CN117288429A

CN117288429A - Ghost detection method and device for head-up display equipment and electronic equipment

Info

Publication number: CN117288429A
Application number: CN202311147965.9A
Authority: CN
Inventors: 于洪朗; 董洪涛; 冯蕾
Original assignee: Beijing Jingwei Hirain Tech Co Ltd
Current assignee: Beijing Jingwei Hirain Tech Co Ltd
Priority date: 2023-09-06
Filing date: 2023-09-06
Publication date: 2023-12-26

Abstract

After a virtual image of a test image is projected in a windshield based on head-up display equipment, the virtual image is shot by image acquisition equipment to obtain a first image containing the virtual image, lines and/or points in the first image are traversed, main body center pixel coordinates corresponding to a virtual image main body part and ghost center pixel coordinates corresponding to a ghost part in each line or each column to which each line and/or each point in the first image belong are determined, and a ghost value corresponding to the head-up display equipment is determined according to the difference between the pixel coordinates of the main body center and the ghost center. According to the embodiment of the application, before the head-up display device leaves a factory, the ghost value can be tested, so that unqualified products can be intercepted in the factory, the ghost value of the head-up display device leaves the factory is ensured to be in a specified range, the actual use effect of the head-up display device is ensured, and the driving comfort and safety of a driver are improved.

Description

Ghost detection method and device for head-up display equipment and electronic equipment

Technical Field

The application belongs to the technical field of automobile electronics, and particularly relates to a ghost detection method and device of head-up display equipment and electronic equipment.

Background

The electric and intelligent automobile industry continues to develop deeply, and an intelligent cabin becomes a core component in the intelligent development process of the whole automobile. The head-up display (HUD) equipment is taken as an important component of a man-machine interaction scheme, and is important hardware for realizing intellectualization and networking of an intelligent cabin. The core components of HUD technology mainly include an image generation unit PGU, a free-form surface mirror, and a windshield. The organism of HUD equipment is from taking PGU formation of image, turns back through inside multiple light path, throws the image to preceding windshield and reflects and get into the human eye, and the driver just can see a virtual image on preceding windshield, and the virtual image can include various information such as vehicle, amusement, ADAS, navigation, so the driver need not low head alright acquire these information fast convenient, greatly promotes driving security and travelling comfort.

However, since the front windshield glass is generally composed of the inner layer glass, the outer layer glass and the polyvinyl alcohol Ding Quanzhi PVB intermediate film, ghost images usually appear in the virtual image presented by the HUD device on the front windshield glass, and the ghost images appear, so that the imaging quality of the HUD device is greatly reduced, and uncomfortable visual effects are brought to a driver.

In order to eliminate the influence of the ghost, detection of the ghost is required, and thus, a scheme that can detect the ghost of the HUD device is now urgently required.

Disclosure of Invention

The embodiment of the application provides a ghost detection method, device, equipment, storage medium and program for head-up display equipment, which can detect the ghost value of the head-up display equipment.

In a first aspect, an embodiment of the present application provides a method for detecting ghost of a head-up display device, including:

projecting a test image onto the windscreen based on the heads-up display device, wherein the test image comprises lines and/or dots arranged in an array,

shooting a virtual image of a test image projected on a windshield based on an image acquisition device to obtain a first image containing the virtual image,

performing pixel traversal on lines and/or points contained in the first image to obtain main body center pixel coordinates and ghost center pixel coordinates corresponding to each line and/or each line or each column to which each point belongs in the first image,

and determining a ghost value corresponding to the head-up display device according to the difference between the main body center pixel coordinates and the ghost center pixel coordinates corresponding to each line and/or each row or each column to which each point belongs.

As a possible implementation, before pixel traversing the lines and/or points contained in the first image, the method further includes:

the first image is subjected to a gaussian filtering,

and carrying out contour recognition and image segmentation on the first image after Gaussian filtering based on an image processing algorithm to obtain lines and/or points in the first image.

As a possible implementation manner, pixel traversal is performed on lines and/or points included in the first image, to obtain main body center pixel coordinates and ghost center pixel coordinates corresponding to each line and/or each line or each column to which each point belongs in the first image, including:

performing pixel traversal on each line and/or each point contained in the first image to obtain a pixel peak value corresponding to each line or each column to which each line and/or each point belongs in the first image, recording pixel coordinates of the pixel peak value,

and determining the main body center pixel coordinate and the ghost center pixel coordinate corresponding to each line and/or each point in the first image according to the pixel peak value corresponding to the line or the column.

As one possible implementation, determining the main body center pixel coordinate and the ghost center pixel coordinate corresponding to the row or the column according to the pixel peak value corresponding to the row or the column includes:

Determining the main body center pixel coordinate corresponding to the row or the column by the pixel coordinate corresponding to the maximum pixel value in the pixel peak value corresponding to the row or the column,

the pixel peak value between the preset ghost threshold value and the background threshold value in the pixel peak value corresponding to the row or the column is determined as a first pixel peak value,

and determining the pixel coordinate corresponding to the maximum pixel value in the first pixel peak value as the ghost center pixel coordinate corresponding to the row or the column.

As a possible implementation manner, determining a ghost value corresponding to the head-up display device according to a difference between the main body center pixel coordinate and the ghost center pixel coordinate corresponding to each line and/or each row or each column to which each point belongs, includes:

for each line and/or each column of the first image to which each point belongs, determining the difference between the main body center pixel coordinates and the ghost center pixel coordinates corresponding to the line or the column as the ghost value corresponding to the line or the column,

for each line and/or each point in the first image, determining the ghost value with the highest occurrence probability in the ghost values corresponding to the line or the line of the point as the ghost value corresponding to the line or the point,

And determining the maximum value of the ghost values of all lines and/or all points in the first image as the corresponding ghost value of the head-up display device.

As a possible implementation manner, the method further includes:

converting the ghost value corresponding to the head-up display device according to a preset conversion formula to obtain a ghost deviation angle corresponding to the head-up display device,

wherein the conversion formula includes:

where α represents a ghost deviation angle, d represents a ghost value before conversion, P represents a pixel size of the image capturing apparatus, and f represents a focal length of the image capturing apparatus.

As one possible implementation, before projecting the test image to the windshield based on the heads-up display device, the method further comprises:

the distortion correction is performed on the test image,

projecting a test image to a windshield based on a heads-up display device, comprising:

and projecting the test image after distortion correction to the windshield based on the head-up display device.

As a possible implementation, the method further comprises, before obtaining the first image, based on the image acquisition device acquiring a virtual image of the test image projected on the windscreen:

adjusting the position of the head-up display device and/or the image acquisition device so that a virtual image projected on the windshield based on the test image shot by the image acquisition device is complete, the inclination is smaller than a preset inclination threshold value and/or the exposure is smaller than a preset exposure threshold value,

Acquiring a virtual image of a test image projected on a windshield based on an image acquisition device to obtain a first image, comprising:

and after the head-up display device and/or the image acquisition device are adjusted, acquiring a virtual image of the test image projected on the windshield based on the image acquisition device to obtain a first image.

In a second aspect, an embodiment of the present application further provides a ghost detection apparatus for a head-up display device, including:

an image projection module for projecting a test image to the windshield based on the heads-up display device, wherein the test image comprises lines and/or points arranged in an array,

an image acquisition module for shooting a virtual image of a test image projected on a windshield based on an image acquisition device to obtain a first image containing the virtual image,

a pixel traversing module, configured to perform pixel traversal on lines and/or points included in the first image, to obtain a main central pixel coordinate and a ghost central pixel coordinate corresponding to each line and/or each row or each column to which each point belongs in the first image,

and the equipment ghost value determining module is used for determining the ghost value corresponding to the head-up display equipment according to the difference between the main body center pixel coordinates and the ghost center pixel coordinates corresponding to each line and/or each row or each column to which each point belongs.

In a third aspect, embodiments of the present application further provide an electronic device, including: a processor and a memory storing computer program instructions,

the processor, when executing the computer program instructions, implements the method for detecting ghost of the head-up display device according to the first aspect.

In a fourth aspect, embodiments of the present application further provide a computer readable storage medium, where computer program instructions are stored, where the computer program instructions implement the method for detecting double images of a head-up display device according to the first aspect when the computer program instructions are executed by a processor.

In a fifth aspect, embodiments of the present application further provide a computer program product, where instructions in the computer program product, when executed by a processor of an electronic device, enable the electronic device to perform the method for detecting double images of a head-up display device according to the first aspect.

According to the ghost detection method, device, equipment, storage medium and program of the head-up display equipment, after a virtual image of a test image is projected in a windshield based on the head-up display equipment, the image acquisition equipment shoots the virtual image to obtain a first image containing the virtual image, and a line and/or a point in the first image are traversed to determine a main body center pixel coordinate corresponding to a main body part of the virtual image and a ghost center pixel coordinate corresponding to a ghost part in each line or each column to which each line and/or each point in the first image belong, and a ghost value corresponding to the head-up display equipment is determined according to the difference between the pixel coordinates of the main body center and the ghost center. According to the embodiment of the application, before the head-up display equipment leaves a factory, the size of the ghost can be tested and evaluated, so that unqualified products can be intercepted in the factory, the ghost value of the head-up display equipment leaves the factory is ensured to be in a specified range, the actual use effect of the head-up display equipment is ensured, and the driving comfort and safety of a driver are improved. In addition, the ghost effect of the head-up display device can be evaluated in the design verification stage, and design improvement of research personnel is facilitated.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.

Figure 1 is a flow chart of a ghost detection method of a head-up display device according to an embodiment of the present application,

figure 2 is a schematic illustration of a test image provided by an embodiment of the present application,

figure 3 is a schematic illustration of a test image provided by an embodiment of the present application,

figure 4 is a schematic diagram of a structure of a ghost system of a head-up display device according to an embodiment of the present application,

figure 5 is a schematic view of a portion of a first image after contour recognition and segmentation according to an embodiment of the present application,

fig. 6 is a flowchart of a ghost detection method of a head-up display device according to another embodiment of the present application,

figure 7 is a schematic structural diagram of a ghost detection device of a head-up display device according to an embodiment of the present application,

fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Features and exemplary embodiments of various aspects of the present application are described in detail below to make the objects, technical solutions and advantages of the present application more apparent, and to further describe the present application in conjunction with the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the application and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The basic hardware architecture of HUD equipment mainly includes collection unit, control unit and projection display unit, and collection unit is mainly responsible for gathering car condition information (such as speed of a motor vehicle, navigation, temperature, oil consumption and recreational information etc.) and road conditions environmental information, and control unit mainly used receives the information that collection unit gathered to output after the information processing, projection display unit then mainly responsible for generating the image based on the information that control unit output, and utilize projection equipment to pass through reflection/refracting mirror projection to the windscreen of car with the image.

In the imaging light path of HUD devices, the windshield is an important optical element, the design of which is closely related to the display effect of the virtual image. Typically, a windscreen is made up of an inner and outer glass layer and an intermediate film (e.g. a polyvinyl Ding Quanzhi PVB film) so that there are inner and outer faces, both of which reflect light when incident light impinges on the windscreen, and typically the thickness of the windscreen intermediate film is uniform, i.e. the inner and outer faces are parallel so that the same incident light will form two reflected light rays on the glass which, when received simultaneously by the human eye, will form a ghost image resulting in the appearance of two virtual images on the windscreen, a phenomenon known as ghost image. The appearance of ghost images makes the imaging quality of HUD equipment greatly compromised, bringing uncomfortable visual effects to the driver. In order to reduce adverse effects of ghost of the head-up display device on users, the ghost can be used as an important evaluation item of the head-up display device in an EOL stage of testing of an offline detector of an automobile production line, and whether the head-up display device meets product standards or not is evaluated based on ghost detection results so as to be timely adjusted when ghost problems are determined to exist. Therefore, a scheme that can perform ghost detection on the head-up display device is urgently needed.

In order to achieve ghost detection of a head-up display device, the embodiment of the application provides a method, a device, equipment, a storage medium and a program for ghost detection of the head-up display device.

The following first describes a ghost detection method of the head-up display device provided in the embodiment of the present application.

Referring to fig. 1, a flow chart of a method for detecting a ghost of a head-up display device according to an embodiment of the present application may be implemented based on a system for detecting a ghost of a head-up display device, where the system may include a head-up display device, a windshield, and an image capturing device, as shown in fig. 1, and the method may include the following steps S11 to S14.

S11, projecting a test image to the windshield based on the head-up display device.

The test image is an image for ghost detection of the head-up display device. The number of lines and/or points including array arrangement, for example, the number of lines and/or points in the test image may be M, the number of columns may be N, M and N are positive integers greater than or equal to 1, and specific number of lines and columns may be set according to the size of the virtual image of the detected head-up display device, and may generally be set to odd number of lines and odd number of columns, for example, 5 lines and 9 columns, 5 lines and 11 columns, and so on. It is usually recommended that not less than 5 rows and 5 columns.

As one example, the test image may include, but is not limited to, the pictures shown in fig. 2 and/or 3.

The diameter of the point and/or the size (width and length) of the line contained in the test image can be set according to the chip resolution of the detected head-up display device, when the device is set, the stretching and deformation of the projected virtual image can not influence the ghost detection after the HUD projection, the test image needs to cover different fields of view, and the size of the transverse and longitudinal ghosts can be measured simultaneously.

When it is determined that ghost detection of the head-up display device is required, the head-up display device may be lit up and a test image projected onto the windscreen based on the head-up display device.

S12, shooting a virtual image of a test image projected on a windshield based on an image acquisition device to obtain a first image containing the virtual image.

The image acquisition device may be a device having an image acquisition function such as a test camera.

After the head-up display device projects the test image onto the windshield, the image acquisition device is started, and the image acquisition device is utilized to shoot a virtual image of the test image projected onto the windshield, so that a shot first image is obtained, and the first image contains the virtual image projected onto the windshield.

S13, performing pixel traversal on lines and/or points contained in the first image to obtain main body center pixel coordinates and ghost center pixel coordinates corresponding to each line and/or each row or each column of each point in the first image.

The virtual image captured in the first image actually includes a main body portion and a ghost portion of the virtual image, and the center pixel coordinate of the main body corresponding to each line or each column to which each line and/or each point belongs refers to the center coordinate of the main body portion of the virtual image in the line or the column, and the center pixel coordinate of the ghost corresponding to each line or each column to which each line and/or each point belongs refers to the center coordinate of the ghost portion of the virtual image in the line or the column.

And (3) through pixel traversal of lines and/or points in the first image, distinguishing a region center point corresponding to the virtual image main body part and a region center point corresponding to the ghost image part in each line or each column to which each line and/or each point belongs, wherein each pixel point corresponds to one pixel coordinate in the first image, so that the determined pixel coordinate of the region center point corresponding to the virtual image main body part is determined as a main body center pixel coordinate, and the determined pixel coordinate of the region center point corresponding to the ghost image part is determined as a ghost image center pixel coordinate.

By the method, the main body center pixel coordinates and the ghost center pixel coordinates corresponding to each line and/or each row or each column of each point in the first image can be determined.

S14, determining a ghost value corresponding to the head-up display device according to the difference between the main body center pixel coordinates and the ghost center pixel coordinates corresponding to each line and/or each row or each column to which each point belongs.

In general, in the case of a double image in a head-up display device, there is a deviation in position between the double image and the subject, which causes the difference in the positions of the region center point of the subject portion and the region center point of the double image portion in the same row or column, that is, the pixel coordinates, so that the corresponding double image value of the head-up display device can be estimated according to the difference between the subject center pixel coordinates and the double image center pixel coordinates.

If the main body center pixel coordinates and the ghost center pixel coordinates corresponding to each line and/or each line to which each point belongs are obtained, determining the ghost value corresponding to the head-up display device according to the main body center pixel coordinates and the ghost center pixel coordinates corresponding to the lines. If the main body center pixel coordinates and the ghost center pixel coordinates corresponding to each line and/or each column to which each point belongs are obtained, the ghost value corresponding to the head-up display device can be determined according to the main body center pixel coordinates and the ghost center pixel coordinates corresponding to the columns.

According to the ghost detection method for the head-up display device, after the virtual image of the test image is projected in the windshield based on the head-up display device, the image acquisition device shoots the virtual image to obtain the first image containing the virtual image, and the line and/or the point in the first image are traversed to determine the main body center pixel coordinate corresponding to the main body part of the virtual image and the ghost center pixel coordinate corresponding to the ghost part in each row or each column to which each line and/or each point in the first image belongs, and the ghost value corresponding to the head-up display device is determined according to the difference between the pixel coordinates of the main body center and the ghost center. According to the embodiment of the application, before the head-up display equipment leaves a factory, the size of the ghost can be tested and evaluated, so that unqualified products can be intercepted in the factory, the ghost value of the head-up display equipment leaves the factory is ensured to be in a specified range, the actual use effect of the head-up display equipment is ensured, and the driving comfort and safety of a driver are improved. In addition, the ghost effect of the head-up display device can be evaluated in the design verification stage, and design improvement of research personnel is facilitated.

In some embodiments, before S11 is performed, the brightness of the head-up display device may be adjusted to a set brightness level corresponding to the test environment, and after the brightness is adjusted to the set brightness level, the test image may be projected onto the windshield based on the head-up display device.

The set brightness level corresponding to the test environment can be a brightness level commonly used by a user in a real scene corresponding to the test environment.

By the method, different brightness levels are set for different test environments, so that the brightness level of the head-up display device during test is more in accordance with the actual situation during actual use, and the ghost value of the head-up display device obtained based on the test environments is more in accordance with the actual scene during actual use.

In some embodiments, before S11 is performed, the following steps may also be performed:

and (3) carrying out distortion correction on the test image under the condition that the image distortion exists in the head-up display device, and executing S11 after the distortion correction is completed.

For example, the test image may be subjected to a T-type inverse distortion process before S11 is performed.

By carrying out distortion correction on the test image, the projected image can be ensured to be undistorted or to be as small as possible, so that the influence of the distortion of the head-up display device on the ghost detection result is reduced.

In some embodiments, before performing S12, the following steps may also be performed:

and (3) adjusting the position of the image acquisition equipment so that the optical center of the image acquisition equipment is positioned in the middle eye box of the driver in the whole vehicle coordinate system, and executing S12 after the adjustment is completed.

The optical center of the image acquisition equipment is adjusted to the eye position in the middle eye box of the driver, so that the virtual image in the first image shot by the image acquisition equipment is closer to the virtual image seen by human eyes, and the accuracy of the ghost detection result is improved.

and adjusting the position of the head-up display device and/or the image acquisition device so that a virtual image projected on the windshield based on the test image acquired by the image acquisition device is complete, the inclination is smaller than a preset inclination threshold value and/or the exposure is smaller than a preset exposure threshold value. After the adjustment is completed, S12 is executed again.

When adjusting the position of the head-up display device and/or the image acquisition device, the image acquisition device may be used to capture a virtual image of the test image projected on the windscreen and then adjust based on the captured image. During adjustment, whether the virtual image of the test image in the photographed image is missing or not can be judged, the judging mode can include that the number of lines and/or points in the photographed image is identified through software, if the number of lines and/or points in the photographed image is smaller than the number of lines and/or points in the known test image, the photographed image is considered to be incomplete, the missing exists, and at the moment, the installation position of the head-up display device and the installation position of the image acquisition device can be checked. Further, it may be determined whether the inclination of the photographed image is greater than or equal to the inclination threshold, and the determination may include determining whether the inclination is greater than or equal to the inclination threshold if the coordinate deviation of the first point or line of each row or column and the center point of the last point or line of the row or column is greater than or equal to a preset pixel (e.g., 10 pixels), and at this time, adjusting the relative positions of the image capturing device and the head up display device. Further, whether the exposure degree of the shot image is larger than or equal to a preset exposure degree threshold value or not can be judged through the signal intensity displayed by the video stream of the image acquisition equipment, namely, whether overexposure is carried out or not, and if overexposure is carried out, an attenuation sheet is added to the image acquisition equipment.

Through the adjustment, the quality of the finally shot first image can be effectively improved, and the high-quality first image can be ensured.

In some embodiments, the method for detecting a ghost of a head-up display device provided in the present application may be based on a system for detecting a ghost of a head-up display device shown in fig. 4, where the system may include:

head-up display device 410, head-up display device stage 420, windshield 430, image capture device 440, and image capture device fixture 450.

The head-up display device stand 420 includes a fixed base and a mounting stand. The head-up display device 410 is fixed to the head-up display device stand 420 and fixedly connected to the mounting stand by screws. The mounting position coordinates of the head-up display device 410 coincide with the coordinates at the time of design.

The windshield 430 is disposed in front of the head-up display device 410, and its position coordinates are determined by the design coordinate values, and the windshield 430 should be used together with the head-up display device 410, both being products on the same model vehicle and being products used in design.

The image capturing device 440 may be a high resolution high quality camera, for example, a camera of 1000 ten thousand pixels or more. The angle of view of the image capturing device 440 is larger than that of the head-up display device 410, and the distortion is small, so that the influence of the distortion of the image capturing device 440 on the photographed image is avoided. Before ghost detection, the image acquisition device 440 may be calibrated to determine the internal and external parameters of the image acquisition device 440.

The image capturing device fixing apparatus 450 plays roles in fixing and position adjustment of the image capturing device 440, and can enable the image capturing device 440 to translate in x, y and z directions and rotate coordinate axes, and when ghost detection is performed, the image capturing device 440 can be moved to the middle eye position of the middle eye box of the driver in the whole vehicle coordinate system through the image capturing device fixing apparatus 450.

In order to ensure the degree of freedom of the position adjustment of the image capturing device 440, the image capturing device fixing apparatus 450 may use a six-axis mechanical arm.

Based on this, before S12 is performed, the position of the image capturing apparatus 440 may be adjusted by the image capturing apparatus fixing device 450, the position of the head up display apparatus 410 may be adjusted based on the head up display apparatus stage 420, and after the adjustment is completed, in S12, the first image may be captured based on the adjusted image capturing apparatus.

In some embodiments, before performing S13 above, each line and/or each point included in the first image may also be determined, so that in S13 pixel traversal may be performed based on the determined line and/or point.

Wherein each line and/or each point in the first image is determined, comprising the steps of:

The first image is subjected to a gaussian filtering,

and carrying out contour recognition and image segmentation on the first image after Gaussian filtering based on an image processing algorithm to obtain each line and/or each point in the first image.

By performing gaussian filtering on the first image, a communication region can be formed between a virtual image main part and a ghost part of lines and/or points in the first image, and further, contour recognition and segmentation are performed on the first image after gaussian filtering by using an image processing algorithm such as an Opencv algorithm function, etc., each line and/or each point in the first image can be found, wherein the found line and/or point contains the main part and ghost part of the virtual image.

As an example, taking a test image as the picture shown in fig. 3 as an example, referring to fig. 5, a schematic diagram of a portion of a gaussian filtered first image after contour recognition and segmentation is shown, where each line is segmented in each small rectangular frame.

By the method, each line and/or each point in the first image can be accurately and rapidly identified, and the traversal is convenient.

In some embodiments, the specific implementation manner of S13 may include:

performing pixel traversal on lines and/or points contained in the first image to obtain pixel peaks corresponding to each line and/or each row or each column to which each point belongs in the first image, recording pixel coordinates of the pixel peaks,

The ghosts of the head-up display device generally include a lateral ghost and a longitudinal ghost, and if the test image includes lines, the test image generally includes lines with inconsistent directions, for example, the test image includes lateral lines and longitudinal lines as shown in fig. 3, so that the detection of the lateral ghost and the longitudinal ghost can be simultaneously realized. Based on this, in the case where lines whose directions are not uniform are included in the test image, in order to facilitate the traversal, the following steps may be further performed before pixel traversal is performed on the lines and/or points included in the first image:

lines in the first image are classified, lines with the same direction are classified into the same class, lines with different directions are classified into different classes, the directions of the various lines are unified into a target direction, and the target direction can be set to be horizontal or vertical according to actual requirements.

As an example, taking the first image including the transverse line and the longitudinal line as an example, the transverse line is classified into one type, the longitudinal line is classified into another type, if the target direction is transverse, the longitudinal line is rotated into the transverse line, and if the target direction is longitudinal, the transverse line is rotated into the longitudinal line, so that all the line directions are unified.

If lines are included in the first image and the directions of the lines are uniform as the target directions, pixel traversal is performed on the lines and/or points included in the first image, and if the target directions are lateral, the traversal is performed on a column-by-column basis, and if the target directions are vertical, the traversal is performed on a row-by-row basis.

If the first image contains only points, the first image may be traversed by rows or by columns.

Typically, different brightnesses differ in the corresponding pixel values in the image, with greater pixel values being the greater the brightness. The test image contains background in addition to lines and/or points. Whereas in the first image the brightness of the lines and/or points is larger compared to the background, i.e. the pixel values of the lines and/or points are larger. Based on the above, for each row or each column, after the pixel in the row or the column is traversed, the pixels in the row or the column are ordered, the pixel peak value of the pixel curve of the column or the row is found, and the pixel coordinates corresponding to the pixel peak value are recorded. Wherein the pixel peaks comprise pixels corresponding to lines and/or points in the row or column.

By the method, the pixel peak value and the corresponding pixel coordinate corresponding to each line and/or each row of each point can be obtained, or the pixel peak value and the corresponding pixel coordinate corresponding to each column of each line and/or each point can be obtained.

Further, for each line and/or each column to which each point belongs, the main body center pixel coordinate and the ghost center pixel coordinate corresponding to the line or the column may be determined according to the pixel peak value corresponding to the line or the column.

Typically, the luminance of the main portion of the virtual image is greater than the luminance of the ghost portion of the virtual image, and the luminance of the ghost portion is greater than the luminance of the background, based on which the following steps may be performed in determining the main center pixel coordinates and ghost center pixel coordinates corresponding to the row or column:

Wherein the ghost threshold and the background threshold can be set according to the test environment and the test product, and typically the ghost threshold is not lower than 40% and the background threshold is not lower than 10%. And a pixel peak value located between a preset ghost threshold value and a background threshold value is determined as a first pixel peak value, which may be regarded as a pixel value corresponding to the ghost portion.

By the method, the main body center part and the ghost center part of the first image can be distinguished by using a threshold method based on the brightness difference of the main body part, the ghost part and the background part of the virtual image in the first image, and the main body center pixel coordinate and the ghost center pixel coordinate corresponding to each row or each column can be accurately determined.

In some embodiments, after obtaining the main body center pixel coordinates and the ghost center pixel coordinates corresponding to each line and/or each row or each column to which each point belongs, the ghost value corresponding to the head-up display device may be determined by executing S14.

In some embodiments, the implementation of S14 may include:

The difference between the main body center pixel coordinate and the ghost center pixel coordinate corresponding to each line and/or each point in the first image may be used as the ghost value corresponding to the line or the column, where the difference between the main body center pixel coordinate and the ghost center pixel coordinate is the distance between the main body center and the ghost center, and by this distance, the size of the ghost may be represented, and therefore, the difference between the main body center pixel coordinate and the ghost center pixel coordinate is determined as the ghost value corresponding to the line or the column, and the size of the ghost in each line or each column may be represented.

For each line and/or each point in the first image, when determining the ghost value corresponding to the line or the point, the ghost values of all rows or columns to which the line or the point belongs can be recorded, and by statistical analysis, the ghost value with the largest occurrence probability is determined from the recorded ghost values to be determined as the ghost value corresponding to the line or the point, and the greater the occurrence probability is, the more the ghost degree of the line or the point can be ensured, so that the ghost value with the largest occurrence probability is determined as the ghost value corresponding to the line or the point more accurately.

After the ghost values corresponding to all lines and/or points are obtained, the maximum ghost value is determined to be the ghost value corresponding to the head-up display device, so that higher precision can be ensured when the head-up display device is tested or designed based on the ghost value corresponding to the head-up display device.

In some embodiments, since the ghost value corresponding to the head-up display device obtained in S14 is obtained according to the pixel in the first image, it is actually one pixel value in the camera coordinate system corresponding to the image capturing device, and the pixel sizes corresponding to the different image capturing devices are usually different, so if the deviation value is to be understood, the size of the pixel size corresponding to the image capturing device needs to be known, so the ghost value obtained in the above manner is not intuitive enough, and is inconvenient for the user to understand. In view of this, in order to make the ghost value corresponding to the head-up display device more intuitive and easier to understand, the following steps may be further performed after S14:

wherein the conversion formula includes:

The ghost deviation angle obtained through conversion shows that the deviation angle between the virtual image main body part and the ghost part is seen by human eyes, and the larger the ghost deviation angle is, the larger the ghost is, and the more visual is.

Referring to fig. 6, a schematic diagram of a preferred embodiment of a ghost detection method for a head-up display device provided in the present application, as shown in fig. 6, may include the following steps S61-S69.

And S61, the head-up display device is lightened, the brightness of the head-up display device is adjusted to a reasonable range, and a test image for ghost detection is projected to the windshield.

S62, adjusting the position of the image acquisition equipment through the fixing device of the image acquisition equipment, so that the optical center of the image acquisition equipment is positioned in the middle eye box of the driver in the whole car coordinate system.

S63, shooting a virtual image of the test image projected on the windshield by using an image acquisition device.

S64, carrying out contour recognition on an image shot by the image acquisition equipment, and dividing each line or point.

S65, pixel traversal is carried out on each line or point according to columns or rows, the peak value of each column or row pixel curve is found, and the coordinate position of each column or row pixel curve is recorded.

S66, processing the peak value of each column or row of pixels to obtain the position coordinates of the center of the main body and the position coordinates of the ghost center.

S67, carrying out statistical analysis on ghost values of all columns or rows to which each line or point belongs, and taking the probability maximum ghost value as the ghost value.

S68, counting ghost values of all lines or points in an image shot by the image acquisition equipment, and determining the maximum ghost value as a ghost value d of the head-up display equipment.

S69, converting the ghost value d to obtain a final ghost value alpha.

The implementation manner of each step is just referred to the above embodiments, and redundant descriptions are not repeated here.

Based on the method for detecting the ghost of the head-up display device provided by the embodiment, correspondingly, the application also provides a specific implementation mode of the device for detecting the ghost of the head-up display device. Please refer to the following examples.

Referring to fig. 7, the ghost detection device for a head-up display device provided in the embodiment of the present application includes the following modules:

an image projection module 701 for projecting a test image onto the windscreen based on the heads-up display device, wherein the test image comprises lines and/or points arranged in an array,

an image acquisition module 702 for taking a virtual image of a test image projected on a windscreen based on an image acquisition device, obtaining a first image comprising the virtual image,

A pixel traversing module 703, configured to perform pixel traversal on lines and/or points included in the first image, to obtain a main central pixel coordinate and a ghost central pixel coordinate corresponding to each line and/or each row or each column to which each point belongs in the first image,

the device ghost value determining module 704 is configured to determine a ghost value corresponding to the head-up display device according to a difference between the main body center pixel coordinate and the ghost center pixel coordinate corresponding to each line and/or each row or each column to which each point belongs.

According to the ghost detection device of the head-up display device, after the virtual image of the test image is projected in the windshield based on the head-up display device, the image acquisition device shoots the virtual image to obtain a first image containing the virtual image, and the line and/or the point in the first image are traversed to determine the main body center pixel coordinate corresponding to the main body part of the virtual image and the ghost center pixel coordinate corresponding to the ghost part in each row or each column to which each line and/or each point in the first image belongs, so that the ghost value corresponding to the head-up display device is determined according to the difference between the pixel coordinates of the main body center and the ghost center. According to the embodiment of the application, before the head-up display equipment leaves a factory, the size of the ghost can be tested and evaluated, so that unqualified products can be intercepted in the factory, the ghost value of the head-up display equipment leaves the factory is ensured to be in a specified range, the actual use effect of the head-up display equipment is ensured, and the driving comfort and safety of a driver are improved. In addition, the ghost effect of the head-up display device can be evaluated in the design verification stage, and design improvement of research personnel is facilitated.

In some embodiments, the apparatus for detecting ghost of the head-up display device may further include (not shown in the figure):

an image processing module for performing a gaussian filtering on the first image before pixel traversal of lines and/or points comprised in the first image,

In some embodiments, pixel traversal module 703 comprises:

a peak value determining sub-module, configured to perform pixel traversal on lines and/or points included in the first image, obtain a pixel peak value corresponding to each line and/or each column to which each line and/or each point belongs in the first image, and record a pixel coordinate of the pixel peak value,

and the center determining submodule is used for determining main body center pixel coordinates and ghost center pixel coordinates corresponding to each line and/or each point in the first image according to the pixel peak value corresponding to the line or the column.

In some embodiments, the center determination submodule is configured to:

In some embodiments, the device ghost value determination module 704 includes:

a row and column ghost value determining sub-module, configured to determine, for each line and/or each column to which each point belongs in the first image, a difference between a main central pixel coordinate and a ghost central pixel coordinate corresponding to the line or the column as a ghost value corresponding to the line or the column,

a dot line ghost value determining sub-module, configured to determine, for each line and/or each point in the first image, a ghost value with the greatest occurrence probability in ghost values corresponding to a line or a column to which the line or the point belongs, as a ghost value corresponding to the line or the point,

and the equipment ghost value determining submodule is used for determining the maximum value of the ghost values of all lines and/or all points in the first image as the ghost value corresponding to the head-up display equipment.

A conversion module for converting the ghost value corresponding to the head-up display device according to a preset conversion formula to obtain a ghost deviation angle corresponding to the head-up display device,

wherein the conversion formula includes:

In some embodiments, the apparatus for detecting ghost of the head-up display device may further include (not shown in the figure): a distortion correction module for:

before projecting the test image onto the windscreen based on the heads-up display device, the test image is distortion corrected,

accordingly, the image projection module 701 is configured to:

an equipment adjusting module, which is used for adjusting the position of the head-up display equipment and/or the image acquisition equipment before the first image is obtained based on the virtual image of the test image projected on the windshield glass acquired by the image acquisition equipment, so that the virtual image projected on the windshield glass based on the test image shot by the image acquisition equipment is complete, the inclination is smaller than a preset inclination threshold value and/or the exposure is smaller than a preset exposure threshold value,

Accordingly, the image acquisition module 702 is configured to:

The ghost detection device for the head-up display device provided by the embodiment of the present application can implement each process implemented by the embodiments of the ghost detection method for the head-up display device, and in order to avoid repetition, a detailed description is omitted here.

Fig. 8 shows a schematic hardware structure of an electronic device according to an embodiment of the present application.

The electronic device may include a processor 801 and a memory 802 storing computer program instructions.

In particular, the processor 801 may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits of embodiments of the present application.

Memory 802 may include mass storage for data or instructions. By way of example, and not limitation, memory 802 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of the above. Memory 802 may include removable or non-removable (or fixed) media, where appropriate. Memory 802 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 802 is a non-volatile solid-state memory.

Memory 802 may include Read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, memory 802 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and which, when executed (e.g., by one or more processors), perform the operations described by any of the heads-up display device ghost detection methods of the embodiments described above.

The processor 801 implements any one of the double image detection methods of the head-up display device of the above embodiments by reading and executing computer program instructions stored in the memory 802.

In one example, the electronic device may also include a communication interface 803 and a bus 810. As shown in fig. 8, the processor 801, the memory 802, and the communication interface 803 are connected to each other via a bus 810 and perform communication with each other.

The communication interface 803 is mainly used to implement communication between each module, apparatus, unit and/or device in the embodiments of the present application.

Bus 810 includes hardware, software, or both, coupling components of the online data flow billing device to each other. By way of example, and not limitation, the buses may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a micro channel architecture (MCa) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus, or a combination of two or more of the above. Bus 810 may include one or more buses, where appropriate. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

In addition, in combination with the method for detecting ghost of the head-up display device in the above embodiment, the embodiments of the present application may provide a computer storage medium for implementation. The computer storage medium has stored thereon computer program instructions which, when executed by a processor, implement any of the methods of detecting ghosting in a heads-up display device of the above embodiments.

It should be clear that the present application is not limited to the particular arrangements and processes described above and illustrated in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions, or change the order between steps, after appreciating the spirit of the present application.

The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.

It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be different from the order in the embodiments, or several steps may be performed simultaneously.

Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In the foregoing, only the specific embodiments of the present application are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, which are intended to be included in the scope of the present application.

Claims

1. A method for detecting ghost of a head-up display device, comprising:

shooting a virtual image of the test image projected on the windshield based on an image acquisition device to obtain a first image containing the virtual image,

performing pixel traversal on lines and/or points contained in the first image to obtain main body center pixel coordinates and ghost center pixel coordinates corresponding to each line and/or each row or each column to which each point belongs in the first image,

2. The method of claim 1, wherein prior to pixel traversing lines and/or points contained in the first image, the method further comprises:

the first image is gaussian filtered,

3. The method according to claim 1, wherein the pixel traversing of the lines and/or points included in the first image to obtain the main central pixel coordinates and the ghost central pixel coordinates corresponding to each row or each column to which each line and/or each point belongs, includes:

performing pixel traversal on each line and/or each point contained in the first image to obtain a pixel peak value corresponding to each line or each column to which each line and/or each point belongs, recording pixel coordinates of the pixel peak value,

And determining the main body center pixel coordinates and the ghost center pixel coordinates corresponding to each line and/or each point in the first image according to the pixel peak value corresponding to the line or the column.

4. A method according to claim 3, wherein determining the subject center pixel coordinates and ghost center pixel coordinates for the row or column based on the pixel peak for the row or column comprises:

5. The method according to any one of claims 1-4, wherein determining the ghost value corresponding to the head-up display device based on the difference between the main body center pixel coordinates and the ghost center pixel coordinates corresponding to each line and/or each row or each column to which each point belongs comprises:

for each line and/or each point in the first image, determining the ghost value with the highest occurrence probability in the ghost values corresponding to the line or the line to which the line or the point belongs as the ghost value corresponding to the line or the point,

and determining the maximum value of ghost values corresponding to all lines and/or all points in the first image as the ghost value corresponding to the head-up display device.

6. The method of claim 5, wherein the method further comprises:

wherein the conversion formula includes:

7. The method of claim 1, wherein the head-up display device is based on prior to projecting the test image to the windshield, the method further comprising:

The test image is subjected to a distortion correction,

the head-up display device projects a test image to a windshield, comprising:

and projecting the test image after distortion correction to a windshield based on a head-up display device.

8. The method of claim 1, wherein the image-based acquisition device acquires a virtual image of the test image projected on the windshield, the method further comprising, prior to obtaining a first image:

adjusting the position of the head-up display device and/or the image acquisition device to enable a virtual image projected on the windshield based on the test image shot by the image acquisition device to be complete, the inclination to be smaller than a preset inclination threshold value and/or the exposure to be smaller than a preset exposure threshold value,

the image acquisition device acquires a virtual image of the test image projected on the windshield to obtain a first image, and the method comprises the following steps:

and after the head-up display device and/or the image acquisition device are/is adjusted, acquiring a virtual image of the test image projected on the windshield glass based on the image acquisition device, and obtaining a first image.

9. A double image detection apparatus for a head-up display device, comprising:

an image projection module for projecting a test image to the windshield based on the head-up display device, wherein the test image comprises lines and/or points arranged in an array,

an image acquisition module for shooting a virtual image of the test image projected on the windshield based on an image acquisition device to obtain a first image containing the virtual image,

a pixel traversing module, configured to perform pixel traversal on lines and/or points included in the first image to obtain main central pixel coordinates and ghost central pixel coordinates corresponding to each line and/or each row or each column to which each point belongs in the first image,

10. An electronic device, the electronic device comprising: a processor and a memory storing computer program instructions;

the processor, when executing the computer program instructions, implements the method for detecting ghosting of a head-up display device according to any one of claims 1 to 8.