CN112946888A

CN112946888A - Head-up display device, imaging system, vehicle, control method and apparatus

Info

Publication number: CN112946888A
Application number: CN201911268071.9A
Authority: CN
Inventors: 吴慧军; 徐俊峰; 方涛
Original assignee: Future Beijing Black Technology Co ltd
Current assignee: Future Beijing Black Technology Co ltd
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2021-06-11

Abstract

The invention provides a head-up display device, an imaging system, a vehicle, a control method and a device, wherein a processing unit controls a curved mirror moving mechanism to move a curved mirror, and controls a plane mirror moving mechanism to move a plane mirror, so that the incident position and/or incident angle of light emitted by an HUD and incident on a windshield of the vehicle are changed, the imaging position of the HUD is adjusted in the vertical direction, the situation that an observer has position deviation in the vertical direction when watching an image displayed by the HUD is eliminated, the observation of the image by the observer through the sight angle in the vertical direction is avoided being influenced, and the use experience of the HUD is improved.

Description

Head-up display device, imaging system, vehicle, control method and apparatus

Technical Field

The invention relates to the technical field of computers, in particular to a head-up display device, an imaging system, a vehicle, a control method and a control device.

Background

The Head-Up Display (HUD) technology can avoid the driver to look at the distraction that the panel board leads to in driving process Head-down, improves driving safety factor, brings better driving experience. The Augmented Reality Head-Up Display (AR-HUD) is a hotspot of current HUD research, and images projected by the AR-HUD can be fused with a real environment, and if a direction indication arrow is accurately fused with a road, a good visual effect can be realized.

However, when the HUD is used, the height of the eyes of the observer is different due to factors such as height difference of the observer, sitting posture habit and the like, and the change of the sight line in the vertical direction is caused, so that the position of an image observed by the observer is deviated, the use experience of the HUD is seriously reduced, and the situation is more obvious on the AR-HUD.

Disclosure of Invention

To solve the above problems, an object of an embodiment of the present invention is to provide a head-up display device, an imaging system, a vehicle, a control method, and an apparatus.

In a first aspect, an embodiment of the present invention provides a head-up display device HUD, including: the device comprises an image source, a curved mirror, a plane mirror, a processing unit, a curved mirror moving mechanism and a plane mirror moving mechanism;

the curved mirror moving mechanism is connected with the curved mirror; the plane mirror moving mechanism is connected with the plane mirror; the processing unit is arranged inside the HUD and is respectively connected with the curved mirror moving mechanism and the plane mirror moving mechanism;

the processing unit is used for controlling the curved mirror moving mechanism to move the curved mirror and controlling the plane mirror moving mechanism to move the plane mirror;

the curved mirror moving mechanism is used for moving the curved mirror under the control of the processing unit; the plane mirror moving mechanism is used for moving the plane mirror under the control of the processing unit;

the curved mirror and the plane mirror after moving can change the incident position and/or incident angle when the light emitted by the HUD is incident on the windshield of the vehicle, so as to adjust the imaging position of the HUD in the vertical direction, wherein the vertical direction is the direction perpendicular to the plane where the driving road surface of the vehicle is located.

In a second aspect, an embodiment of the present invention further provides a head-up display imaging system for a vehicle, including: an image acquisition device, an Electronic Control Unit (ECU), and the HUD of the first aspect;

the image acquisition equipment and the processing unit in the HUD are respectively connected with the ECU;

the image acquisition equipment is used for acquiring an image of an observer in a vehicle and sending the acquired image to the ECU;

the ECU is used for determining the eye position of the observer based on the image acquired by the image acquisition equipment, and sending a control instruction to a processing unit in the HUD when the height difference between the eye position of the observer and the center position of an eye box is greater than a distance threshold value, so that the processing unit controls a curved mirror and a plane mirror in the HUD to move, and the imaging position of the HUD is adjusted in the vertical direction; the vertical direction is a direction perpendicular to a plane on which a road surface on which the vehicle runs is located.

In a third aspect, an embodiment of the present invention further provides a vehicle, including the head-up display imaging system according to the second aspect.

In a fourth aspect, an embodiment of the present invention further provides a control method, used in the head-up display imaging system according to the second aspect, including:

an ECU acquires an image of an observer in a vehicle;

determining an eye position of the observer based on the image;

when the height difference between the eye position of the observer and the center position of the eye box is larger than a distance threshold, sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to move, and adjusting the imaging position of the HUD in the vertical direction; the vertical direction is a direction perpendicular to a plane on which a road surface on which the vehicle runs is located.

In a fifth aspect, an embodiment of the present invention further provides a control apparatus, including:

an acquisition module for acquiring an image of an observer in a vehicle;

a determination module to determine an eye position of the observer based on the image;

a moving module, configured to send a control instruction to a processing unit in the HUD when a height difference between an eye position of the observer and a center position of an eye box is greater than a distance threshold, so that the processing unit controls a curved mirror and a plane mirror in the HUD to move, and adjusts an imaging position of the HUD in the vertical direction; the vertical direction is a direction perpendicular to a plane on which a road surface on which the vehicle runs is located.

In a sixth aspect, the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the method in the fourth aspect.

In a seventh aspect, the present invention further provides a control device, which includes a memory, a processor, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor to perform the steps of the method of the fourth aspect.

In the embodiments of the present invention, in the solutions provided in the first to seventh aspects, the processing unit controls the curved mirror moving mechanism to move the curved mirror, and controls the plane mirror moving mechanism to move the plane mirror, so as to change the incident position and/or incident angle of the HUD when the light emitted from the HUD is incident on the windshield of the vehicle, so as to adjust the imaging position of the HUD in the vertical direction.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 shows a schematic diagram of an imaging system comprising a HUD;

FIG. 2 shows a schematic of the structure of a HUD;

fig. 3a shows a schematic diagram of HUD forming vertical parallax;

FIG. 3b is a schematic diagram illustrating the situation that when an Augmented Reality Head-Up Display (AR-HUD) presents an image and a real scene in a real environment, the image and the real scene cannot be fused to form a vertical parallax;

fig. 4a is a schematic view showing the internal structure of the HUD when a rotating device is used for both the curved mirror moving mechanism and the plane mirror moving mechanism in the HUD according to embodiment 1 of the present invention;

FIG. 4b is a schematic view showing the internal structure of the HUD when the curved mirror moving mechanism and the plane mirror moving mechanism both employ the translation means in the HUD provided in embodiment 1 of the present invention;

fig. 4c is a schematic diagram showing the internal structure of the HUD when the curved mirror moving mechanism employs a rotating device and the plane mirror moving mechanism employs a translating device in the HUD according to embodiment 1 of the present invention;

fig. 4d is a schematic diagram showing the internal structure of the HUD when the curved mirror moving mechanism is a translation device and the plane mirror moving mechanism is a rotation device in the HUD according to embodiment 1 of the present invention;

FIG. 5a is a schematic view showing the internal structure of a HUD provided in embodiment 1 of the present invention, wherein only a curved mirror moving mechanism using a rotating means is provided;

FIG. 5b is a schematic view showing the internal structure of a HUD provided in embodiment 1 of the present invention, wherein only the curved mirror moving mechanism using the translation means is provided;

FIG. 5c is a schematic view showing the internal structure of a HUD provided in example 1 of the present invention, in which only a plane mirror moving mechanism using a rotating means is provided;

FIG. 5d is a schematic view showing the internal structure of a HUD provided in example 1 of the present invention, in which only a plane mirror moving mechanism using a translation means is provided;

fig. 6 is a schematic structural diagram illustrating a head-up display imaging system according to embodiment 2 of the present invention;

fig. 7 is a flowchart illustrating a control method according to embodiment 3 of the present invention;

fig. 8 is a schematic structural diagram illustrating a control apparatus provided in embodiment 4 of the present invention;

fig. 9 is a schematic structural diagram of another control device provided in embodiment 5 of the present invention.

Detailed Description

Referring to FIG. 1, a schematic diagram of an imaging system comprising a HUD100 and a windshield 102 of a vehicle is shown. Light rays emitted by the HUD100 are incident on the windshield 102 and are reflected on the windshield 102, and the reflected light rays converge on the observation area of the observer, so that the observer can observe a virtual image outside the windshield in the observation area.

Referring to the schematic structural diagram of the HUD shown in fig. 2, the HUD100 includes: image source 200, planar mirror 202, and curved mirror 204. The image source 200, the planar mirror 202 and the curved mirror 204 are fixed in the HUD by a mount, respectively. The light emitted from the image source 200 is reflected by the plane mirror 202 and then enters the curved mirror 204, and is reflected by the curved mirror 204 and then exits from the light exit of the HUD, and the exiting light enters the windshield of the vehicle.

The image source 200 may be an active light-emitting image source or a passive light-emitting image source.

In one embodiment, active light-emitting image sources, include, but are not limited to: light Emitting Diode (LED) displays and Organic Light-Emitting Diode (OLED) displays.

The passive light-emitting image sources include, but are not limited to: liquid Crystal Displays (LCDs), DLP projection (DLP), and projectors.

The plane mirror 202 can make light go through the primary reflection back incidence curved mirror in the HUD, increases the optical path of light in the HUD, reduces the volume of HUD.

The curved mirror 204 can be matched with the shape of a windshield to eliminate the distortion of images presented by light; and the image is amplified, and the size of the image displayed by the light is increased.

At present, the HUD technique can avoid the driver to look at the distraction that the panel board leads to driving the in-process head-lowering, improves driving safety factor, also can bring better driving experience simultaneously. Therefore, a large screen full-size HUD that uses an automobile windshield for imaging is receiving increasing attention.

The AR-HUD reasonably and vividly displays some driving information in a sight line area of a driver through an internal specially designed optical system so as to enhance the perception of the driver to the actual driving environment. For example, when the driver drives the vehicle to deviate from a given lane, the AR-HUD may mark a red line at the edge of the lane line of the normal driving lane of the vehicle to remind the driver that the vehicle has deviated from the lane; and a bright band of a mark can be seen at the rear of the front vehicle when driving. Therefore, the rise of AR-HUD puts higher technical requirements on the HUD industry.

Based on the principle of AR-HUD, images projected by the AR-HUD need to be perfectly fused with objects in a real environment, such as direction indication arrows need to be precisely fused with roads, and good visual perception can be provided for observers.

In the process of observing the image presented by the AR-HUD, the situation that the image presented by the AR-HUD and the real environment which are seen by the observer have vertical parallax can occur, the vertical parallax can cause that the image seen by the observer and the real environment cannot be completely fused together in the vertical direction, and the use experience of the observer on the AR-HUD is reduced.

The vertical direction refers to a direction perpendicular to a plane on which a road surface on which the vehicle runs is located.

The vertical parallax refers to a situation that an image presented by the HUD and seen by an observer deviates in the vertical direction;

further, when the image is an AR-HUD rendered image, the vertical parallax refers to a situation where the image and the real environment cannot be completely fused together in the vertical direction.

Referring to the schematic diagram of fig. 3a showing the HUD forming a vertical parallax, the light emitted from the HUD100, through the light-emitting position a, is reflected on the windshield 102, and the reverse extension line of the reflected light passes through the virtual image position a' of the light-emitting position a relative to the windshield.

Normally, observation area one 1 is set as the default observation area of the HUD, but since there are differences in height between different observers, the sitting posture is different even if they are sitting at the same position. Therefore, in the vertical direction, two different observation regions, observation region two 2 and observation region three 3, appear also for different observers.

When the two eyes of the observer are vertically higher, that is, in the observation area two 2 in the figure, it can be seen from the above description that the reverse extension lines of the reflected light rays must pass through a', and it can be seen that the image at the virtual image position two 5 seen by the observer at this time is located lower than the image position at the virtual image position one 4. Similarly, when the positions of both eyes of the observer are lower in the vertical direction, that is, in the observation region three 3 in fig. 3, the image position of the virtual image position three 6 seen by the observer in the observation region three 3 at this time is located higher than the image position of the virtual image position one 1.

That is, when both eyes of the observer are positioned in observation region two 2, since the downward viewing angle is larger than when both eyes of the observer are positioned in observation region one 1, vertical parallax occurs in which the image position is shifted downward when the observer observes the image at virtual image position two 5. When both eyes of the observer are positioned in the observation area three 3, since the downward viewing angle is smaller than when both eyes of the observer are positioned in the observation area one 1, a vertical parallax in which the image position is shifted upward occurs when the observer observes the image at the virtual image position three 6.

Further, referring to fig. 3B, when the AR-HUD rendering image is fused with the real scene in the real environment, the image and the real scene cannot be fused, and a schematic diagram of vertical parallax is formed, where an observation area one 1 is set as a default observation area of the AR-HUD, and then the observer sees that the image at a virtual image position one 4 in the observation area one 1 is perfectly fused with the real scene B in the real environment. Therefore, the observer can see an image perfectly blended with the real scene B in the real environment at the virtual image position one 4 with both eyes within the observation area one 1 of the AR-HUD.

However, when both eyes of the observer are positioned in the observation region two 2, since the downward viewing angle is larger than when both eyes of the observer are positioned in the observation region one 1, vertical parallax occurs due to a case where the image is positioned below the real scene B in the real environment when the observer observes the image at the virtual image position two 5. When the two eyes of the observer are located in the observation area three 3, since the downward viewing angle is smaller than when the two eyes of the observer are located in the observation area one 1, vertical parallax occurs due to a case where the image is located above the real scene B in the real environment when the observer observes the image at the virtual image position three 6.

The lower visual angle is an included angle between a connecting line between eyes of an observer and the center of the HUD image and a plane where the vehicle driving direction is located.

Based on this, this application embodiment provides a new line display equipment, imaging system, vehicle, control method and device, through processing unit control curved mirror moving mechanism removal curved mirror to control level crossing moving mechanism and remove the level crossing, change the incident position and/or incident angle when HUD sends the light and incides the windshield of vehicle, in order to adjust in the vertical direction HUD's imaging position, compare with the condition that the observer has perpendicular parallax when watching the image that HUD presented in the correlation technique, adjust HUD's imaging position in the vertical direction, thereby eliminated the perpendicular parallax that the observer exists when watching the image that HUD presented, avoided influencing observer's sight angle in the vertical direction, improved HUD's use experience.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.

In the following embodiments, the term "HUD" may refer to a head-up display device that emits an image with an augmented reality effect, and may also refer to a general HUD.

The term "visually fused with the real environment" means that the image of the HUD presentation seen by the two eyes of the viewer is completely fused with the real environment.

The eye box refers to the area where the viewer can see the complete image of the HUD. For AR-HUD, an image that blends well with the real environment can be observed in the eye box.

The center position of the eye box refers to the position of the geometric center of the eye box.

The eye ellipses are a statistical representation method for describing the positions of the eyes of drivers with different statures relative to reference points in the vehicle in space, and are divided into 90 percent, 95 percent, 99 percent and other eye ellipses according to the distribution condition of the eyes.

Generally, the eye box coincides with or partially overlaps with the eye ellipse region, and when the two eyes of the observer are within the eye ellipse region, the image of the HUD can be observed; when the two eyes of the observer are in the eye box, the complete image of the HUD can be observed; for AR-HUD, an image with better fusion effect with the real scene can be observed; when the two eyes of the observer are positioned at the center of the eye box, the image perfectly fused with the real scene can be observed.

Example 1

This embodiment proposes a HUD, comprising: the device comprises an image source, a curved mirror, a plane mirror, a processing unit, a curved mirror moving mechanism and a plane mirror moving mechanism.

The curved mirror moving mechanism is connected with the curved mirror; the plane mirror moving mechanism is connected with the plane mirror; and the processing unit is arranged inside the HUD and is respectively connected with the curved mirror moving mechanism and the plane mirror moving mechanism.

The movement, including but not limited to: rotation and translation.

And the processing unit is used for controlling the curved mirror moving mechanism to move the curved mirror and controlling the plane mirror moving mechanism to move the plane mirror.

The curved mirror moving mechanism is used for moving the curved mirror under the control of the processing unit; the plane mirror moving mechanism is used for moving the plane mirror under the control of the processing unit.

That is, the curved mirror movement mechanism may rotate or translate the curved mirror under the control of the processing unit. The plane mirror moving mechanism may rotate or translate the image source under control of the processing unit.

The curved mirror after the removal with the level crossing, incident position and/or incident angle when can changing the HUD sends light and incides the windshield of vehicle to in adjust in the vertical direction HUD's formation of image position.

Referring to fig. 4a, the internal structure of the HUD when the curved mirror moving mechanism and the plane mirror moving mechanism both adopt rotating devices for rotating the curved mirror and the image source, the curved mirror moving mechanism and the plane mirror moving mechanism include: a rotating device;

the rotating device includes: a drive device 402, a first engagement member 400, and a second engagement member 404.

The driving device 402 is connected with the processing unit, the first engaging member 400 is disposed on the driving device 402, and the second engaging member 404 is in transmission connection with the first engaging member 400 and is connected with the curved mirror 204 or the flat mirror 202.

In one embodiment, the second engaging member 404 can be connected to the curved mirror or the image source holder by, but not limited to: riveting, bonding, or fixedly connecting; and thus to the curved mirror 204 or the image source 200.

The driving device 402 drives the first engaging member 400 to rotate under the control of the processing unit; when the first engaging member 400 rotates, the second engaging member 404 is driven to rotate; the curved mirror 204 or the plane mirror 202 is rotated by the second rotating member 404, so as to change the incident angle and/or the incident position of the light emitted from the HUD when the light is incident on the windshield of the vehicle.

In one embodiment, the driving device 402 may use: electric machine drives, such as motor devices and electric machine devices; or an internal combustion engine drive, or a hydraulic drive, or a pneumatic drive, or a mechanical drive.

The first engaging member 400 and the second engaging member 404 may use a rotary transmission mechanism, including a gear pair transmission, a synchronous belt transmission, a harmonic gear transmission, a screw transmission, a cam transmission, and a double crank transmission.

The first engaging member 400 may be, but is not limited to: gears, harmonic gear screws and cams.

The second engaging member 404 can use, but is not limited to: sector gear, nut and follower.

In addition to the above-mentioned rotating device, referring to the schematic diagram of the internal structure of the HUD shown in fig. 4b when the curved mirror moving mechanism and the plane mirror moving mechanism both adopt the translating device, in order to translate the curved mirror and the image source, the curved mirror moving mechanism and the plane mirror moving mechanism include: and a translation device.

The translation device comprises: a driving unit 502, a first transmission member 500 and a second transmission member 504.

The driving unit 502 is connected to the processing unit, the first transmission member 500 is disposed on the driving unit 502 and is in transmission connection with the engaging teeth of the second transmission member 504, and the second transmission member 504 is connected to the curved mirror or the plane mirror.

The driving unit 502 may adopt, but is not limited to: a motor and an electric machine.

The first transmission member 500 and the second transmission member 504 may use a linear transmission mechanism, which includes sliding guide transmission, hydraulic dynamic pressure sliding guide transmission, hydraulic static pressure sliding guide transmission, air-float guide transmission, rolling guide transmission, rack-and-pinion transmission, belt transmission, hinge transmission, and crank translation transmission.

The first transmission member 500 may be, but is not limited to: gear, guide rail, flywheel, eccentric wheel.

Second transmission member 504 may be, but is not limited to: rack board, hinge, slide rail.

In one embodiment, second transmission element 504 may be coupled to a mount for the curved mirror or image source, in a manner that is not limited to: riveting, bonding, or fixedly connecting; and thus to the curved mirror 204 or the image source 200.

The driving unit drives the first transmission piece to rotate under the control of the processing unit; when the first transmission piece rotates, the second transmission piece is driven to translate; the curved mirror or the plane mirror is in the second driving medium drives down along the extending direction translation of the meshing tooth of second driving medium, makes in the HUD curved mirror or the image source is close to or keeps away from windshield, thereby changes incident angle and/or incident position when the HUD sends light and incides the windshield of vehicle.

The extending direction of the engaging teeth of the second transmission member may include, but is not limited to: horizontal direction, vertical direction, and oblique direction. Therefore, the curved mirror or the plane mirror can be driven by the second transmission piece to move along: the horizontal direction, the vertical direction, or the oblique direction approaches or moves away from the windshield, thereby changing the angle of incidence at which the light emitted from the HUD is incident on the windshield of the vehicle.

The curved mirror or the image source is close to the windshield, and the vertical distance from any point on the curved mirror or any point on the image source to the plane of the windshield is shortened. The curved mirror or the image source is far away from the windshield, and the vertical distance from any point on the curved mirror or any point on the image source to the plane of the windshield is increased.

The vertical distance specifically refers to a vertical distance between any one point and a plane where the windshield is located. HUD's inner structure except curved mirror moving mechanism with level crossing moving mechanism all adopts rotary device and curved mirror moving mechanism with level crossing moving mechanism all adopts the translation device outside, can also have as shown in fig. 4c curved mirror moving mechanism adopts rotary device just HUD's inner structure schematic when level crossing moving mechanism adopts the translation device and as shown in fig. 4d curved mirror moving mechanism adopts the translation device just HUD's inner structure schematic when level crossing moving mechanism adopts rotary device.

HUD's inner structure except curved mirror moving mechanism with level crossing moving mechanism all adopts rotary device and curved mirror moving mechanism with level crossing moving mechanism all adopts the translation device outside, can also have as shown in fig. 4c curved mirror moving mechanism adopts rotary device just HUD's inner structure schematic when level crossing moving mechanism adopts the translation device and as shown in fig. 4d curved mirror moving mechanism adopts the translation device just HUD's inner structure schematic when level crossing moving mechanism adopts rotary device.

Alternatively, in another embodiment, refer to fig. 5a, fig. 5b, fig. 5c, fig. 5d, fig. 5c, fig. 5d, fig. 5a, fig. 5b, fig. 5c, fig. 5d, fig. 5c, fig. 5d, fig. 5c, fig. 5d, fig. 4, fig. 1, fig. 2, fig. 4, fig.; can only set up in HUD curved mirror moving mechanism or level crossing moving mechanism, through setting up curved mirror moving mechanism rotates or the translation to the curved mirror, perhaps through setting up level crossing moving mechanism rotates or the translation to the level crossing, in order to reach the messenger in the HUD curved mirror or the purpose that the image source is close or keeps away from windshield, thereby changes incident position and/or incident angle when HUD sends light and incides the windshield of vehicle.

In order to control the rotating device to rotate and control the translating device to translate, the processing unit may use any method capable of controlling a mechanical structure to rotate and translate in the prior art to control the rotating device to rotate and control the translating device to translate, which is not described in detail herein.

In addition to using the above-mentioned rotating device and the above-mentioned translating device, the side length (i.e. the side length on the horizontal section) width of the light outlet of the HUD along the traveling direction of the vehicle in the section in the traveling direction of the vehicle can be increased, see the internal structure diagram of the HUD in which the curved mirror moving mechanism and the plane mirror moving mechanism both use rotating mechanisms, as shown in fig. 4a, and the range of the side length L of the HUD along the traveling direction of the vehicle is expanded to 180 mm to 260 mm, or adjusted to be smaller or larger according to the actual vehicle condition, so as to increase the coverage of the eye box in the vertical direction and reduce the probability of the occurrence of vertical parallax.

The eye box refers to a region where a viewer can observe the complete image of the HUD. For AR-HUD, an image that blends well with the real environment can be observed in the eye box.

When the HUD is an AR-HUD, in addition to the problem of vertical parallax occurring in the vertical direction, there is also a problem that horizontal parallax exists between the observed image and the real environment due to horizontal shift of the left and right eyes and both eyes in the horizontal direction of the observer in the process of viewing the AR-HUD display image by the observer in the vehicle.

In order to solve the above problem, the image source 200 in the HUD may be disposed at a position close to the focal plane of the curved mirror 204 or at a position where the focal plane of the curved mirror 204 is located, so that the light reflected out of the HUD can form a remote virtual image.

The remote virtual image is used for eliminating horizontal parallax when an observer watches the image.

The imaging position of the remote virtual image may be a position that is ten meters, several tens of meters, or infinity from the observer.

The imaging position of the remote virtual image is related to the real environment, so that the remote virtual image is visually fused with the real environment as much as possible, and the horizontal parallax generated when a driver observes AR-HUD imaging is avoided as much as possible.

In summary, the head-up display device proposed in this embodiment controls the curved mirror moving mechanism to move the curved mirror through the processing unit, and controls the plane mirror moving mechanism to move the plane mirror, so as to change the incident position and/or incident angle of the HUD when the light beam is incident on the windshield of the vehicle, and adjust the imaging position of the HUD in the vertical direction. Especially when applied to AR-HUD, the observer can see the image presented by the HUD in the adjusted imaging position to be visually fused with the real environment, so that the excellent visual experience is brought.

Example 2

Referring to a schematic structural diagram of the head-up display imaging system shown in fig. 6, the embodiment proposes a head-up display imaging system for a vehicle, including: the image capturing apparatus 600, the ECU, and the HUD100 described in embodiment 1 above.

The processing units in the image capturing device 600 and the HUD100 are connected to the ECU, respectively.

The image capture apparatus 600 is mounted on a windshield of a vehicle, and is configured to capture an image of an observer in the vehicle and transmit the captured image to the ECU.

And the ECU is used for determining the eye position of the observer based on the image acquired by the image acquisition equipment, and sending a control instruction to a processing unit in the HUD when the height difference between the eye position of the observer and the central position of the eye box is greater than a distance threshold value, so that the processing unit controls a curved mirror and a plane mirror in the HUD to move, and the imaging position of the HUD is adjusted in the vertical direction.

When the HUD adopts AR-HUD, the image which is seen by the observer and presented at the adjusted imaging position is visually fused with the real environment, and the vertical parallax when the observer watches the image is eliminated.

The ECU may process the image acquired by the image acquisition device by using any existing image processing algorithm, and determine the eye position of the observer from the image, which is not described herein again.

The eye position of the observer can be represented by three-dimensional coordinates.

The center position of the eye box, which can be represented by three-dimensional coordinates, is determined by the position of the eye ellipse of the observer, and is cached in the ECU. At the central position of the eye box, the image presented by the HUD seen by the observer is visually fused with the real environment, and the defect of vertical parallax cannot exist.

The eye ellipse positions are statistical distribution positions of the eyes of the observers who count different heights when the observers watch the image presented by the HUD.

The distance threshold, cached in the ECU, may be set to any distance length between 0 cm and 30 cm.

In the head-up display imaging system shown in fig. 6, the HUD using the rotating device for the curved mirror moving mechanism and the plane mirror moving mechanism is only illustrated, and the head-up display imaging system may also use any HUD structure given in embodiment 1, which is not repeated in this embodiment.

When the curved mirror moving mechanism and the plane mirror moving mechanism adopt a rotating device and determine that the eye position of the observer is higher than the central position of the eye box, in order to make the observer see the image presented by the HUD, the ECU is configured to send a control instruction to a processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, and the method comprises the following steps (1) to (3):

(1) when the position of the eyes of the observer is higher than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, the rotating angle of the curved mirror in the clockwise direction and the rotating angle of the plane mirror in the clockwise direction, which correspond to the height difference, are determined;

(2) generating a control instruction for rotating the curved mirror and the plane mirror according to the determined rotation angle of the curved mirror in the clockwise direction and the determined rotation angle of the plane mirror in the clockwise direction;

(3) and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to rotate along the clockwise direction, and the incidence angle and/or the incidence position of the HUD when the HUD sends out light to enter a windshield of a vehicle are/is reduced, so that the imaging position of the HUD is improved in the vertical direction.

In the step (1), the height difference between the position of the observer's eyes and the center position of the eye box can be calculated according to the position of the observer's eyes and the center position of the eye box.

The process of calculating the height difference between the position of the eyes of the observer and the center position of the eye box is a process of calculating the vertical distance from the position of the eyes to the plane where the center position of the eye box is located based on the three-dimensional coordinates of the position of the eyes of the observer and the three-dimensional coordinates of the center position of the eye box. That is, the distance may be obtained by any process capable of calculating the vertical distance from the midpoint to the plane in the space in the prior art, which is not described herein again.

The plane where the center position of the eye box is located is a plane which passes through the center position of the eye box and is parallel to the running road surface of the vehicle.

After the height difference between the eye position of the observer and the center position of the eye box is calculated, the ECU may determine the clockwise rotation angle of the curved mirror and the clockwise rotation angle of the flat mirror corresponding to the calculated height difference from a correspondence table of the height difference cached by the ECU itself, the clockwise rotation angle of the curved mirror, and the clockwise rotation angle of the flat mirror.

When the curved mirror moving mechanism and the plane mirror moving mechanism adopt a rotating device and determine that the eye position of the observer is lower than the center position of the eye box, in order to make the observer see the image presented by the HUD, the ECU is configured to send a control instruction to a processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and adjust the imaging position of the HUD in the vertical direction, and further includes the following steps (1) to (3):

(1) when the position of the eyes of the observer is lower than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, the rotating angle of the curved mirror in the counterclockwise direction and the rotating angle of the plane mirror in the counterclockwise direction, which correspond to the height difference, are determined;

(2) generating a control instruction for rotating the curved mirror and the plane mirror according to the determined rotation angle of the curved mirror in the counterclockwise direction and the determined rotation angle of the plane mirror in the counterclockwise direction;

(3) and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to rotate along the anticlockwise direction, and the incident angle and/or the incident position of the HUD when the HUD sends out light to enter a windshield of a vehicle are increased, so that the imaging position of the HUD is reduced in the vertical direction.

In the step (1), the ECU caches a correspondence table of the height difference, the rotation angle of the curved mirror in the counterclockwise direction, and the rotation angle of the flat mirror in the counterclockwise direction.

In the specific implementation process of the above step (1) to step (3), when the curved mirror moving mechanism and the plane mirror moving mechanism in the HUD are rotating devices, the ECU determines that the eye position of the observer is higher than the center position of the eye box, and reduces the incident angle of the HUD when the light emitted from the HUD enters the windshield of the vehicle, so that the process of raising the imaging position of the HUD in the vertical direction is similar to that described above, and details are not repeated here.

When the curved mirror moving mechanism and the plane mirror moving mechanism adopt a translation device and determine that the eye position of the observer is higher than the central position of the eye box, in order to make the observer see the image presented by the HUD, the ECU is configured to send a control instruction to a processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, including the following steps (1) to (3):

(1) when the position of the eyes of the observer is determined to be higher than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, determining the translation distance of the curved mirror corresponding to the height difference in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield;

(2) generating a control instruction for translating the curved mirror and the plane mirror according to the determined translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield;

(3) and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to translate in the direction far away from the windshield, and the HUD is raised to emit an incident position and/or an incident angle when light enters the windshield of the vehicle, so that the imaging position of the HUD is raised in the vertical direction.

After the height difference between the eye position of the observer and the center position of the eye box is obtained through calculation, the ECU may determine the translational distance of the curved mirror in the direction away from the windshield and the translational distance of the curved mirror in the direction away from the windshield, which correspond to the calculated height difference, from a correspondence table of the height difference cached by the ECU itself, the translational distance of the curved mirror in the direction away from the windshield, and the translational distance of the curved mirror in the direction away from the windshield.

When the curved mirror moving mechanism and the plane mirror moving mechanism adopt a translation device and determine that the eye position of the observer is lower than the central position of the eye box, in order to make the observer see the image presented by the HUD, the ECU is configured to send a control instruction to a processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, and further includes the following steps (1) to (3):

(1) when the position of the eyes of the observer is lower than the central position of the eye box, determining the translation distance of the curved mirror corresponding to the height difference in the direction close to the windshield and the translation distance of the plane mirror in the direction close to the windshield according to the height difference between the position of the eyes of the observer and the central position of the eye box;

(2) generating a control instruction for translating the curved mirror and the plane mirror according to the determined translation distance of the curved mirror in the direction approaching the windshield and the translation distance of the plane mirror in the direction approaching the windshield;

(3) and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to translate in the direction close to the windshield, and reduces the incident position and/or the incident angle of the HUD when the HUD sends out light to enter the windshield of the vehicle, thereby reducing the imaging position of the HUD in the vertical direction.

In the step (1), the ECU caches a correspondence table of the height difference, the translational distance of the curved mirror in the direction approaching the windshield, and the translational distance of the plane mirror in the direction approaching the windshield.

In the specific implementation process of the above step (1) to step (3), when the curved mirror moving mechanism in the HUD employs a rotating device and the plane mirror moving mechanism employs a translating device, the ECU determines that the eye position of the observer is higher than the center position of the eye box, and raises the incident position and/or incident angle of the HUD when the light emitted from the HUD enters the windshield of the vehicle, so that the process of raising the imaging position of the HUD in the vertical direction is similar to that described above, and details are not repeated here.

When curved mirror moving mechanism adopts rotary device just plane mirror moving mechanism adopts translation device to confirm when the observer's eye position is higher than the central point of eye-box puts, in order to make the observer see the image that the HUD appears, ECU for to processing unit in the HUD sends control command, makes processing unit control curved mirror and plane mirror in the HUD move, adjust the formation of image position of HUD in the vertical direction, include following concrete step (1) to step (3):

(1) when the position of the eyes of the observer is higher than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, the rotating angle of the curved mirror along the clockwise direction corresponding to the height difference and the translation distance of the plane mirror in the direction far away from the windshield are determined;

(2) generating a control instruction for rotating the curved mirror and translating the plane mirror according to the rotating angle of the curved mirror in the clockwise direction and the translation distance of the plane mirror in the direction far away from the windshield;

(3) and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror in the HUD to rotate along the clockwise direction and controls a plane mirror to translate in the direction away from the windshield, and the HUD is lifted to emit an incident position and/or an incident angle when light enters the windshield of the vehicle, so that the imaging position of the HUD is lifted in the vertical direction.

After the height difference between the eye position of the observer and the center position of the eye box is obtained through calculation, the ECU may determine the rotation angle of the curved mirror in the clockwise direction and the translation distance of the curved mirror in the direction away from the windshield, which correspond to the obtained height difference, from a correspondence table of the height difference cached by the ECU itself, the rotation angle of the curved mirror in the clockwise direction and the translation distance of the curved mirror in the direction away from the windshield.

When curved mirror moving mechanism adopts rotary device just plane mirror moving mechanism adopts translation device to confirm when the observer's eye position is less than the central point of eye-box puts, in order to make the observer see the image that the HUD appears, ECU for to processing unit in the HUD sends control command, makes processing unit control curved mirror and plane mirror in the HUD move, adjust the formation of image position of HUD in the vertical direction, still include following step (1) to step (3):

(1) when the position of the eyes of the observer is lower than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, the rotating angle of the curved mirror along the counterclockwise direction corresponding to the height difference and the translation distance of the curved mirror in the direction close to the windshield are determined;

(2) generating a control instruction for rotating the curved mirror and translating the plane mirror according to the rotating angle of the curved mirror in the counterclockwise direction and the translation distance of the plane mirror in the direction close to the windshield;

(3) and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror in the HUD to rotate along the anticlockwise direction and control a plane mirror to translate in the direction close to a windshield, and the incident position and/or the incident angle of the HUD when the HUD emits light to enter the windshield of the vehicle are/is reduced, so that the imaging position of the HUD is reduced in the vertical direction.

In the step (1), the ECU caches a correspondence table of the height difference, the rotation angle of the curved mirror in the counterclockwise direction, and the translation distance of the curved mirror in the direction approaching the windshield.

When curved mirror moving mechanism adopts translation device just plane mirror moving mechanism adopts rotary device to confirm when the observer's eye position is higher than the central point of eye-box puts, in order to make the observer see the image that the HUD appears, ECU for to processing unit in the HUD sends control command, makes processing unit control curved mirror and plane mirror in the HUD move, adjust the formation of image position of HUD in the vertical direction, include following step (1) to step (3):

(1) when the position of the eyes of the observer is higher than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, the translation distance of the curved mirror corresponding to the height difference in the direction away from the windshield and the rotation angle of the curved mirror in the clockwise direction are determined;

(2) generating a control instruction for translating the curved mirror and rotating the plane mirror according to the translation distance of the curved mirror in the direction far away from the windshield and the rotation angle of the plane mirror in the clockwise direction;

(3) sending a control instruction to a processing unit in the HUD, enabling the processing unit to control a curved mirror in the HUD to translate in the direction away from the windshield and control a plane mirror to rotate in the clockwise direction, and lifting the incident position and/or incident angle of the HUD when the HUD sends out light rays to enter the windshield of the vehicle, so that the imaging position of the HUD is lifted in the vertical direction.

After the height difference between the eye position of the observer and the center position of the eye box is obtained through calculation, the ECU may determine the translation distance of the curved mirror corresponding to the calculated height difference in the direction away from the windshield and the rotation angle of the curved mirror in the clockwise direction from the correspondence table of the height difference cached by the ECU itself, the translation distance of the curved mirror in the direction away from the windshield, and the rotation angle of the curved mirror in the clockwise direction.

When curved mirror moving mechanism adopts translation device and level crossing moving mechanism adopts rotary device to confirm when observer's eye position is less than the central point of eye-box puts, in order to make the observer see the image that the HUD appears, ECU for to processing unit in the HUD sends control command, makes processing unit control curved mirror and the level crossing in the HUD move, adjust the formation of image position of HUD in the vertical direction, still include following step (1) to step (3):

(1) when the position of the eyes of the observer is lower than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, determining the translation distance of the curved mirror corresponding to the height difference in the direction close to the windshield and the rotation angle of the curved mirror in the counterclockwise direction;

(2) generating a control instruction for translating the curved mirror and rotating the plane mirror according to the translation distance of the curved mirror in the direction close to the windshield and the rotation angle of the plane mirror in the counterclockwise direction;

(3) and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror in the HUD to translate in the direction close to the windshield and controls the plane mirror to rotate in the anticlockwise direction, and the incident position and/or the incident angle of the HUD when the HUD sends out light to enter the windshield of the vehicle are/is reduced, so that the imaging position of the HUD is reduced in the vertical direction.

In the step (1), the ECU caches a correspondence table of the height difference, the translational distance of the curved mirror in the direction approaching the windshield, and the rotation angle of the curved mirror in the counterclockwise direction.

In the specific implementation process of the above step (1) to step (3), when the curved mirror moving mechanism in the HUD adopts a translation device and the plane mirror moving mechanism adopts a rotation device, the ECU determines that the eye position of the observer is higher than the center position of the eye box, and raises the incident position and/or incident angle of the HUD when the light emitted by the HUD enters the windshield of the vehicle, so that the process of raising the imaging position of the HUD in the vertical direction is similar to that described above, and details are not repeated here.

It should be noted that, the ECU caches a correspondence table of the height difference, the clockwise rotation angle of the curved mirror, and the clockwise rotation angle of the plane mirror; a corresponding relation table of the height difference, the rotation angle of the curved mirror in the counterclockwise direction and the rotation angle of the plane mirror in the counterclockwise direction; the corresponding relation table of the height difference, the translation distance of the curved mirror in the direction far away from the windshield and the translation distance of the plane mirror in the direction far away from the windshield; a corresponding relation table of the height difference, the translation distance of the curved mirror in the direction close to the windshield and the translation distance of the curved mirror in the direction close to the windshield; the corresponding relation table of the height difference, the rotation angle of the curved mirror along the clockwise direction and the translation distance of the flat mirror in the direction far away from the windshield; a corresponding relation table of the height difference, the rotation angle of the curved mirror in the counterclockwise direction and the translation distance of the curved mirror in the direction close to the windshield; the corresponding relation table of the height difference, the translation distance of the curved mirror in the direction away from the windshield and the rotation angle of the curved mirror in the clockwise direction; and the rotation angles and/or translation distances of the curved mirror and the image source corresponding to the height difference, which are respectively recorded in the correspondence table of the height difference, the translation distance of the curved mirror in the direction approaching the windshield and the rotation angle of the flat mirror in the counterclockwise direction, are obtained through experiments by those skilled in the art, and the specific experimental process is not in the discussion range of the present application.

The embodiment also provides a vehicle comprising the head-up display imaging system.

In summary, in the head-up display imaging system and the vehicle according to the present embodiment, when determining that the height difference between the eye position of the observer and the center position of the eye box is greater than the distance threshold, the ECU sends a control command to the processing unit in the HUD, controls the curved mirror moving mechanism in the HUD to move the curved mirror through the processing unit, and controls the plane mirror moving mechanism to move the plane mirror, so as to change the incident position and/or incident angle of the HUD when the light beam is incident on the windshield of the vehicle, so as to adjust the imaging position of the HUD in the vertical direction, and compared with the related art in which the observer has vertical parallax when viewing the image presented by the HUD, the imaging position of the HUD in the vertical direction is adjusted, thereby eliminating the situation that the image position of the observer is deviated in the vertical direction when viewing the image presented by the HUD, and avoiding affecting the view angle of the observer in the vertical direction and the image, the use experience of the HUD is improved. Especially when applied to AR-HUD, the observer can see the image presented by the HUD in the adjusted imaging position to be visually fused with the real environment, so that the excellent visual experience is brought.

Example 3

Referring to a flowchart of a control method shown in fig. 7, the present embodiment proposes a control method for the head-up display imaging system described in embodiment 2 above, including the following steps:

in step 700, the electronic control unit ECU acquires an image of an observer in the vehicle.

Step 702, determining the eye position of the observer based on the image.

Step 704, when the height difference between the position of the eyes of the observer and the center position of the eye box is greater than the distance threshold, sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to move, and adjusting the imaging position of the HUD in the vertical direction.

When the curved mirror moving mechanism and the plane mirror moving mechanism employ rotating devices, step 704 includes:

when the position of the eyes of the observer is higher than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, the rotating angle of the curved mirror in the clockwise direction and the rotating angle of the plane mirror in the clockwise direction, which correspond to the height difference, are determined;

generating a control instruction for rotating the curved mirror and the plane mirror according to the determined rotation angle of the curved mirror in the clockwise direction and the determined rotation angle of the plane mirror in the clockwise direction;

and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to rotate along the clockwise direction, and the incidence angle and/or the incidence position of the HUD when the HUD sends out light to enter a windshield of a vehicle are/is reduced, so that the imaging position of the HUD is improved in the vertical direction.

The step 704 further includes:

when the position of the eyes of the observer is lower than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, the rotating angle of the curved mirror in the counterclockwise direction and the rotating angle of the plane mirror in the counterclockwise direction, which correspond to the height difference, are determined;

generating a control instruction for rotating the curved mirror and the plane mirror according to the determined rotation angle of the curved mirror in the counterclockwise direction and the determined rotation angle of the plane mirror in the counterclockwise direction;

and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to rotate along the anticlockwise direction, and the HUD is increased to send an incident angle and/or an incident position when light enters a windshield of a vehicle so as to reduce the imaging position in the vertical direction.

When the curved mirror moving mechanism and the plane mirror moving mechanism employ a translation device, step 704 includes:

when the position of the eyes of the observer is determined to be higher than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, determining the translation distance of the curved mirror corresponding to the height difference in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield;

generating a control instruction for translating the curved mirror and the plane mirror according to the determined translation distance of the curved mirror in the direction away from the windshield and the translation distance of the plane mirror in the direction away from the windshield;

and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to translate in the direction far away from the windshield, and the HUD is raised to emit an incident position and/or an incident angle when light enters the windshield of the vehicle, so that the imaging position of the HUD is raised in the vertical direction.

The step 704 further includes:

when the position of the eyes of the observer is lower than the central position of the eye box, determining the translation distance of the curved mirror corresponding to the height difference in the direction close to the windshield and the translation distance of the plane mirror in the direction close to the windshield according to the height difference between the position of the eyes of the observer and the central position of the eye box;

generating a control instruction for translating the curved mirror and the plane mirror according to the determined translation distance of the curved mirror in the direction approaching the windshield and the translation distance of the plane mirror in the direction approaching the windshield;

and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to translate in the direction close to the windshield, and reduces the incident position and/or the incident angle of the HUD when the HUD sends out light to enter the windshield of the vehicle, thereby reducing the imaging position of the HUD in the vertical direction.

When the curved mirror moving mechanism and the plane mirror moving mechanism adopt a rotating device and a translating device, step 704 includes:

when the position of the eyes of the observer is higher than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, the rotating angle of the curved mirror along the clockwise direction corresponding to the height difference and the translation distance of the plane mirror in the direction far away from the windshield are determined;

generating a control instruction for rotating the curved mirror and translating the plane mirror according to the rotating angle of the curved mirror in the clockwise direction and the translation distance of the plane mirror in the direction far away from the windshield;

and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror in the HUD to rotate along the clockwise direction and controls a plane mirror to translate in the direction away from the windshield, and the HUD is lifted to emit an incident position and/or an incident angle when light enters the windshield of the vehicle, so that the imaging position of the HUD is lifted in the vertical direction.

The step 704 further includes:

when the position of the eyes of the observer is lower than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, the rotating angle of the curved mirror along the counterclockwise direction corresponding to the height difference and the translation distance of the curved mirror in the direction close to the windshield are determined;

generating a control instruction for rotating the curved mirror and translating the plane mirror according to the rotating angle of the curved mirror in the counterclockwise direction and the translation distance of the plane mirror in the direction close to the windshield;

and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror in the HUD to rotate along the anticlockwise direction and control a plane mirror to translate in the direction close to a windshield, and the incident position and/or the incident angle of the HUD when the HUD emits light to enter the windshield of the vehicle are/is reduced, so that the imaging position of the HUD is reduced in the vertical direction.

When the curved mirror moving mechanism and the plane mirror moving mechanism adopt a translation device and a rotation device, step 704 includes:

when the position of the eyes of the observer is higher than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, the translation distance of the curved mirror corresponding to the height difference in the direction away from the windshield and the rotation angle of the curved mirror in the clockwise direction are determined;

generating a control instruction for translating the curved mirror and rotating the plane mirror according to the translation distance of the curved mirror in the direction far away from the windshield and the rotation angle of the plane mirror in the clockwise direction;

and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror in the HUD to translate in the direction away from the windshield and controls a plane mirror to rotate in the clockwise direction, and the HUD is raised to emit an incident position and/or an incident angle when light enters the windshield of the vehicle, so that the imaging position of the HUD is raised in the vertical direction.

The step 704 further includes:

when the position of the eyes of the observer is lower than the central position of the eye box, according to the height difference between the position of the eyes of the observer and the central position of the eye box, determining the translation distance of the curved mirror corresponding to the height difference in the direction close to the windshield and the rotation angle of the curved mirror in the counterclockwise direction;

generating a control instruction for translating the curved mirror and rotating the plane mirror according to the translation distance of the curved mirror in the direction close to the windshield and the rotation angle of the plane mirror in the counterclockwise direction;

and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror in the HUD to translate in the direction close to the windshield and controls the plane mirror to rotate in the anticlockwise direction, and the incident position and/or the incident angle of the HUD when the HUD sends out light to enter the windshield of the vehicle are/is reduced, so that the imaging position of the HUD is reduced in the vertical direction.

In summary, the control method proposed in this embodiment sends a control command to the processing unit in the HUD when it is determined that the height difference between the eye position of the observer and the center position of the eye box is greater than the distance threshold, controls the curved mirror moving mechanism in the HUD to move the curved mirror through the processing unit, and controls the plane mirror moving mechanism to move the plane mirror, so as to change the incident position and/or incident angle of the HUD when the light emitted from the HUD is incident on the windshield of the vehicle, so as to adjust the imaging position of the HUD in the vertical direction, thereby eliminating the situation that the image position of the observer is deviated in the vertical direction when the observer views the image presented by the HUD, and avoiding affecting the sight angle of the observer in the vertical direction and the observation of the image, the use experience of the HUD is improved.

Based on the same inventive concept, embodiments of the present application further provide a control method and a corresponding control device, and since the principle of solving the problem of the device in the embodiments of the present application is similar to that of the control method in embodiment 3 of the present application, reference may be made to the implementation of the foregoing control method for the implementation of the device, and repeated details are not described again.

Example 4

Referring to the schematic structural diagram of the control device shown in fig. 8, the present embodiment provides a control device, including:

an acquisition module 800 for acquiring an image of an observer in a vehicle;

a determining module 802 for determining the eye position of the observer based on the image;

an adjusting module 804, configured to send a control instruction to a processing unit in the HUD when a height difference between the position of the eye of the observer and the center position of the eye box is greater than a distance threshold, so that the processing unit controls a curved mirror and a plane mirror in the HUD to move, and adjusts an imaging position of the HUD in the vertical direction; the vertical direction is a direction perpendicular to a plane on which a road surface on which the vehicle runs is located.

In summary, the control device proposed in this embodiment sends a control command to the processing unit in the HUD when it is determined that the height difference between the eye position of the observer and the center position of the eye box is greater than the distance threshold, controls the curved mirror moving mechanism in the HUD to move the curved mirror through the processing unit, and controls the plane mirror moving mechanism to move the plane mirror, so as to change the incident position and/or incident angle of the HUD when the light emitted from the HUD is incident on the windshield of the vehicle, so as to adjust the imaging position of the HUD in the vertical direction, thereby eliminating the situation that the image position of the observer is deviated in the vertical direction when the observer views the image presented by the HUD, and avoiding affecting the sight angle of the observer in the vertical direction and the observation of the image, the use experience of the HUD is improved. Especially when applied to AR-HUD, the observer can see the image presented by the HUD in the adjusted imaging position to be visually fused with the real environment, so that the excellent visual experience is brought.

Based on the same inventive concept, embodiments of the present application further provide a control method, a computer storage medium and a control device corresponding to the control method, and since the principles of solving the problems of the computer storage medium and the device in the embodiments of the present application are similar to those of the control method described in embodiment 3 of the present application, the implementation of the device may refer to the implementation of the foregoing control method, and repeated details are omitted.

Example 5

The present embodiment proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the data processing method described in embodiment 1 above. For specific implementation, refer to method embodiment 1, which is not described herein again.

In addition, referring to another structure diagram of the control device shown in fig. 9, the present embodiment further provides a control device, which includes a bus 51, a processor 52, a transceiver 53, a bus interface 54, a memory 55, and a user interface 56. The control means comprises a memory 55.

In this embodiment, the control device further includes: one or more programs stored on the memory 55 and executable on the processor 52, configured to be executed by the processor for performing the following steps (1) to (3):

(1) an electronic control unit ECU acquires an image of an observer in a vehicle.

(2) Determining an eye position of the observer based on the image.

(3) When the height difference between the eye position of the observer and the center position of the eye box is larger than a distance threshold, a control instruction is sent to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to move, and the imaging position of the HUD is adjusted in the vertical direction.

A transceiver 53 for receiving and transmitting data under the control of the processor 52.

In fig. 9, a bus architecture (represented by bus 51), bus 51 may include any number of interconnected buses and bridges, with bus 51 linking together various circuits including one or more processors, represented by general purpose processor 52, and memory, represented by memory 55. The bus 51 may also link various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further in this embodiment. A bus interface 54 provides an interface between the bus 51 and the transceiver 53. The transceiver 53 may be one element or may be multiple elements, such as multiple receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. For example: the transceiver 53 receives external data from other devices. The transceiver 53 is used for transmitting data processed by the processor 52 to other devices. Depending on the nature of the computing system, a user interface 56, such as a keypad, display, speaker, microphone, joystick, may also be provided.

The processor 52 is responsible for managing the bus 51 and the usual processing, running a general-purpose operating system as described above. And memory 55 may be used to store data used by processor 52 in performing operations.

Alternatively, processor 52 may be, but is not limited to: a central processing unit, a singlechip, a microprocessor or a programmable logic device.

It will be appreciated that the memory 55 in embodiments of the invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (ddr Data Rate SDRAM, ddr SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 55 of the systems and methods described in this embodiment is intended to comprise, without being limited to, these and any other suitable types of memory.

In some embodiments, memory 55 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof: an operating system 551 and application programs 552.

The operating system 551 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application 552 includes various applications, such as a Media Player (Media Player), a Browser (Browser), and the like, for implementing various application services. A program implementing the method of an embodiment of the present invention may be included in the application 552.

In summary, the computer storage medium and the control device according to the present embodiment send a control command to the processing unit in the HUD when it is determined that the height difference between the eye position of the observer and the center position of the eye box is greater than the distance threshold, control the curved mirror moving mechanism in the HUD to move the curved mirror through the processing unit, and control the plane mirror moving mechanism to move the plane mirror, so as to change the incident position and/or incident angle of the HUD when the light beam is incident on the windshield of the vehicle, so as to adjust the imaging position of the HUD in the vertical direction, and compared with the related art in which the observer has vertical parallax when viewing the image presented by the HUD, adjust the imaging position of the HUD in the vertical direction, thereby eliminating the situation that the image position of the observer is deviated in the vertical direction when viewing the image presented by the HUD, and avoiding affecting the line-of-sight angle of the observer in the vertical direction and the observation of the image, the use experience of the HUD is improved.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A head-up display device (HUD), comprising: the device comprises an image source, a curved mirror, a plane mirror, a processing unit, a curved mirror moving mechanism and a plane mirror moving mechanism;

2. The HUD of claim 1, wherein the curved mirror movement mechanism and the planar mirror movement mechanism comprise: a rotating device;

the rotating device includes: a drive device, a first engagement member and a second engagement member;

the driving device is connected with the processing unit, the first meshing part is arranged on the driving device, and the second meshing part is in transmission connection with the first meshing part and is connected with the curved mirror or the plane mirror;

the driving device drives the first engaging piece to rotate under the control of the processing unit; when the first meshing part rotates, the second meshing part is driven to rotate; the curved mirror or the plane mirror is driven by the second rotating part to rotate, so that the incident angle and/or the incident position of light emitted by the HUD and incident to the windshield of the vehicle are changed.

3. The HUD of claim 1, wherein the curved mirror movement mechanism and the planar mirror movement mechanism comprise: a translation device;

the translation device comprises: the driving unit, the first transmission piece and the second transmission piece;

the driving unit is connected with the processing unit, the first transmission piece is arranged on the driving unit and is in transmission connection with the meshing teeth of the second transmission piece, and the second transmission piece is connected with the curved mirror or the plane mirror;

4. A heads-up display imaging system for a vehicle, comprising: an image acquisition device, an electronic control unit ECU and a heads-up display device HUD according to any one of claims 1 to 3;

5. The heads-up display imaging system of claim 4, wherein when the curved mirror moving mechanism and the plane mirror moving mechanism employ rotating devices, the ECU is configured to send control instructions to a processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and the image forming position of the HUD is adjusted in the vertical direction, and the method comprises:

6. The heads-up display imaging system of claim 4, wherein when the curved mirror moving mechanism and the plane mirror moving mechanism employ rotating devices, the ECU is configured to send control instructions to a processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, further comprising:

and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to rotate along the anticlockwise direction, and the incident angle and/or the incident position of the HUD when the HUD sends out light to enter a windshield of a vehicle are increased, so that the imaging position of the HUD is reduced in the vertical direction.

7. The heads-up display imaging system of claim 4, wherein when the curved mirror moving mechanism and the plane mirror moving mechanism employ translation devices, the ECU is configured to send control instructions to a processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and the adjusting of the imaging position of the HUD in the vertical direction comprises:

8. The heads-up display imaging system of claim 4, wherein when the curved mirror moving mechanism and the plane mirror moving mechanism employ a translation device, the ECU is configured to send a control instruction to a processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, further comprising:

9. The heads-up display imaging system of claim 4, wherein when the curved mirror moving mechanism employs a rotating device and the plane mirror moving mechanism employs a translating device, the ECU is configured to send a control command to a processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and the adjusting of the imaging position of the HUD in the vertical direction comprises:

10. The heads-up display imaging system of claim 4, wherein when the curved mirror moving mechanism employs a rotating device and the plane mirror moving mechanism employs a translating device, the ECU is configured to send a control command to a processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, further comprising:

11. The heads-up display imaging system of claim 4, wherein when the curved mirror moving mechanism employs a translation device and the plane mirror moving mechanism employs a rotation device, the ECU is configured to send a control command to a processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and the adjusting of the imaging position of the HUD in the vertical direction comprises:

12. The heads-up display imaging system of claim 4, wherein when the curved mirror moving mechanism employs a translation device and the plane mirror moving mechanism employs a rotation device, the ECU is configured to send a control command to a processing unit in the HUD, so that the processing unit controls the curved mirror and the plane mirror in the HUD to move, and adjusts the imaging position of the HUD in the vertical direction, further comprising:

13. A vehicle comprising the head-up display imaging system of any one of claims 4 to 12.

14. A control method for the head-up display imaging system according to any one of claims 4 to 12, comprising:

an Electronic Control Unit (ECU) acquires an image of an observer in a vehicle;

determining an eye position of the observer based on the image;

15. The method of claim 14, wherein when the curved mirror movement mechanism and the plane mirror movement mechanism employ a rotation device, sending control instructions to a processing unit in the HUD, causing the processing unit to control the movement of the curved mirror and the plane mirror in the HUD, adjusting the imaging position of the HUD in the vertical direction, comprises:

16. The method according to claim 14, wherein when the curved mirror moving mechanism and the plane mirror moving mechanism employ rotating means, sending control instructions to a processing unit in the HUD, causing the processing unit to control the movement of the curved mirror and the plane mirror in the HUD, adjusting the imaging position of the HUD in the vertical direction, further comprises:

and sending a control instruction to a processing unit in the HUD, so that the processing unit controls a curved mirror and a plane mirror in the HUD to rotate along the anticlockwise direction, and the HUD is increased to send an incident angle and/or an incident position when light enters a windshield of a vehicle so as to reduce the imaging position of the HUD in the vertical direction.

17. The method of claim 14, wherein when the curved mirror movement mechanism and the plane mirror movement mechanism employ translation means, sending control instructions to a processing unit in the HUD, causing the processing unit to control the movement of the curved mirror and the plane mirror in the HUD, adjusting the imaging position of the HUD in the vertical direction, comprises:

18. The method of claim 14, wherein when the curved mirror movement mechanism and the plane mirror movement mechanism employ translation means, sending control instructions to a processing unit in the HUD, causing the processing unit to control the movement of the curved mirror and the plane mirror in the HUD, adjusting the imaging position of the HUD in the vertical direction, further comprises:

19. The method of claim 14, wherein when the curved mirror movement mechanism employs a rotational device and the flat mirror movement mechanism employs a translational device, sending control instructions to a processing unit in the HUD, causing the processing unit to control the movement of the curved and flat mirrors in the HUD, adjusting the imaging position of the HUD in the vertical direction, comprises:

20. The method of claim 14, wherein when the curved mirror movement mechanism employs a rotational device and the flat mirror movement mechanism employs a translational device, sending control instructions to a processing unit in the HUD, causing the processing unit to control the movement of the curved and flat mirrors in the HUD to adjust the imaging position of the HUD in the vertical direction, further comprising:

21. The method of claim 14, wherein when the curved mirror movement mechanism employs a translation device and the flat mirror movement mechanism employs a rotation device, sending control instructions to a processing unit in the HUD, causing the processing unit to control the movement of the curved and flat mirrors in the HUD, adjusting the imaging position of the HUD in the vertical direction, comprises:

22. The method of claim 14, wherein when the curved mirror movement mechanism employs a translation device and the flat mirror movement mechanism employs a rotation device, sending control instructions to a processing unit in the HUD, causing the processing unit to control the movement of the curved and flat mirrors in the HUD to adjust the imaging position of the HUD in the vertical direction, further comprising:

23. A control device, comprising:

an acquisition module for acquiring an image of an observer in a vehicle;

24. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, is adapted to carry out the method steps of any of the preceding claims 14-22.

25. A control device comprising a memory, a processor, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor to perform the steps of the method of any one of claims 14-22.