIG. 7 is a schematic diagram of an image display device according to an embodiment of the present application. DETAILED DESCRIPTION

[0097] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. The described embodiments are part or all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0098] The term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of this application. In the description of this application, it should be understood that the terms "upper," "lower," "top," "bottom," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are for the convenience of describing this application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data used can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.

[0099] A head-up display (HUD) is a comprehensive electronic display device composed of electronic components, display components, controllers, etc. Referring to Figure 1, the HUD system includes an image generation unit, a reflector, and an imaging component. The image generation unit includes a liquid crystal display (LCD) and a backlight module. The reflector can include a plane mirror and a curved mirror. In some application embodiments, the curved mirror is necessary, while the plane mirror is optional. The curved mirror can have two rotating axes (horizontal and vertical), and a motor is used to drive the rotating axes to rotate the curved mirror. The imaging component is located in front of the user, commonly in the form of a car windshield.

[0100] The conventional HUD works as follows: it acquires information such as vehicle speed, navigation information, and warnings through a communication bus, and generates images and characters from the corresponding information in the image generation unit. These images are then reflected by a mirror and projected onto the imaging component in front of the user to form a virtual image, such as projected onto the windshield. The user can view the virtual image formed on the windshield from different eye positions within the eye box area, so that the user can obtain important driving information without looking down.

[0101] Figure 2 is a schematic diagram of an application scenario of an image display method based on a head-up display device in a possible embodiment of this application. It should be noted that Figure 2 is an exemplary scenario. Other scenarios may also include other implementation environments, such as airplanes, high-speed trains, etc.

[0102] By optical design of the HUD system, a 3D HUD can also be realized. The 3D HUD refers to a naked-eye 3D display technology, and a user can directly watch a three-dimensional image with naked eyes without wearing special 3D glasses. There are multiple ways to realize naked-eye 3D, for example, a slit grating / cylindrical grating is attached to a liquid crystal screen of an image source, and the light splitting technology of the grating is used to divide the pixels covered by the grating into pixels for the left eye and the right eye of the user, so that the left eye and the right eye of the user see different pictures in the eyebox area, a parallax is generated, and a 3D effect picture is synthesized by the brain. FIG. 3 is a schematic diagram of the principle of the naked-eye 3D display technology. As shown in FIG. 3, by optical design of the HUD system, the left eye of the user sees an image I1, and the right eye of the user sees an image I2. The image I1 and the image I2 can be synthesized into a stereoscopic picture with depth in the brain of the user.

[0103] The eyebox area is a range of eye positions in which a user can see a complete virtual image, and can include multiple eye positions. In some application embodiments, in the HUD system, the size of the eyebox is usually 130 cm*50 cm. With reference to FIG. 4, different height eyeboxes such as an upper eyebox, a middle eyebox, and a lower eyebox can be set in the adjustment range (such as ±50 mm) in the vertical direction to correspond to virtual images of different heights.

[0104] In the 3D HUD application process, ideally, a user can watch a normal and clear 3D image in the eyebox area. However, when the user moves the head left and right, the eye position can be out of the eyebox area, causing the 3D image seen by the user to have certain problems such as distortion and blur, which affects the user experience.

[0105] To solve the above problems in the prior art, the present application considers that a 3D image is a virtual image formed after reflection of a mirror assembly, and the angle of the mirror affects the imaging angle of the virtual image. Therefore, in the case that the eye position of the user is out of the eyebox area, the angle of the mirror can be adjusted to change the imaging angle of the virtual image, so that the user can re-observe a normal and clear virtual image, and the visual effect of the user is improved.

[0106] Therefore, the present application provides an image display method and related equipment. With reference to FIG. 5, a flowchart of an image display method is shown, and the method includes the following steps:

[0107] S501, a current center eye position coordinate of a user is acquired in real time. In the case that the current center eye position coordinate indicates that the current center eye position of the user does not fall into a target eyebox area, a current position coordinate of a mirror is acquired.

[0108] Specifically, when the user uses the HUD system, the eye position of the user is detected in real time by a driver monitoring system (DMS), the DMS uses a camera or other sensors to track the line of sight of the driver, and the eye position information of the user can be obtained, and the eye position information includes the current center eye position coordinates of the user.

[0109] In a possible implementation, the step S501 can include: in response to an eye detection request for the user, obtaining a current left eye coordinate and a current right eye coordinate of the user; and determining the current center eye position coordinates based on the current left eye coordinate and the current right eye coordinate. The current left eye coordinate and the current right eye coordinate of the user are three-dimensional coordinates, which are usually represented as (x, y, z) values in a three-dimensional space. The current center eye position coordinates can be approximately calculated by taking the average of the current left eye coordinate and the current right eye coordinate, for example, the current left eye coordinate is (L X ,L Y ,L Z ), the current right eye coordinate is (R X ,R Y ,R Z ), and the current center eye position coordinates (C X ,C Y ,C Z ) are C X =(L X +R X ) / 2, C Y =(L Y +R Y ) / 2, and C Z =(L Z +R Z ) / 2. Thus, the current center eye position coordinates of the user are obtained in real time by the DMS, and the current center eye position coordinates are marked as (DMS.position), which are vector coordinates and have a size and a direction.

[0110] Generally, when the current center eye position coordinates are within the target eye box region, the user can view clear and non-distorted 3D images, and if the current center eye position coordinates are not within the target eye box region, the 3D images viewed by the user can be blurred and distorted, affecting the visual experience.

[0111] Therefore, after the DMS obtains the current center eye position coordinates of the user, it is determined whether the current center eye position of the user falls within the target eye box region. In a possible implementation, the determination method is: obtaining a target eye box region; the target eye box region includes a plurality of eye position coordinates; comparing the current center eye position coordinates with the plurality of eye position coordinates, and determining whether the current center eye position of the user falls within the target eye box region based on the comparison result.

[0112] The detection range of the DMS is larger than the range of the target eyebox region, so the DMS can be detected even if the eye position of the user is out of the target eyebox region. Referring to FIG. 6, the detection range of the DMS includes the positions C1-C9, covering the target eyebox region, and the target eyebox region also includes a plurality of eye position coordinates (not shown in the figure). After obtaining the range of the target eyebox region, the current central eye position coordinate is compared with the plurality of eye position coordinates in the target eyebox region to generate a comparison result, and it is determined whether the current central eye position of the user falls into the target eyebox region based on the comparison result. In the embodiments of the present application, the target eyebox region takes the middle eyebox as an example, and the implementation manners of the upper eyebox and the lower eyebox are the same as those of the middle eyebox.

[0113] In the case where the comparison result is that the current central eye position of the user does not fall into the target eyebox region, the current position coordinate of the mirror is obtained, and the current position coordinate of the mirror is marked as (CM.position). Similar to the current central eye position coordinate, the current position coordinate of the mirror is also a three-dimensional vector coordinate and has a direction. In the embodiments of the present application, the mirror is a curved mirror.

[0114] S502, based on the current central eye position coordinate and the current position coordinate of the mirror, determining a target direction vector of the current central eye position relative to the mirror.

[0115] Specifically, according to the current central eye position coordinate and the current position coordinate of the mirror, the target direction vector between the DMS and the mirror can be calculated, and the direction of the target direction vector is that the current central eye position points to the mirror.

[0116] In a possible implementation, the step of calculating the target direction vector in S502 can include:

[0117] extracting the vector component of the current central eye position coordinate and the vector component of the current position coordinate of the mirror;

[0118] determining the vector value of the reference direction vector based on the difference between the vector component of the current central eye position coordinate and the vector component of the current position coordinate of the mirror; the direction of the reference direction vector is that the current central eye position points to the mirror;

[0119] obtaining the target direction vector according to the vector value of the reference direction vector and the opposite direction of the reference direction vector.

[0120] Specifically, as known from the foregoing, the current center eye position coordinate and the mirror current position coordinate are vector coordinates, having a size and a direction, the vector component of the current center eye position coordinate is extracted, and the vector component of the mirror current position coordinate is subtracted, to obtain the vector value of the reference direction vector dmsToCM, denoted as dmsToCM=DMS.position-CM.position. The direction of the reference direction vector is that the current center eye position points to the mirror. In order to accurately project the image onto the user's line of sight, the mirror needs to be adjusted to the direction opposite to the reference direction vector, to ensure that the image accurately enters the user's field of view after being reflected by the mirror, so that the image always rotates in the direction toward the current center eye position. Therefore, the opposite direction of the reference direction vector and the vector value of the reference direction vector are taken to obtain the target direction vector -dmsToCM.

[0121] In S503, a reference rotation angle of the mirror rotating to the current center eye position is determined based on the target direction vector and a preset basic rotation angle of the mirror.

[0122] Specifically, the preset basic rotation angle of the mirror refers to a default angle preset for the mirror when the HUD system is designed. The setting of the mirror angle is usually made by considering some standard conditions such as eyebox range, field of view angle, LCD thickness, etc., or average user parameters. However, since the specific conditions (such as height, seat position, etc.) of each driver are different, the mirror angle may need to be fine-tuned to adapt to the specific situation of the user using the HUD, so that users in different conditions can also watch clear and non-distorted 3D images within the target eyebox range. Thus, the preset basic rotation angle of the mirror is obtained, denoted as DefaultRotation.

[0123] In one possible manner, the acquisition of the preset basic rotation angle can include: acquiring a mirror initial default angle and user preset conditions; the user preset conditions include eye point height and seat position; and adjusting the mirror initial default angle based on the user preset conditions to obtain the preset basic rotation angle of the mirror.

[0124] Specifically, the mirror initial default angle is the angle set based on some standard conditions or average user parameters when the HUD system is designed, and then the mirror initial default angle is fine-tuned based on the user preset conditions to obtain the preset basic rotation angle of the mirror. The user preset conditions include but are not limited to eye point height and seat position. In the actual design process, the angle of the mirror can be adjusted according to other factors, which is not limited herein.

[0125] On the basis of the preset basic rotation angle of the mirror, the reference rotation angle of the mirror rotating to the current center eye position is determined through the target direction vector. Further, based on the target direction vector and the preset basic rotation angle of the mirror, the reference rotation angle of the mirror rotating to the current center eye position is determined, including: determining the first rotation angle of the mirror rotating to the current center eye position based on the target direction vector; determining the reference rotation angle of the mirror rotating to the current center eye position based on the product of the first rotation angle and the preset basic rotation angle.

[0126] Specifically, the target direction vector is determined, and then the Quaternion.LookRotation function is set to create a rotation quaternion acting on the target direction vector, which is used to set the rotation of the mirror to the direction of the target direction vector. The change amount of the rotated angle relative to the initial default angle is taken as the first rotation angle of the mirror rotating to the current center eye position, which is recorded as Quaternion.LookRotation(-dmsToCM). In addition, the first rotation angle is multiplied by the preset basic rotation angle of the mirror, as the combined rotation of the mirror, that is, the preset basic rotation angle is compensated on the basis of the rotation of the target direction vector, so that the mirror can not only clearly project the reflected virtual image to the user's eye position direction after adjustment, but also meet the user's original preset basic rotation angle based on the user's preset conditions, and also adapt to the current user's characteristics. The reference rotation angle of the mirror rotating to the current center eye position is recorded as CM.rotation1=Quaternion.LookRotation(-dmsToCM)*DefaultRotation.

[0127] S504, an angle correction value is obtained, and the reference rotation angle is corrected based on the angle correction value to obtain a target rotation angle of the mirror rotating to the current center eye position; the angle correction value is determined by manually adjusting the mirror in advance.

[0128] Specifically, before adjusting the mirror, the reference rotation angle can also be corrected. Because the data obtained by calculation may have deviations, an angle correction value for the mirror is obtained, and after the reference rotation angle is corrected based on the angle correction value, a target rotation angle of the mirror rotating to the current center eye position is obtained. The angle correction value is determined by manually adjusting the mirror in advance, that is, the mirror is manually adjusted in advance for different eye positions, so that the user can clearly watch the virtual image reflected by the mirror.

[0129] In one possible implementation, the step S504 of obtaining the angle correction value can include:

[0130] acquire a plurality of test eye positions of a preset eye position region; the preset eye position region comprises a target eyebox region;

[0131] determine a reference rotation angle of the mirror to the test eye position for each test eye position;

[0132] acquire a test rotation angle of the mirror to the test eye position; the test rotation angle is determined by manually rotating and adjusting the mirror;

[0133] determine an angle correction value based on the reference rotation angle and the test rotation angle of the mirror to each test eye position.

[0134] Specifically, the preset eye position region can be determined according to the detection range of the DMS. For example, the preset eye position region is the detection range of the DMS, and the preset eye position region comprises the target eyebox region. The detection range of the DMS includes camera positions C1-C9, and the plurality of test eye positions of the preset eye position region are consistent with the camera positions C1-C9, each test eye position simulating a real center eye position of a user. For each test eye position, the reference rotation angle of the mirror to the test eye position is determined by steps S501-S503, which will not be described here.

[0135] Then, the test rotation angle of the mirror to the test eye position is determined by manually rotating and adjusting the mirror. In one possible way, acquiring the test rotation angle of the mirror to the test eye position includes manually rotating and adjusting the angle of the mirror so that the test image reflected by the mirror after manual rotation and adjustment is directly opposite the test eye position; and determining the change angle of the mirror after manual rotation and adjustment relative to the preset basic rotation angle as the test rotation angle.

[0136] Specifically, for the test eye position, the angle of the mirror is manually rotated and adjusted so that the test image reflected by the mirror after manual rotation and adjustment is directly opposite the test eye position, i.e., the test eye position can view a clear and non-distorted test image, and the change angle of the mirror after adjustment relative to the preset basic rotation angle is determined as the test rotation angle.

[0137] After determining the reference rotation angle and the test rotation angle of the mirror to each test eye position, an angle correction value is determined based on the reference rotation angle and the test rotation angle of the mirror to each test eye position. In one possible way, determining the angle correction value includes:

[0138] determining the difference between the reference rotation angle and the test rotation angle of the mirror to each test eye position;

[0139] determining a difference statistical value for the differences corresponding to the plurality of test eye positions, and taking the difference statistical value as the angle correction value.

[0140] Specifically, for each test eye position, the reference rotation angle and the test rotation angle of the mirror towards the test eye position are subtracted to obtain a difference value, and then the difference values corresponding to the plurality of test eye positions are statistically obtained to obtain a difference statistical value, and the difference statistical value is taken as the angle correction value. In one possible manner, the difference statistical value is the average value of the difference, that is, the average of the difference values corresponding to the plurality of test eye positions is taken to obtain the angle correction value, denoted as A.(Rotation).

[0141] The reference rotation angle is added to the angle correction value A.(Rotation) to obtain a target rotation angle of the mirror towards the current center eye position, denoted as CM.rotation2 = Quaternion.LookRotation(-dmsToCM) * DefaultRotation + A.(Rotation).

[0142] S505, adjusting the mirror based on the target rotation angle, and displaying a first target image formed by reflection via the adjusted mirror.

[0143] Specifically, the target rotation angle is sent to the mirror control module, the mirror control module determines the rotation speed and direction of the control mirror based on the target rotation angle, sends a control signal to the driving motor, and the driving motor drives the mirror to rotate the target rotation angle in response to the control signal, so that the image generated by the image generation unit can form a first target image clearly and without distortion after being reflected by the adjusted mirror, and the user's eyes can clearly and without distortion. 3D image can be watched even if the user's center eye position is not in the target eye box region.

[0144] In one possible implementation, in the case where the comparison result is that the current center eye position of the user falls within the target eye box region, the mirror is controlled to maintain a preset basic rotation angle; and a second target image formed by reflection via the mirror with the preset basic rotation angle is displayed.

[0145] Specifically, if the current center eye position of the user falls within the target eye box region, the user can watch a clear and non-distorted 3D image within the target eye box region without adjusting the angle of the mirror, the mirror control module controls the mirror to maintain a preset basic rotation angle, and the image generated by the image generation unit is reflected by the mirror to form a second target image on the imaging component, and the second target image is displayed.

[0146] Through the above embodiments, the present application acquires the current center eye position coordinate of the user in real time through the DMS, and in the case that the current center eye position coordinate is not located in the target eye box region, the target rotation angle that the mirror needs to rotate is determined, so that the target image formed after the image generated by the image generation unit is reflected by the mirror can still be clearly and non-distortedly displayed in the user's eyes, and the 3D image without distortion can be viewed even if the center eye position of the user is not in the target eye box region.

[0147] On the other hand, with reference to FIG. 7, the present application provides an image display device, which comprises:

[0148] The eye detection module 710 is configured to acquire the current center eye position coordinate of the user in real time, and in the case that the current center eye position coordinate indicates that the current center eye position of the user does not fall into the target eye box region, acquire the current position coordinate of the mirror;

[0149] The vector calculation module 720 is configured to determine the target direction vector of the current center eye position relative to the mirror based on the current center eye position coordinate and the current position coordinate of the mirror;

[0150] The angle calculation module 730 is configured to determine the reference rotation angle of the mirror rotating to the current center eye position based on the target direction vector and the preset basic rotation angle of the mirror;

[0151] The angle correction module 740 is configured to acquire an angle correction value, correct the reference rotation angle based on the angle correction value to obtain the target rotation angle of the mirror rotating to the current center eye position; the angle correction value is determined by manually adjusting the mirror in advance;

[0152] The display module 750 is configured to adjust the mirror based on the target rotation angle, and display the first target image formed by reflecting the adjusted mirror.

[0153] Further, the device further comprises a judgment module configured to:

[0154] Acquire the target eye box region; the target eye box region comprises a plurality of eye position coordinates;

[0155] Compare the current center eye position coordinate with the plurality of eye position coordinates, and determine whether the current center eye position of the user falls into the target eye box region based on the comparison result.

[0156] Further, the display module 750 is further configured to:

[0157] In the case that the comparison result is that the current center eye position of the user falls into the target eye box region, control the mirror to maintain the preset basic rotation angle;

[0158] display a second target image formed by reflecting a mirror via a preset basic rotation angle.

[0159] Further, the vector calculation module 720 is further configured to:

[0160] extract a vector component of the current center eye position coordinate and a vector component of the current mirror position coordinate;

[0161] determine a vector value of a reference direction vector based on a difference between the vector component of the current center eye position coordinate and the vector component of the current mirror position coordinate; the direction of the reference direction vector is that the current center eye position points to the mirror;

[0162] obtain a target direction vector according to the vector value of the reference direction vector and an opposite direction of the reference direction vector.

[0163] Further, the device further comprises an angle pre-adjustment module configured to:

[0164] obtain a mirror initial default angle and a user preset condition; the user preset condition includes an eye point height and a seat position;

[0165] adjust the mirror initial default angle based on the user preset condition to obtain a preset basic rotation angle of the mirror.

[0166] Further, the angle calculation module 730 is further configured to:

[0167] determine a first rotation angle of the mirror rotated to the current center eye position based on the target direction vector;

[0168] determine a reference rotation angle of the mirror rotated to the current center eye position based on a product of the first rotation angle and the preset basic rotation angle.

[0169] Further, the angle correction module 740 is further configured to:

[0170] obtain a plurality of test eye positions in a preset eye position area; the preset eye position area contains a target eye box area;

[0171] for each test eye position, determine a reference rotation angle of the mirror rotated to the test eye position;

[0172] obtain a test rotation angle of the mirror rotated to the test eye position; the test rotation angle is determined by manually rotating and adjusting the mirror;

[0173] determine an angle correction value based on the reference rotation angle and the test rotation angle of the mirror rotated to each test eye position.

[0174] Further, the angle correction module 740 is further configured to:

[0175] manually rotate the angle of the reflecting mirror to make the test image reflected by the manually rotated reflecting mirror face the test eye position;

[0176] determine the change angle of the manually rotated reflecting mirror relative to the preset basic rotation angle as the test rotation angle.

[0177] Further, the angle correction module 740 is further configured to:

[0178] determine the difference between the reference rotation angle and the test rotation angle of the reflecting mirror to each test eye position;

[0179] determine a difference statistical value corresponding to the differences of the plurality of test eye positions, and take the difference statistical value as the angle correction value.

[0180] Further, the angle correction module is further configured to determine a difference average value corresponding to the differences of the plurality of test eye positions.

[0181] Further, the eye detection module 710 is further configured to:

[0182] obtain the current left eye coordinate and the current right eye coordinate of the user in response to the eye detection request of the user;

[0183] determine the current center eye position coordinate based on the current left eye coordinate and the current right eye coordinate.

[0184] On the other hand, the application also provides a head-up display system, comprising: an image generation unit, an image adjustment unit, an imaging component, a memory and a processor;

[0185] The image generation unit is configured to generate a real image of a target image;

[0186] The image adjustment unit is configured to adjust the reflection angle of the reflecting mirror to the target image;

[0187] The imaging component is configured to display a virtual image of the target image formed by the reflection of the reflecting mirror;

[0188] The memory is configured to store the memory of the processor executable instructions;

[0189] The processor is configured to execute the instructions to realize the image display method as described above.

[0190] The image generation unit can be a liquid crystal display (LCD), a digital light processing (DLP), or the like, and a backlight module, and the imaging component can be a windshield of the vehicle, a separate resin glass, or the like, which are not limited herein. The image adjustment unit is a combination of the DMS and the mirror control module to determine and adjust the reflection angle of the mirror to the target image.

[0191] The memory can be used to store software programs and modules, and the processor executes various function applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required by functions, etc.; and the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0192] In another aspect, the present application also provides a vehicle including the head-up display system as described above. The vehicle provided by the embodiment can include, but is not limited to, a land vehicle such as a vehicle, an aerial vehicle (or an aircraft) such as an airplane, or a water or underwater vehicle, etc.

[0193] In another aspect, the present application also provides a computer readable storage medium, wherein the storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by a processor to implement the image display method as described above.

[0194] Optionally, in the embodiment of the present application, the storage medium can be located in at least one of a plurality of network servers of a computer network. Optionally, in the embodiment, the storage medium can include, but is not limited to, a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0195] In another aspect, the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to enable the computer device to perform the image display method provided by the method embodiment.

Claims

1. An image display method applied to a head-up display system, comprising: obtaining a current center eye position coordinate of a user in real time; in a case where the current center eye position coordinate indicates that a current center eye position of the user does not fall into a target eye box region, obtaining a current mirror position coordinate of a mirror; determining a target direction vector of the current center eye position relative to the mirror based on the current center eye position coordinate and the current mirror position coordinate; determining a reference rotation angle of the mirror rotating to the current center eye position based on the target direction vector and a preset basic rotation angle of the mirror; obtaining an angle correction value, correcting the reference rotation angle based on the angle correction value to obtain a target rotation angle of the mirror rotating to the current center eye position; the angle correction value is determined by pre-adjusting the mirror manually; adjusting the mirror based on the target rotation angle, and displaying a first target image formed by reflection of the adjusted mirror.

2. The image display method of claim 1, further comprising: obtaining a target eye box region; the target eye box region comprises a plurality of eye position coordinates; comparing the current center eye position coordinate with the plurality of eye position coordinates, and determining whether the current center eye position of the user falls into the target eye box region based on a comparison result.

3. The image display method of claim 2, further comprising: in a case where the comparison result is that the current center eye position of the user falls into the target eye box region, controlling the mirror to maintain the preset basic rotation angle; displaying a second target image formed by reflection of the mirror at the preset basic rotation angle.

4. The image display method according to claim 1, wherein The determining of the target direction vector of the current center eye position relative to the mirror based on the current center eye position coordinate and the current mirror position coordinate comprises: extracting a vector component of the current center eye position coordinate and a vector component of the current mirror position coordinate; determining a vector value of the reference direction vector based on a difference between the vector component of the current center eye position coordinate and the vector component of the current mirror position coordinate; the direction of the reference direction vector is that the current center eye position points to the mirror; obtaining the target direction vector according to the vector value of the reference direction vector and an opposite direction of the reference direction vector.

5. The image display method of claim 1, further comprising: obtaining a mirror initial default angle and a user preset condition; the user preset condition comprises an eye point height and a seat position; adjusting the mirror initial default angle based on the user preset condition to obtain the preset basic rotation angle of the mirror.

6. The image display method according to claim 5, wherein The determining of the reference rotation angle of the mirror rotating to the current center eye position based on the target direction vector and the preset basic rotation angle of the mirror comprises: determining a first rotation angle of the mirror rotating to the current center eye position based on the target direction vector; determining the reference rotation angle of the mirror rotating to the current center eye position based on a product of the first rotation angle and the preset basic rotation angle.

7. The image display method according to claim 6, wherein The acquisition of the angle correction value comprises: acquiring a plurality of test eye positions in a preset eye position region; the preset eye position region comprises the target eye box region; for each test eye position, determining a reference rotation angle of the mirror to the test eye position; acquiring a test rotation angle of the mirror to the test eye position; the test rotation angle is determined by manually rotating and adjusting the mirror; based on the reference rotation angle of the mirror to each test eye position and the test rotation angle, determining the angle correction value.

8. The image display method according to claim 7, wherein The acquisition of the test rotation angle of the mirror to the test eye position comprises: manually rotating and adjusting the angle of the mirror so that the test image reflected by the mirror after the manual rotation and adjustment is directly opposite the test eye position; determining the change angle of the mirror after the manual rotation and adjustment relative to the preset basic rotation angle as the test rotation angle.

9. The image display method according to claim 8, wherein The determination of the angle correction value based on the reference rotation angle of the mirror to each test eye position and the test rotation angle comprises: determining the difference between the reference rotation angle of the mirror to each test eye position and the test rotation angle; for the difference corresponding to the plurality of test eye positions, determining a difference statistical value, and taking the difference statistical value as the angle correction value.

10. The image display method according to claim 9, wherein The determination of the difference statistical value for the difference corresponding to the plurality of test eye positions comprises: for the difference corresponding to the plurality of test eye positions, determining a difference average value.

11. The image display method according to claim 1, wherein The real-time acquisition of the current central eye position coordinates of the user comprises: in response to an eye detection request for the user, acquiring current left eye coordinates and current right eye coordinates of the user; based on the current left eye coordinates and the current right eye coordinates, determining the current central eye position coordinates.

12. An image display device applied to a head-up display system, the device comprising: an eye detection module configured to acquire current central eye position coordinates of a user in real time, and acquire a current position coordinate of a mirror in a case where the current central eye position coordinates indicate that a current central eye position of the user does not fall into a target eye box region; a vector calculation module configured to determine a target direction vector of the current central eye position relative to the mirror based on the current central eye position coordinates and the current position coordinate of the mirror; an angle calculation module configured to determine a reference rotation angle of the mirror to the current central eye position based on the target direction vector and a preset basic rotation angle of the mirror; an angle correction module configured to acquire an angle correction value, correct the reference rotation angle based on the angle correction value, and obtain a target rotation angle of the mirror to the current central eye position; the angle correction value is determined by pre-manual adjustment of the mirror; a display module configured to adjust the mirror based on the target rotation angle, and display a first target image formed by reflection of the adjusted mirror.

13. A heads-up display system, comprising: an image generation unit, an image adjustment unit, an imaging component, a memory, and a processor; the image generation unit is configured to generate a real image of a target image; The image adjusting unit is configured to adjust a reflection angle of the mirror to the target image; The imaging component is configured to display a virtual image of the target image formed via the reflection of the mirror; The memory is configured to store the processor-executable instructions; The processor is configured to execute the instructions to implement the image display method of any one of claims 1-11.

14. A vehicle comprising the head-up display system of claim 13.

15. A computer-readable storage medium having stored therein at least one instruction or at least one piece of program, the at least one instruction or at least one piece of program being loaded and executed by a processor to implement the image display method of any one of claims 1-11.

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