WO2007083215A2 - Method of controlling a road vehicle hud system - Google Patents

Method of controlling a road vehicle hud system Download PDF

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Publication number
WO2007083215A2
WO2007083215A2 PCT/IB2007/000110 IB2007000110W WO2007083215A2 WO 2007083215 A2 WO2007083215 A2 WO 2007083215A2 IB 2007000110 W IB2007000110 W IB 2007000110W WO 2007083215 A2 WO2007083215 A2 WO 2007083215A2
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WO
WIPO (PCT)
Prior art keywords
electronic image
windscreen
projector
road vehicle
generating
Prior art date
Application number
PCT/IB2007/000110
Other languages
French (fr)
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WO2007083215A3 (en
Inventor
Giovanni Stefani
Original Assignee
Ferrari S.P.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ferrari S.P.A. filed Critical Ferrari S.P.A.
Publication of WO2007083215A2 publication Critical patent/WO2007083215A2/en
Publication of WO2007083215A3 publication Critical patent/WO2007083215A3/en

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Classifications

    • 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
    • G02B27/01—Head-up displays
    • 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
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features

Definitions

  • the present invention relates to a method of controlling a road vehicle HUD (Head Up Display) system.
  • HUD Head Up Display
  • a car HUD system projects on the windscreen of the car an electronic image displaying various information
  • a car HUD system normally comprises a generating unit, which receives information and generates an electronic image displaying the information received; and a projector, by which the electronic image generated by the generating unit is projected onto the car windscreen. Flaws in the optical system defined by the projector and windscreen pose a major problem when implementing a HUD system in a car, and, though not noticeable when observing the road through the windscreen, may result in unacceptable distortion of the projected images. As a result, manufacture of the projector-windscreen optical system is governed by strict specifications, which greatly increase manufacturing cost and rejects. This is particularly true of the windscreen, in view of its extensive area (almost always over one square metre) and highly complex curved shape.
  • vibration of the car produces continual small vertical and horizontal movements of the driver's head, and therefore eyes, so that the driver is forced to continually keep visual track of the image projected on the windscreen.
  • This is a particularly serious problem when the image projected on the windscreen is one of the road obtained by an artificial (e.g. night or fog) vision system, in which case, the car is driven on the basis of the projected image, as opposed to a direct view of the road through the windscreen.
  • the image projected on the windscreen is an essential, as opposed to accessory, driving aid, and must be observed seamlessly by the driver.
  • Patent Application US2002084950A1 describes a car HUD system comprising an optical correction unit (i.e. a lens or system of lenses) interposed between the projector and windscreen to compensate distortion of the projected image caused by the curvature of the windscreen.
  • Patent Application US2002080495A1 describes a car HUD system comprising an optical correction lens interposed between the projector and windscreen to compensate distortion of the projected image caused by the curvature of the windscreen.
  • Patent Application WO2005033774A1 describes a car HUD system, in which geometric distortion of the projected image by the collimation optics is compensated electronically.
  • Patent Application US2003085909A1 describes a car HUD system, in which distortion of the projected image is compensated electronically.
  • Patent Application US2004179271A1 describes a car HUD system, in which distortion of the projected image is compensated electronically.
  • Patent US6580562B1 describes a car HUD system, in which the position of the image projected on the windscreen is moved mechanically as a function of the position of the driver's eyes. More specifically, the projector has a mirror, which reflects the image vertically and parallel to itself upwards and onto the windscreen, and the vertical position of the mirror is varied as a function of the height of the driver.
  • Patent Application DE19813300A1 describes a car HUD system, in which the position of the image projected on the windscreen is moved electronically as a function of a parameter of the car, such as the steering angle of the steering wheel or travelling speed.
  • Figure 1 shows a schematic of a car featuring a HUD system in accordance with the present invention
  • Figure 2 shows a schematic of the Figure 1 car at an initial HUD system calibration stage.
  • FIG. 1 indicates a car comprising a passenger compartment 2 bounded at the front by a transparent windscreen 3.
  • Passenger compartment 2 houses a dashboard 4 located in front of the driver of car 1, and supporting a steering wheel 5, various driver- operated controls (not shown) , and various instruments and indicator lights (not shown) .
  • Car 1 is equipped with a HUD (Head UP Display) system 6 comprising a generating unit 7 for generating an electronic image displaying information; and a projector 8 for projecting the electronic image onto windscreen 3.
  • the information in the electronic image is supplied to an input of generating unit 7 by an electronic central control unit 9 of car 1, and relates to operation of car 1.
  • the information in the electronic image may indicate the speed of car 1, the engine speed of car 1, the location of car 1 as supplied by a GPS-type device, or an infrared view of the road ahead of car 1 (artificial night or fog vision) .
  • HUD system 6 also comprises an assembly 10 of lenses for focusing the image projected by projector 8; and a mirror 11 for directing the image projected by projector 8 onto windscreen 3.
  • a processing unit 12 is interposed between generating unit 7 and projector 8 to process the electronic image generated by generating unit 7, and is connected to a memory unit 13, and to a sensor 14 for determining the real-time position of the driver's eyes.
  • processing unit 12 may comprise a Toshiba "Capricorn 2" processor.
  • an optical distortion map of the optical system defined by projector 8 and windscreen 3 (and, obviously, also by lens assembly 10 and mirror 11) is first memorized in memory unit 13.
  • the optical distortion map of the projector 8-windscreen 3 optical system is created using calibration instruments comprising a control device 15 (typically a computer) and a television camera 16.
  • Control device 15 is connected to and supplies projector 8 with an electronic image of a calibration grid for projection by projector 8 onto windscreen 3; television camera 16 then picks up the calibration grid image projected on windscreen 3, and supplies the projected image to control device 15; and the optical distortion map of the projector 8-windscreen 3 optical system is then constructed by comparing, point by point, the calibration grid image projected on windscreen 3 and the original calibration grid. Once completed, the optical distortion map of the projector 8-windscreen 3 optical system is memorized in memory unit 13.
  • generating unit 7 generates a first electronic image displaying information supplied to an input of generating unit 7 by electronic central control unit 9.
  • the first electronic image is then supplied by generating unit 7 to processing unit 12, which, starting with the first electronic image, generates a second electronic image derived from the first.
  • the second electronic image is generated by applying the optical distortion map, memorized in memory unit 13, to the first electronic image, so that the second electronic image is distorted equally but oppositely with respect to the projector 8- windscreen 3 optical system.
  • processing unit 12 supplies projector 8 with the second electronic image, which is then projected onto . windscreen 3.
  • the second electronic image is equally but oppositely distorted with respect to the projector 8- windscreen 3 optical system, so that, when the second electronic image is projected through the projector 8- windscreen 3 optical system, distortion by the projector 8-windscreen 3 optical system is completely compensated.
  • an image distorted equally but oppositely with respect to the projector 8-windscreen 3 optical system is projected.
  • the electronic images projected by projector 8 may be monochromatic (i.e. black and white) or RGB-standard colour images, in which each point in the image is assigned three different colours (Red - Green - Blue) of different wavelengths .
  • one optical distortion map of the projector 8-windscreen 3 optical system may be memorized in memory unit 13 and is valid for all three colours in the RGB system.
  • This embodiment demands less computing power, but performance is inferior, on account of each wavelength being deformed differently from the others.
  • three optical distortion maps of the projector 8-windscreen 3 optical system, each associated with a respective colour may be memorized in memory unit 13. This embodiment demands greater computing power, but provides for better performance, by each wavelength undergoing the corresponding deformation.
  • HUD system 6 as described above provides for electronically compensating any distortion produced by the projector 8-windscreen 3 optical system, and so functions correctly even with a projector 8-windscreen 3 optical system made to less rigorous manufacturing specifications and therefore more cheaply.
  • sensor 14 determines the real-time position of the eyes of the driver of car 1.
  • processing unit 12 determines a shift to apply to the first electronic image, so that the first electronic image tracks the position of the eyes of the driver of car 1; processing unit 12 then generates the second electronic image by applying the shift to the first electronic image, and then applying the optical distortion map to the shifted first electronic image, so that the position of the image projected on windscreen 3 is shifted continually on windscreen 3 to track the position of the driver's eyes.
  • the image projected on windscreen 3 may be shifted without compensating, as described above, distortion by the projector 8-windscreen 3 optical system.
  • the second electronic image is generated by only applying the shift, and not the optical distortion map, to the first electronic image.
  • the image projected on windscreen 3 is shifted electronically and in real time to track the position of the driver's eyes.
  • the image projected on windscreen 3 is shifted continually to track the movement of the driver's eyes, and is therefore viewed more instinctively, and is less tiring, particularly as regards focusing minor details • in the image .

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Instrument Panels (AREA)
  • Vehicle Body Suspensions (AREA)
  • Traffic Control Systems (AREA)

Abstract

A method of controlling a HUD system (6) of a road vehicle (1), the method including the steps of : generating a first electronic image displaying information; projecting an electronic image onto a windscreen (3) of the road vehicle (1) by means of a projector (8); memorizing an optical distortion map of the optical system defined by the projector (8) and the windscreen (3) ; supplying the first electronic image to a processing unit (12) ; generating, by means of the processing unit (12) , a second electronic image by applying the optical distortion map to the first electronic image, so that the second electronic image is equally but oppositely distorted with respect to the optical system defined by the projector (8) and the windscreen (3) ; and supplying the second electronic image to the projector (8) to project the second electronic image onto the windscreen (3).

Description

METHOD OF CONTROLLING A ROAD VEHICLE HUD SYSTEM
TECHNICAL FIELD The present invention relates to a method of controlling a road vehicle HUD (Head Up Display) system.
The present invention may be used to advantage in a car, to which the following description refers purely by way of example. A car HUD system projects on the windscreen of the car an electronic image displaying various information
(e.g. car speed), so that the driver can read the projected information without taking his eyes off the windscreen, i.e. off the road. BACKGROUND ART
A car HUD system normally comprises a generating unit, which receives information and generates an electronic image displaying the information received; and a projector, by which the electronic image generated by the generating unit is projected onto the car windscreen. Flaws in the optical system defined by the projector and windscreen pose a major problem when implementing a HUD system in a car, and, though not noticeable when observing the road through the windscreen, may result in unacceptable distortion of the projected images. As a result, manufacture of the projector-windscreen optical system is governed by strict specifications, which greatly increase manufacturing cost and rejects. This is particularly true of the windscreen, in view of its extensive area (almost always over one square metre) and highly complex curved shape.
Moreover, in normal driving mode, vibration of the car produces continual small vertical and horizontal movements of the driver's head, and therefore eyes, so that the driver is forced to continually keep visual track of the image projected on the windscreen. This is a particularly serious problem when the image projected on the windscreen is one of the road obtained by an artificial (e.g. night or fog) vision system, in which case, the car is driven on the basis of the projected image, as opposed to a direct view of the road through the windscreen. In fact, in a situation such as this, the image projected on the windscreen is an essential, as opposed to accessory, driving aid, and must be observed seamlessly by the driver.
Patent Application US2002084950A1 describes a car HUD system comprising an optical correction unit (i.e. a lens or system of lenses) interposed between the projector and windscreen to compensate distortion of the projected image caused by the curvature of the windscreen. Patent Application US2002080495A1 describes a car HUD system comprising an optical correction lens interposed between the projector and windscreen to compensate distortion of the projected image caused by the curvature of the windscreen.
Patent Application WO2005033774A1 describes a car HUD system, in which geometric distortion of the projected image by the collimation optics is compensated electronically. Patent Application US2003085909A1 describes a car HUD system, in which distortion of the projected image is compensated electronically.
Patent Application US2004179271A1 describes a car HUD system, in which distortion of the projected image is compensated electronically.
Patent US6580562B1 describes a car HUD system, in which the position of the image projected on the windscreen is moved mechanically as a function of the position of the driver's eyes. More specifically, the projector has a mirror, which reflects the image vertically and parallel to itself upwards and onto the windscreen, and the vertical position of the mirror is varied as a function of the height of the driver.
Patent Application DE19813300A1 describes a car HUD system, in which the position of the image projected on the windscreen is moved electronically as a function of a parameter of the car, such as the steering angle of the steering wheel or travelling speed. DISCLOSURE OF INVENTION
It is an object of the present invention to provide a method of controlling a road vehicle HUD system, which method is cheap and easy to implement, while at the same time eliminating the aforementioned drawbacks.
According to the present invention, there is provided a method of controlling a road vehicle HUD system, as claimed in the accompanying Claims.
BRIEF DESCRIPTION OF THE DRAWINGS A non-limiting embodiment of the present invention will be described by way of example with reference to the accompanying drawings, in which:
Figure 1 shows a schematic of a car featuring a HUD system in accordance with the present invention; Figure 2 shows a schematic of the Figure 1 car at an initial HUD system calibration stage.
BEST MODE FOR CARRYING OUT THE INVENTION Number 1 in Figure 1 indicates a car comprising a passenger compartment 2 bounded at the front by a transparent windscreen 3. Passenger compartment 2 houses a dashboard 4 located in front of the driver of car 1, and supporting a steering wheel 5, various driver- operated controls (not shown) , and various instruments and indicator lights (not shown) . Car 1 is equipped with a HUD (Head UP Display) system 6 comprising a generating unit 7 for generating an electronic image displaying information; and a projector 8 for projecting the electronic image onto windscreen 3. The information in the electronic image is supplied to an input of generating unit 7 by an electronic central control unit 9 of car 1, and relates to operation of car 1. By way of example, the information in the electronic image may indicate the speed of car 1, the engine speed of car 1, the location of car 1 as supplied by a GPS-type device, or an infrared view of the road ahead of car 1 (artificial night or fog vision) .
HUD system 6 also comprises an assembly 10 of lenses for focusing the image projected by projector 8; and a mirror 11 for directing the image projected by projector 8 onto windscreen 3.
A processing unit 12 is interposed between generating unit 7 and projector 8 to process the electronic image generated by generating unit 7, and is connected to a memory unit 13, and to a sensor 14 for determining the real-time position of the driver's eyes. By way of example, processing unit 12 may comprise a Toshiba "Capricorn 2" processor. When setting up HUD system 6, an optical distortion map of the optical system defined by projector 8 and windscreen 3 (and, obviously, also by lens assembly 10 and mirror 11) is first memorized in memory unit 13. As shown in Figure 2, the optical distortion map of the projector 8-windscreen 3 optical system is created using calibration instruments comprising a control device 15 (typically a computer) and a television camera 16. Control device 15 is connected to and supplies projector 8 with an electronic image of a calibration grid for projection by projector 8 onto windscreen 3; television camera 16 then picks up the calibration grid image projected on windscreen 3, and supplies the projected image to control device 15; and the optical distortion map of the projector 8-windscreen 3 optical system is then constructed by comparing, point by point, the calibration grid image projected on windscreen 3 and the original calibration grid. Once completed, the optical distortion map of the projector 8-windscreen 3 optical system is memorized in memory unit 13.
During normal operation of HUD system 6, generating unit 7 generates a first electronic image displaying information supplied to an input of generating unit 7 by electronic central control unit 9. The first electronic image is then supplied by generating unit 7 to processing unit 12, which, starting with the first electronic image, generates a second electronic image derived from the first. More specifically, the second electronic image is generated by applying the optical distortion map, memorized in memory unit 13, to the first electronic image, so that the second electronic image is distorted equally but oppositely with respect to the projector 8- windscreen 3 optical system. Finally, processing unit 12 supplies projector 8 with the second electronic image, which is then projected onto .windscreen 3.
The second electronic image is equally but oppositely distorted with respect to the projector 8- windscreen 3 optical system, so that, when the second electronic image is projected through the projector 8- windscreen 3 optical system, distortion by the projector 8-windscreen 3 optical system is completely compensated. In other words, as opposed to a corrected image, an image distorted equally but oppositely with respect to the projector 8-windscreen 3 optical system is projected.
The electronic images projected by projector 8 may be monochromatic (i.e. black and white) or RGB-standard colour images, in which each point in the image is assigned three different colours (Red - Green - Blue) of different wavelengths .
When colour electronic images are projected by projector 8, one optical distortion map of the projector 8-windscreen 3 optical system may be memorized in memory unit 13 and is valid for all three colours in the RGB system. This embodiment demands less computing power, but performance is inferior, on account of each wavelength being deformed differently from the others. Alternatively, when colour electronic images are projected by projector 8, three optical distortion maps of the projector 8-windscreen 3 optical system, each associated with a respective colour, may be memorized in memory unit 13. This embodiment demands greater computing power, but provides for better performance, by each wavelength undergoing the corresponding deformation.
As stated, HUD system 6 as described above provides for electronically compensating any distortion produced by the projector 8-windscreen 3 optical system, and so functions correctly even with a projector 8-windscreen 3 optical system made to less rigorous manufacturing specifications and therefore more cheaply. In a preferred embodiment, during normal operation of HUD system 6, sensor 14 determines the real-time position of the eyes of the driver of car 1. On the basis of the position of the driver's eyes, processing unit 12 determines a shift to apply to the first electronic image, so that the first electronic image tracks the position of the eyes of the driver of car 1; processing unit 12 then generates the second electronic image by applying the shift to the first electronic image, and then applying the optical distortion map to the shifted first electronic image, so that the position of the image projected on windscreen 3 is shifted continually on windscreen 3 to track the position of the driver's eyes.
In an alternative embodiment, to track the position of the driver's eyes, the image projected on windscreen 3 may be shifted without compensating, as described above, distortion by the projector 8-windscreen 3 optical system. In other words, the second electronic image is generated by only applying the shift, and not the optical distortion map, to the first electronic image. In HUD system 6 as described above, the image projected on windscreen 3 is shifted electronically and in real time to track the position of the driver's eyes. As a result, as opposed to the driver's eyes tracking a fixed image projected on windscreen 3, the image projected on windscreen 3 is shifted continually to track the movement of the driver's eyes, and is therefore viewed more instinctively, and is less tiring, particularly as regards focusing minor details • in the image .

Claims

1) A method of controlling a HUD system (6) of a road vehicle (1) , the method comprising the steps of: generating, by means of a generating unit (7), a first electronic image displaying information supplied to an input of the generating unit (7) ; and projecting an electronic image onto a windscreen (3) of the road vehicle (1) by means of a projector (8); the method being characterized by comprising the steps of: memorizing in a memory unit (13) an optical distortion map of the optical system defined by the projector (8) and the windscreen (3); supplying the first electronic image to a processing unit (12); generating, by means of the processing unit (12), a second electronic image by applying the optical distortion map memorized in the memory unit (13) to the first electronic image, so that the second electronic image is equally but oppositely distorted with respect to the optical system defined by the projector (8) and the windscreen (3) ; and supplying the second electronic image to the projector (8) to project the second electronic image onto the windscreen (3) .
2) A method as claimed in Claim 1, wherein the images are monochromatic.
3) A method as claimed in Claim 1, wherein the images are colour images using the RGB standard, which assigns each point in the image three different colours of different wavelengths.
4) A method as claimed in Claim 3, wherein one optical distortion map of the optical system defined by the projector (8) and the windscreen (3) is memorized in the memory unit (13), and is valid for all three colours.
5) A method as claimed in Claim 3, wherein three optical distortion maps of the optical system defined by the projector (8) and the windscreen (3) are memorized in the memory unit (13) , and are each associated with a respective colour.
6) A method as claimed in one of Claims 1 to 5, wherein the optical distortion map of the optical system defined by the projector (8) and the windscreen (3) is acquired at an initial calibration step of the HUD system (6).
7) A method as claimed in Claim 6, wherein the step of memorizing in the memory unit (13) the optical distortion map of the optical system defined by the projector (8) and the windscreen (3) comprises the further steps of: supplying the projector (8), by means of a control device (15) , with an electronic image of a calibration grid, so that the projector (8) projects the calibration grid onto the windscreen (3) ; picking up, by means of a television camera (16) , the image of the calibration grid projected on the windscreen (3) ; constructing the optical distortion map of the optical system defined by the projector (8) and the windscreen (3) by comparing, point by point, the image of the calibration grid projected on the windscreen (3) and the original calibration grid.
8) A method as claimed in one of Claims 1 to 7, and comprising the further steps of: determining the real-time position of the eyes of a driver of the road vehicle (1) by means of a sensor (14) ; determining a shift to be applied to the first electronic image, so that the first electronic image tracks the position of the eyes of the driver of the road vehicle (1) ; and generating the second electronic image by applying the shift to the first electronic image, and then applying the optical distortion map to the shifted first electronic image. 9) A HUD system (6) of a road vehicle (1), the HUD system (6) comprising: a generating unit (7) for generating a first electronic image displaying information supplied to an input of the generating unit (7) ; and a projector (8) for projecting an electronic image onto a windscreen (3) of the road vehicle (1) ; the HUD system (6) being characterized by comprising a memory unit (13) , in which an optical distortion map of the optical system defined by the projector (8) and the windscreen (3) is memorized; and a processing unit (12) interposed between the generating unit (7) and the projector (8) to receive the first electronic image, to generate a second electronic image by applying the optical distortion map memorized in the memory unit (13) to the first electronic image, so that the second electronic image is equally but oppositely distorted with respect to the optical system defined by the projector (8) and the windscreen (3), and to supply the second electronic image to the projector
(8), which projects the second electronic image onto the windscreen (3) . 10) A method of controlling a HUD system (6) of a road vehicle (1) , the method comprising the steps of: generating, by means of a generating unit (7), a first electronic image displaying information supplied to an input of the generating unit (7); and projecting an electronic image onto a windscreen (3) of the road vehicle (1) by means of a projector (8); the method being characterized by comprising the steps of: determining the real-time position of the eyes of a driver of the road vehicle (1) by means of a sensor (14); determining, by means of a processing unit (12) , a shift to be applied to the first electronic image, so that the first electronic image tracks the position of the eyes of the driver of the road vehicle (1) ; generating, by means of the processing unit (12) , a second electronic image by applying the shift to the first electronic image; and supplying the second electronic image to the projector (8) to project the second electronic image onto the windscreen (3) .
11) A HUD system (6) of a road vehicle (1), the HUD system (6) comprising: a generating unit (7) for generating a first electronic image displaying information supplied to an input of the generating unit (7) ; and a projector (8) for projecting an electronic image onto a windscreen (3) of the road vehicle (1) ; the HUD system (6) being characterized by comprising
a sensor (14) for determining the real-time position of the eyes of a driver of the road vehicle (1) ; and a processing unit (12) interposed between the generating unit (7) and the projector (8) to receive the first electronic image, to determine a shift to be applied to the first electronic image, so that the first electronic image tracks the position of the eyes of the driver of the road vehicle (1) , to generate a second electronic image by applying the shift to the first electronic image, and to supply the second electronic image to the projector (8) , which projects the second electronic image onto the windscreen (3) .
PCT/IB2007/000110 2006-01-17 2007-01-16 Method of controlling a road vehicle hud system WO2007083215A2 (en)

Applications Claiming Priority (2)

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ITBO20060027 ITBO20060027A1 (en) 2006-01-17 2006-01-17 HUD SYSTEM CONTROL METHOD FOR A ROAD VEHICLE
ITBO2006A000027 2006-01-17

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WO2015044280A1 (en) * 2013-09-27 2015-04-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Method and apparatus for controlling an image generating device of a head-up display
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GB2559607A (en) * 2017-02-13 2018-08-15 Jaguar Land Rover Ltd Apparatus and method for controlling a vehicle display
WO2019042535A1 (en) * 2017-08-30 2019-03-07 Continental Automotive Gmbh System and method of redirecting image of an object into a camera
WO2020141077A1 (en) * 2019-01-04 2020-07-09 Eyelights Method and device for generating an image from elementary motifs for a head-up display system
CN114415826A (en) * 2020-05-15 2022-04-29 华为技术有限公司 Data processing method and equipment thereof
CN115225875A (en) * 2022-06-17 2022-10-21 苏州蓝博控制技术有限公司 Auxiliary display device of excavator and display method thereof

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