CN116880059A - Method and equipment for designing initial structure of vehicle-mounted remote head-up display three-reflector system - Google Patents

Method and equipment for designing initial structure of vehicle-mounted remote head-up display three-reflector system Download PDF

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Publication number
CN116880059A
CN116880059A CN202310849894.0A CN202310849894A CN116880059A CN 116880059 A CN116880059 A CN 116880059A CN 202310849894 A CN202310849894 A CN 202310849894A CN 116880059 A CN116880059 A CN 116880059A
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distance
equal
vehicle
intersection point
mirror
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CN202310849894.0A
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王治玺
叶宇
陈怀新
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University of Electronic Science and Technology of China
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University of Electronic Science and Technology of China
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Priority to CN202310849894.0A priority Critical patent/CN116880059A/en
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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/0012—Optical design, e.g. procedures, algorithms, optimisation routines
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Abstract

The invention discloses an initial structural design method and equipment for a three-mirror system of a vehicle-mounted remote head-up display, which relate to the technical field of structural design of vehicle-mounted head-up display systems and comprise the following steps: defining the intersection points of the principal ray and the eye box, the windshield, the principal mirror, the folding mirror and the source image plane of the head-up observation area as S respectively 0 ,S 1 ,S 2 ,S 3 ,S 4 Determining the intersection point S 1 And S is equal to 0 Distance of (2)Acquiring initial structural data of a vehicle, including the inclination angle of a windshield, and an intersection point S 1 And S is equal to 2 Distance of (2)Intersection point S 3 And S is equal to 2 Distance of (2)Intersection point S 3 And S is equal to 4 Distance of (2)Calculating the vector of reflected lightAndbased on the rondrigas rotation method, rotation angles of the main mirror, the fold mirror, and the source image plane are calculated. The invention can calculate the related parameters of the initial structure based on different vehicle driving position structures, solves the problem of difficult calculation of the off-axis quantity of the initial structure design of the Z-shaped remote head-up display system, and improves the design efficiency and stability.

Description

Method and equipment for designing initial structure of vehicle-mounted remote head-up display three-reflector system
Technical Field
The invention relates to the technical field of structural design of vehicle-mounted head-up display systems, in particular to an initial structural design method and equipment of a vehicle-mounted remote head-up display three-mirror system.
Background
With the development of the automobile industry, the head-up display technology is gradually applied to automobile driving, and can project driving information in the form of images in front of an automobile windshield, so that real-time driving information is provided for a driver, and driving safety and comfort are improved.
The initial structural design plays a very important role in the design of the optical system, and is helpful to determine the basic structure and layout of the optical system, provide a basis for the subsequent optical design, and ensure that the optical performance and color performance of the system meet the design requirements.
The design of head-up display systems typically employs an off-axis three-mirror anamorphic configuration, i.e., two mirrors are employed to achieve light path folding and reflection. At present, the methods for designing the initial structure of the head-up display system disclosed at present mainly comprise a seed curve expansion method, a construction method based on a specular reflection principle and the like. Zhang Yangliu, su Zhouping, pan Gongxiang, etc. optical design and tolerance analysis in "free-form vehicle head-up display [ J ]]In the photonics report, 2020,49 (9): 44-55 ], a free-form surface type is constructed by utilizing a seed curve expansion method, a short-distance head-up display system is designed, but the construction of the whole structure lacks detailed steps; "Wei S L, fan Z C, zhu Z B, et al design of a head-up display based on freeform reflective systems for automotive applications [ J ]].Applied Optics,2019,58(7):1675.DOI:10.1364/ao.58.001675 "the construction of the system is completed on the whole, starting from eyebox, based on the reflection principle, but its structure is based on a flat folded short-distance head-up display system, which cannot be adapted to the" Z "structure of the usual structures of long-distance head-up display systems. The Z-shaped structure is shown in figure 2, and the light rays of the Z-shaped structure start from the source image surface and pass through the folding reflector M 1 Primary mirror M 2 After reflection, the light reaches the windshield, and the light path is similar to a Z-shaped structure, so that the typical structure is a Z-shaped structure.
In summary, in the design of the remote head-up display system, the difficulty in correcting the aberration increases due to the increase of the virtual image viewing distance and the increase of the viewing angle. The structural design of the current remote head-up display system starts from a coaxial three-mirror structure, basically relies on optical design software to perform step-by-step parameter adjustment optimization on the off-axis quantity, and has low efficiency and lack of stability.
Disclosure of Invention
The invention provides a method and equipment for designing an initial structure of a vehicle-mounted remote head-up display three-mirror system, which can alleviate the problems.
In order to alleviate the problems, the technical scheme adopted by the invention is as follows:
in a first aspect, the invention provides a method for designing an initial structure of a vehicle-mounted remote head-up display three-mirror system, which comprises the following steps:
s1, defining intersection points of principal ray, eye box of head-up observation area, windshield, main reflector, folding reflector and source image surface as S 0 ,S 1 ,S 2 ,S 3 ,S 4 Determining the intersection point S 1 And S is equal to 0 Distance of (2)
S2, acquiring initial structure data of the vehicle, including the inclination angle of a windshield and the intersection point S 1 And S is equal to 2 Distance of (2)Intersection point S 3 And S is equal to 2 Distance of->Intersection point S 3 And S is equal to 4 Distance of->
S3, according to the initial structure data of the vehicle, the surface type data of the windshield of the vehicle and the intersection point S 1 And S is equal to 0 Distance of (2)Calculating the reflected ray vector +.>And->
S4, based on the Rodrigas rotation method, according to the reflected light vectorAnd->And obtaining the rotation angles of the main reflector, the folding reflector and the source image surface, and completing the initial structural design of the vehicle-mounted remote head-up display three-mirror system.
In a preferred embodiment of the present invention, in step S1, the intersection point S 1 And S is equal to 0 Distance of (2)Is a specific value designed according to the size requirement of the vehicle type, and after determining the specific position of the driving seat in the vehicle, the intersection point S is determined 1 And S is equal to 0 Distance of->
In a preferred embodiment of the present invention, in step S2, the intersection point S 1 And S is equal to 2 Distance of (2)Intersection point S 3 And S is equal to 2 Distance of->Intersection point S 3 And S is equal to 4 Distance of->The determination method of (1) is as follows: in the mountable area of the known automotive head-up display system, the main mirror and the fold mirror are moved such that the distance between the main mirror and the fold mirror is maximized, and then the intersection point S is measured 1 And S is equal to 2 Distance of->Intersection point S 3 And S is equal to 2 Distance of->Intersection point S 3 And S is equal to 4 Distance of->
In a preferred embodiment of the present invention, in step S3, a direction vector of the windshield is first determined based on the vehicle windshield plane data and the windshield inclination angleThen according to the direction vector of the windscreen +.>And an intersection point S 1 And S is equal to 0 Distance of->Calculated to obtainFinally, based on the principle that the reflection angle is equal to the incident angle, the reflection ray vector is obtained by iterative calculation according to the incident angle alpha of the windshield>And->
In a preferred embodiment of the present invention, the initial structural design parameters obtained in step S3, namely the reflected light vectorsAnd->And the rotation angles of the main reflector, the folding reflector and the source image surface are imported into system design software Zemax to evaluate projection image quality, and the design result of the optimization parameters of the system components is verified.
In a second aspect, the present invention provides an initial structural design apparatus for a vehicle-mounted remote head-up display three-mirror system, comprising:
at least one processor, and a memory communicatively coupled to the processor;
wherein the memory stores instructions that are executed by the processor to cause the processor to perform the method of any of claims 1 to 5 when the instructions are executed.
Compared with the prior art, the invention has the beneficial effects that:
1) The invention provides a method for designing an optical component of a projection system for designing a vehicle-mounted head-up display Z-shaped structure by combining a light reflection principle and a Rodrigos rotation formula.
2) The invention creatively provides a design method of initial structural parameters of a remote head-up display system, wherein the projection distance of the existing initial structural design method is within 3 meters and cannot be effectively fused with a road, and the method provided by the invention is a 7.5m remote initial structural design method, so that the AR-HUD effect can be effectively realized;
3) The existing initial structure design method can only obtain 2.5 m projection with small distortion, (see Zhang Yangliu, photonics report. 2020,49 (9) and Wei S L.applied Optics,2019,58 (7) and other latest data queries, and the research of the latest data queries can only design 2.5 m head-up display system), and no other method for designing the initial structure of the remote head-up display system exists at present.
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of the method for designing the initial structure of the vehicle-mounted remote head-up display three-reflector system of the invention;
FIG. 2 is a schematic diagram of a head-up display system;
FIG. 3 is a schematic view of the internal structure of the prototype, where x represents the distance between the main mirror and the fold mirror and y represents the distance between the fold mirror and the source image plane;
FIG. 4 is a schematic view of an initial structure calculation according to which an initial mirror position and an initial rotation angle are calculated;
FIG. 5 is a schematic diagram of an initial structural design, which is a one-time example simulation design of parameters of structure 1 of Table 1 according to the method of the present invention;
FIG. 6 is a schematic diagram of an initial structural design, which is a one-time example simulation of parameters of structure 2 of Table 1 according to the method of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
Referring to fig. 1 to 4, the present invention provides a method for designing an initial structure of a vehicle-mounted remote head-up display three-mirror system, wherein for convenience of design, the initial structure is designed in a reverse design manner, namely, a virtual image plane is regarded as an object plane, and a source image plane and a main reflector M 2 Folding mirror M 1 And the intersection points of the four optical components of the windshield and the principal ray are set in the same plane, and the light path structure diagram shown in fig. 4 can be obtained by tracking the principal ray, namely connecting the incident points of the principal rays of all the optical elements, wherein the coordinate axes in the vertical direction always correspond to the y axis. The invention is used for obtaining the main reflector M of the optical component of the three-mirror system of the vehicle-mounted remote head-up display 2 Folding mirror M 1 The design method specifically comprises the following steps of:
s1, as shown in figure 4, the principal ray is from S 0 Point-out, defining chief ray and head-up viewing area eye box, windshield, principal mirror M 2 Folding mirror M 1 Intersection points with the source image plane are S respectively 0 ,S 1 ,S 2 ,S 3 ,S 4 Determining the intersection point S 1 And S is equal to 0 Distance of (2)
In the present invention, the intersection point S 1 And S is equal to 0 Distance of (2)Is a specific value designed according to different vehicles, and S is a specific value according to the position of a driving seat 0 Is arranged at the position 20cm in front of the head of the seat, and can determine the intersection point S 1 And S is equal to 0 Distance of->
S2, acquiring initial structure data of the vehicle, including the inclination angle of a windshield and the intersection point S 1 And S is equal to 2 Distance of (2)(i.e. the distance of the windscreen face from the main mirror), intersection point S 3 And S is equal to 2 Distance of->(i.e. the distance from the main mirror to the fold mirror) and the intersection point S 3 And S is equal to 4 Distance of->(i.e. folding mirror M 1 Distance to the source image).
In the initial design, in order to prevent the later lens from shielding as much as possible, under the condition of keeping a certain installation gap, the interval of the reflecting mirrors is increased as much as possible, the initial placement position is shown in fig. 3, and the distance between the centers of all the elements is obtained according to the initial position input, namely: in the mountable area of the known automotive head-up display system, the main mirror M is moved 2 And folding mirror M 1 To make the main reflecting mirror M 2 And folding mirror M 1 The distance of (2) reaches the maximum, and then the intersection point S is measured 1 And S is equal to 2 Distance of (2)Intersection point S 3 And S is equal to 2 Distance of->Intersection point S 3 And S is equal to 4 Distance of->S3, referring to FIG. 4, according to the initial structure data of the vehicle, the front windshield surface type data of the vehicle and the intersection point S 1 And S is equal to 0 Distance of->Calculating the vector of reflected lightAnd->The method specifically comprises the following steps:
s31, because the front windshield of the vehicle is of an irregular surface type, larger aberration is introduced when the front windshield participates in imaging, so that S needs to be acquired 0 Any two non-collinear vectors lying in the plane of the windscreen. The specific data may be provided by the manufacturer or measured using a laser scanner. Assumed point S 0 Two non-collinear vectors a= (a) in the plane of the windscreen x ,a y ,a z )、B＝(b x ,b y ,b z ) Then according to the normal vector definitionThe direction vector of the windscreen can be calculated>
S32, according to the direction vector of the windshieldAnd an intersection point S 1 And S is equal to 0 Distance of->Calculating the incidence angle of the windshield surface
S33, knowing the incident angle alpha, calculating the reflected ray vector according to the geometric relationship because the reflected angle is equal to the incident angleThe method comprises the following steps:
inputting a windshield to a mirror M 2 Distance betweenTo obtain the reflected ray vector +.>
S34 according to the main mirror M 2 Direction vector of (a)And an intersection point S 2 And S is equal to 1 Distance of->Calculating to obtain the main mirror surface M 2 Incidence angle of incidence
S35, known incident angle alpha 1 Since the angle of reflection is equal to the angle of incidence, the reflected ray vector is calculated from the geometric relationshipThe method comprises the following steps:
input primary mirror M 2 And folding mirror M 1 Distance betweenTo obtain the reflected ray vector +.>
S36 according to folding mirror M 1 Direction vector of (a)And an intersection point S 3 And S is equal to 2 Distance of->Calculating to obtain a folded reflecting surface M 1 Incidence angle of incidence
S37, known incident angle alpha 2 Since the angle of reflection is equal to the angle of incidence, the reflected ray vector is calculated from the geometric relationshipThe method comprises the following steps:
input folding mirror M 1 Distance to source image planeTo obtain the reflected ray vector +.>
S4, based on the Rodrigas rotation method, according to the reflected light vectorAnd->Obtaining the main reflector M 2 Folding mirror M 1 And a rotation angle of the source image plane, specifically comprising the steps of:
s41, after the reflection vectors of all the surfaces are determined, M in the initial structure needs to be calculated 1 、M 2 And the rotation angle and the inclination angle of the source image plane, including three directions of x, y and z axes. Referring to fig. 4, assume a main mirror M 2 The direction unit vector before rotation is s= (S) x ,s y ,s z ) The rotated direction vector is t= (T x ,t y ,t z ) The rotation matrix satisfies:
T T ＝RS T
wherein, the liquid crystal display device comprises a liquid crystal display device,r ij each term of the rotation matrix R is represented.
S42 assuming that the unit of rotation axis is vector k= (K) x ,k y ,k z ) The angle between the vectors S and T is β, then the rotation matrix is obtained according to the rondrigas rotation formula:
wherein the method comprises the steps ofRepresents k= [ k ] x k y k z ] T Is a cross product matrix of:
s43, assuming that the angles between the rotation vector R and the directions of x, y and z axes are respectively lambda, mu and delta, R can be expressed as:
R＝R z,δ R y,μ R x,λ
wherein, the liquid crystal display device comprises a liquid crystal display device,
s44, decomposing the rotation torque array R to obtain a main reflecting mirror surface M 2 Rotation angle lambda 2 ,μ 2 ,δ 2 The method comprises the following steps of:
λ 2 ＝arctan(r 32 ,r 33 )
δ 2 ＝arctan(r 21 ,r 11 )
s45, according to the above steps S41 to S44, a folding mirror M is assumed 1 The vector before rotation is S 1 ＝(s x1 ,s y1 ,s z1 ) The direction vector after rotation is T 1 ＝(t x1 ,t y1 ,t z1 ) The rotation matrix satisfies
Then the folded mirror plane M can be found 1 Rotation angle lambda 1 ,μ 1 ,δ 1 The method comprises the following steps of:
λ 1 ＝arctan(r 32 ,r 33 )
δ 1 ＝arctan(r 21 ,r 11 )
s46, according to the above steps S41 to S44, assume that the vector before the rotation of the source image plane is S 0 ＝(s x0 ,s y0 ,s z0 ) The direction vector after rotation is T 0 ＝(t x0 ,t y0 ,t z0 ) The rotation matrix satisfies
T 0 T ＝R 0 S 0 T
Then the source image plane rotation angle lambda is found 0 ,μ 0 ,δ 0 The method comprises the following steps of:
λ 0 ＝arctan(r 32 ,r 33 )
δ 0 ＝arctan(r 21 ,r 11 )
the method of the invention is verified by utilizing different initial structure parameters, initial structure data including virtual image viewing distance of system design, the distance between each preset surface in step S2 and the source image surface and folding mirror M in step S3 are input to system simulation software Zemax 1 Plane, main mirror M 2 The rotation angle of the surface is input into Zemax lens data, imaging magnification is set in an optimization function, as shown in table 1, different initial structure parameters are input in a comparison mode, and the initial structure meeting the requirements can be obtained effectively by the method. The designed initial structure is verified by system design software, different initial structure designs can be converged to a stable structure rapidly, the imaging effect meets the use requirement, and the specific design structure is shown in fig. 5 and 6, so that it is proved that different vehicle structures can be designed to a proper initial structure. Table 1 is two different sets of initial structural data:
TABLE 1
The initial structural data in the table 1 and the initial structural design parameters calculated in the steps S3 and S4 are the reflected light ray vector obtained by adopting the methodAnd->And the rotation angles of the main reflector, the folding reflector and the source image surface are imported into system design software Zemax to evaluate projection image quality, and the design result of the optimization parameters of the system components is verified. The method is verified by utilizing different initial structural parameters, the initial structural parameters, virtual image viewing distance, viewing angle and imaging magnification of the system design are input, imaging quality is set in an optimization function, after hammer optimization, the imaging quality of the system is verified, a structural light path diagram is shown in fig. 5 and 6, and all imaging indexes meet the design requirements.
The invention relates to a method for designing an initial structure of a three-mirror system for vehicle-mounted remote head-up display, which is realized in computer equipment, wherein the equipment comprises:
at least one processor, and a memory communicatively coupled to the processor;
the memory stores instructions, and the instructions are executed by the processor, so that the method for designing the initial structure of the vehicle-mounted remote head-up display three-mirror system is realized when the processor executes the instructions.
In addition to the above structure, the computer device is also provided with an input device by which the front windshield surface data of the vehicle and the inclination angle of the windshield can be input into the memory, and the intersection point S 1 And S is equal to 0 Distance of (2)Intersection point S 1 And S is equal to 2 Distance of->Intersection point S 3 And S is equal to 2 Distance of->Intersection point S 3 And S is equal to 4 Distance of->Then, the instruction with input condition is executed by the processor, and the result 'reflected ray vector' is obtained after the execution>And->And the rotation angles of the main reflector, the folding reflector and the source image surface, and then importing the result into optical system design software Zemax for projection image quality evaluation, and verifying the design result of the system component optimization parameters.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. The design method of the initial structure of the vehicle-mounted remote head-up display three-mirror system is characterized by comprising the following steps of:
s1, defining intersection points of principal ray, eye box of head-up observation area, windshield, main reflector, folding reflector and source image surface as S 0 ,S 1 ,S 2 ,S 3 ,S 4 Determining the intersection point S 1 And S is equal to 0 Distance of (2)
S2, acquiring initial structure data of the vehicle, including the inclination angle of a windshield and the intersection point S 1 And S is equal to 2 Distance of (2)Intersection point S 3 And S is equal to 2 Distance of->Intersection point S 3 And S is equal to 4 Distance of->
S3, according to the initial structure data of the vehicle, the surface type data of the windshield of the vehicle and the intersection point S 1 And S is equal to 0 Distance of (2)Calculating the reflected ray vector +.>And->
S4, based on the Rodrigas rotation method, according to the reflected light vectorAnd->And obtaining the rotation angles of the main reflector, the folding reflector and the source image surface, and completing the initial structural design of the vehicle-mounted remote head-up display three-mirror system.
2. The method for designing the initial structure of the vehicle-mounted remote head-up display three-mirror system according to claim 1, which is characterized in thatIn step S1, the intersection point S 1 And S is equal to 0 Distance of (2)Is a specific value designed according to the size requirement of the vehicle type, and after determining the specific position of the driving seat in the vehicle, the intersection point S is determined 1 And S is equal to 0 Distance of->
3. The method for designing an initial structure of a three-mirror system for vehicle-mounted remote head-up display according to claim 1, wherein in step S2, the intersection S 1 And S is equal to 2 Distance of (2)Intersection point S 3 And S is equal to 2 Distance of->Intersection point S 3 And S is equal to 4 Distance of (2)The determination method of (1) is as follows: in the mountable area of the known automotive head-up display system, the main mirror and the fold mirror are moved such that the distance between the main mirror and the fold mirror is maximized, and then the intersection point S is measured 1 And S is equal to 2 Distance of->Intersection point S 3 And S is equal to 2 Distance of->Intersection point S 3 And S is equal to 4 Distance of->
4. The method for designing an initial structure of a three-mirror system for vehicle-mounted remote head-up display according to claim 1, wherein in step S3, a direction vector of a windshield is determined according to vehicle windshield surface type data and a windshield inclination angleThen according to the direction vector of the windscreen +.>And an intersection point S 1 And S is equal to 0 Distance of->Calculating to obtain a windshield plane incident angle alpha, and finally, based on the principle that the reflection angle is equal to the incident angle, obtaining a reflection light ray vector by iterative calculation according to the windshield plane incident angle alpha>
5. The method for designing an initial structure of a vehicular remote head-up display three-mirror system according to claim 1, wherein the reflected light is vector-chargedAnd->And the rotation angles of the main reflector, the folding reflector and the source image surface are imported into system design software Zemax to evaluate projection image quality, and the design result of the optimization parameters of the system components is verified.
6. An on-vehicle long-range head-up display three-way system initial structural design equipment, characterized by comprising:
at least one processor, and a memory communicatively coupled to the processor;
wherein the memory stores instructions that are executed by the processor to cause the processor to perform the method of any of claims 1 to 5 when the instructions are executed.
CN202310849894.0A 2023-07-11 2023-07-11 Method and equipment for designing initial structure of vehicle-mounted remote head-up display three-reflector system Pending CN116880059A (en)

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Application Number Priority Date Filing Date Title
CN202310849894.0A CN116880059A (en) 2023-07-11 2023-07-11 Method and equipment for designing initial structure of vehicle-mounted remote head-up display three-reflector system

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