WO2021139792A1 - Système d'affichage tête haute et son procédé de commande, ainsi que moyen de transport - Google Patents

Système d'affichage tête haute et son procédé de commande, ainsi que moyen de transport Download PDF

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Publication number
WO2021139792A1
WO2021139792A1 PCT/CN2021/070945 CN2021070945W WO2021139792A1 WO 2021139792 A1 WO2021139792 A1 WO 2021139792A1 CN 2021070945 W CN2021070945 W CN 2021070945W WO 2021139792 A1 WO2021139792 A1 WO 2021139792A1
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WIPO (PCT)
Prior art keywords
image source
light
projection
information
imaging
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PCT/CN2021/070945
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English (en)
Chinese (zh)
Inventor
吴慧军
徐俊峰
方涛
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未来（北京）黑科技有限公司
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Publication of WO2021139792A1 publication Critical patent/WO2021139792A1/fr

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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • 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
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B21/00—Projectors or projection-type viewers; Accessories therefor
    • G03B21/14—Details
    • G03B21/20—Lamp housings
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B21/00—Projectors or projection-type viewers; Accessories therefor
    • G03B21/14—Details
    • G03B21/20—Lamp housings
    • G03B21/2066—Reflectors in illumination beam
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B21/00—Projectors or projection-type viewers; Accessories therefor
    • G03B21/14—Details
    • G03B21/28—Reflectors in projection beam
    • 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
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G02B2027/0183—Adaptation to parameters characterising the motion of the vehicle

Definitions

  • the embodiment of the present disclosure relates to a head-up display system, a control method thereof, and a vehicle.
  • HUD head up display
  • head up display technology can avoid the distraction caused by the driver looking down at the instrument panel during driving, which can improve driving safety and bring a better driving experience. Therefore, HUD is receiving more and more attention.
  • AR-HUD augmented reality head-up display
  • the rise of AR-HUD has put forward higher technical requirements for the HUD industry.
  • the head-up display system includes an image source group, a curved mirror, a projection image source, a light control device, and an auxiliary driving controller;
  • the image source group includes a plurality of image sources, so The driving assistance controller is respectively connected to the projection image source and the multiple image sources in the image source group;
  • the image source group includes a first image source and a second image source, and the light control device includes The main optical axis control element and the dispersion element;
  • the first image source is configured to emit a first imaging light incident on the curved mirror, and the second image source is configured to emit a second imaging light incident on the curved mirror
  • the first object distance corresponding to the first image source is different from the second object distance corresponding to the second image source;
  • the curved mirror is configured to reflect the first imaging light and the second imaging light, The optical path where the first imaging light is located and the light path where the second imaging light is located intersect the eye box range of the head-up display system;
  • the projection image source is configured to emit
  • the head-up display system includes an image source group and a curved mirror, wherein the image source group includes a first image source and a second image source, and the first image source is configured In order to emit the first imaging light incident on the curved mirror, the second image source is configured to emit the second imaging light incident on the curved mirror; the first object distance corresponding to the first image source and the The second object distance corresponding to the second image source is different; the curved mirror is configured to reflect the first imaging light and the second imaging light to a first predetermined range.
  • At least one embodiment of the present disclosure provides a method for controlling a head-up display system.
  • the head-up display system includes an image source group and a projection image source.
  • the image source group includes a plurality of image sources, and the plurality of image sources are configured to be respectively configured. Multiple imaging layers are displayed, the imaging range of the projected image source is larger than the imaging range of the multiple image sources, and the control method includes: selecting at least one target image from the projected image source and the multiple image sources Source, and output the prompt content to the target image source, so that the target image source displays the prompt content.
  • control method further includes: determining a prompt position, wherein the prompt position is a position on the reflecting device where the prompt content is displayed; and determining an imaging area containing the prompt position, and The image source corresponding to the imaging area is used as a target image source, and the target image source is controlled to display the prompt content at the prompt position; the imaging area is an area where imaging light can be incident on the surface of the reflecting device .
  • the control method further includes: when the projection position of the external object projected onto the reflecting device is within the magnified imaging area, using the external object as the target object, and determining the vehicle and the target object
  • the magnified imaging area is the area where the imaging light emitted by the image source group can be incident on the surface of the reflecting device; the projection position or the projection position in the magnified imaging area As the prompt position; and the image distance corresponding to the distance is used as the target image distance, and the image source corresponding to the target image distance is used as the target image source; wherein, the image distance is the The distance between the virtual image of the image source and the curved mirror formed by the curved mirror.
  • control method further includes: when the projection position of the external object projected onto the reflecting device is within the projection imaging area, using the external object as the target object; wherein the projection imaging area is The projection light emitted by the projection image source can be incident on the area of the surface of the reflecting device; and the projection position or the edge of the projection position in the projection imaging area is used as a prompt position.
  • the head-up display system further includes an information collection device that is communicatively connected to the driving assistance controller; the information collection device is configured to collect driving information and environmental information, and to collect all the collected information.
  • the driving information and the environmental information are sent to the auxiliary driving controller; the control method further includes: acquiring the driving information and the environmental information, and generating the prompt according to the driving information and the environmental information content.
  • the environmental information includes the distance between a reference object and an external object
  • generating the prompt content according to the driving information and the environmental information includes: determining a safe distance according to the driving information, and determining the reference object Whether the distance to the external object is greater than the safe distance; when the distance between the reference object and the external object is not greater than the safe distance, it is determined that it is currently in an alarm state, and the corresponding alarm information is used as the prompt Content, the alarm information includes one or more of an alarm image and an alarm video; and when the distance is greater than the safe distance, it is determined that it is currently in a normal state, and the corresponding prompt information is used as the prompt content
  • the prompt information includes one or more of empty set, prompt text, prompt image, and prompt video.
  • the environmental information includes the location of the external object and the distance between the reference object and the external object; generating the prompt content according to the driving information and the environmental information includes: At least one of the location and the distance between the reference object and the external object is used as the prompt content; or, the projection position of the external object projected on the reflecting device is determined, and the projection position or the projection The edge of the position is used as the prompt position, and the target image source is controlled to display the preset prompt content at the prompt position.
  • the control method further includes: when the external object is a special object, determining that it is currently in an alarm state, and using corresponding alarm information as the prompt content, the alarm information including an alarm image, an alarm One or more items in the video; wherein, when the external object is a pedestrian, an animal or a non-motorized vehicle, and the external object is located in the current driving route, the external object is regarded as a special object; or When the external object is a pedestrian, an animal, or a non-motorized vehicle, and the external object moves toward the current driving route, the external object is regarded as a special object; or, when the external object is a pedestrian, an animal, or a non-motorized vehicle, and When the distance to the external object is less than the preset distance value, the external object is regarded as a special object; or, when the external object is a pedestrian, an animal or a non-motor vehicle and is currently located in an object-intensive area, Take the external object as a special object; the object-intensive area includes one or more
  • the safety distance includes a front safety distance
  • the control method further includes: when the external object is located in front, and the distance between the reference object and the external object is not greater than the front safety distance, And when the difference between the safety distance and the distance is greater than the preset distance difference and/or the time period in the alarm state exceeds the preset time period, a deceleration instruction or braking instruction is generated, and the deceleration instruction or braking instruction is output.
  • the driving information includes vehicle position information
  • the environmental information includes lane position information
  • generating the prompt content according to the driving information and environmental information includes: according to the vehicle position information and the lane position
  • the information determines the offset parameter of the vehicle deviating from the current driving lane, and determines whether the offset parameter is greater than the corresponding offset threshold; the offset parameter includes the offset distance and/or the offset angle; when the offset parameter is greater than
  • the corresponding deviation threshold is set, it is determined that it is currently in an alarm state, and the corresponding alarm information is used as the prompt content.
  • the alarm information includes one or more of the alarm image, the alarm video, and the priority driving lane;
  • the offset parameter is not greater than the corresponding offset threshold, it is determined that the current state is normal, and the corresponding prompt information is used as the prompt content.
  • the prompt information includes an empty set, prompt text, prompt image, prompt video, and priority driving lane One or more of.
  • the driving information further includes vehicle state information
  • the vehicle state information includes one or more of vehicle speed, vehicle acceleration, and turn signal state
  • the driving information and environmental information are used to generate the
  • the prompt content also includes: when the offset parameter is greater than the corresponding offset threshold, and when the vehicle speed is greater than the first preset speed value or the vehicle acceleration is not greater than zero, determining that it is currently in an alarm state; or When the offset parameter is greater than the corresponding offset threshold, and when the turn signal on the same side of the direction corresponding to the offset angle of the vehicle is not turned on, it is determined that it is currently in an alarm state; or when the offset parameter is greater than When the corresponding offset threshold is currently in the state of immutable lanes, it is determined that the current is in the alarm state; or when the offset parameter is greater than the corresponding offset threshold, and the time of departure from the lane is greater than the preset first departure time threshold , Determine that it is currently in an alarm state; or determine that it is currently in a normal state when the offset parameter is greater than the
  • control method further includes: determining the priority driving lane of the vehicle according to the vehicle position information and the lane position information, and using the priority driving lane as a target object; and determining the target object projection To the projection position on the reflecting device, the projection position or the edge of the projection position is used as the prompt position, and the target image source is controlled to display the preset prompt content at the prompt position.
  • control method further includes: when the offset parameter is greater than a corresponding offset threshold, and the difference between the offset parameter and the offset threshold is greater than a preset offset difference and/ Or when the time in the offset state exceeds the preset safety offset time, a deceleration instruction or braking instruction is generated, and the deceleration instruction or braking instruction is output.
  • control method further includes: when the target image source is currently in an alarm state, controlling the target image source to display the prompt content in a normal manner or a first highlighting manner, and the first highlighting manner includes dynamic Display (such as scrolling display, bounce display, flashing display), highlight display, display in the first color; or when it is currently in a normal state, control the target image source in a normal mode or a second
  • the prompt content is displayed in a highlighting manner, and the second highlighting manner includes displaying in a second color.
  • the head-up display system further includes a sounding device and/or a vibrating device
  • the control method further includes: when currently in an alarm state, sending an alarm voice to the sounding device, and controlling the sounding device to play the sound The warning voice; and/or, sending a vibration instruction to the vibration device to control the vibration of the vibration device.
  • the environmental information includes road anomaly information
  • the road anomaly information includes one of obstacle location, maintenance section location, dangerous section location, uneven section location, accident section location, and temporary inspection section location
  • the control method further includes: using the road abnormality information as the prompt content; or, determining the abnormal position according to the road abnormal information and projecting the abnormal position to the projection position on the reflecting device, and projecting the projection
  • the position or the edge of the projection position is used as the prompt position, and the target image source is controlled to display the prompt content corresponding to the road abnormality information at the prompt position.
  • the environmental information includes visibility information
  • the control method further includes: when the visibility information is less than a preset visibility threshold, acquiring the location information of the external object collected by the information collection device; The position information of the object is used as the prompt content; or, the projection position of the external object projected on the reflecting device is determined, the projection position or the edge of the projection position is used as the prompt position, and the target image source is controlled to The preset prompt content is displayed at the prompt position.
  • control method further includes: generating shared information according to the prompt content, and sending the shared information to the server or to other devices within a preset distance, such as vehicles, mobile phones, notebooks, etc. .
  • At least one embodiment of the present disclosure also provides a vehicle including any of the above-mentioned head-up display systems.
  • FIG. 1A shows a schematic diagram of a head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 1B shows a schematic diagram of the first structure of the image source in the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 2A shows a schematic diagram of the structure of the projection image source imaging in the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 2B shows a schematic structural diagram of image source imaging in the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 3 shows a schematic diagram of the principle of imaging a projected image source in the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 4 shows a schematic diagram of imaging outside the reflective device of the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 5 shows a first schematic diagram of an imaging area on a reflection device provided by at least one embodiment of the present disclosure
  • FIG. 6 shows a second schematic diagram of the imaging area on the reflection device provided by at least one embodiment of the present disclosure
  • FIG. 7 shows a schematic diagram of a second structure of the image source in the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 8 shows a third structural schematic diagram of an image source forming an image in the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 9 shows a fourth structural schematic diagram of the image source in the head-up display system provided by at least one embodiment of the present disclosure.
  • FIG. 10 shows a fifth structural schematic diagram of the image source in the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 11 shows a sixth structural schematic diagram of an image source forming an image in the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 12 shows a seventh structural schematic diagram of the image source in the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 13 shows an eighth structural schematic diagram of an image source forming an image in the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 14 shows a schematic diagram of a ninth structure of an image source forming an image in the head-up display system provided by at least one embodiment of the present disclosure
  • 15 is a schematic diagram showing the tenth structure of the image source in the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 16 shows a schematic diagram of the imaging principle of the discrete first reflective structure in the head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 17 shows a schematic diagram of the imaging principle of the continuous second reflective structure in the head-up display system provided by at least one embodiment of the present disclosure
  • Fig. 18 shows a schematic structural diagram of a main optical axis control element having a second reflective structure in a head-up display system provided by at least one embodiment of the present disclosure
  • FIG. 19A shows a structural block diagram of a head-up display system provided by at least one embodiment of the present disclosure
  • 19B shows another structural block diagram of the head-up display system provided by at least one embodiment of the present disclosure.
  • FIG. 20 shows a flow chart of the assisted driving controller provided by at least one embodiment of the present disclosure for assisted driving based on a safe distance
  • FIG. 21 shows a schematic diagram of a display screen of the reflective device when the vehicle distance is relatively close in at least one embodiment of the present disclosure
  • FIG. 22 shows a schematic diagram showing a bird's-eye view of the reflection device in at least one embodiment of the present disclosure
  • FIG. 23 shows a schematic diagram of a display screen of the reflective device when a pedestrian approaches in at least one embodiment of the present disclosure
  • FIG. 24 shows a flowchart of a driving assistance controller provided by at least one embodiment of the present disclosure to determine whether there is an offset in a lane
  • FIG. 25 shows a schematic diagram of the display screen of the reflecting device when the lane is shifted in at least one embodiment of the present disclosure.
  • FIG. 26 shows another schematic diagram of the display screen of the reflecting device when the lane is shifted in at least one embodiment of the present disclosure.
  • the embodiments of the present disclosure provide a head-up display system, which can realize multi-level imaging and/or large-range imaging, and can display information in a large range (for example, display information in full windows) when applied to a vehicle.
  • the head-up display system includes: an image source group, a curved mirror 20, a projection image source 30, a light control device 40, and an auxiliary driving controller; the image source group includes a plurality of image sources, that is, two or more image sources, auxiliary
  • the driving controller is respectively connected to the projection image source 30 and multiple image sources in the image source group, for example, in a wired or wireless communication connection, as shown in FIG. 19A; the "respective" includes separate connection and series connection. Way to connect.
  • the assisted driving controller can be used for autonomously driving vehicles and/or manually driving vehicles.
  • the driving assistance controller may include a plurality of sub-controllers, and the plurality of sub-controllers are respectively connected to each image source and the projection image source.
  • the head-up display system may also include other controllers in addition to the above-mentioned auxiliary driving controller, or the auxiliary driving controller may also include other sub-controllers other than the sub-controllers connected to various image sources and projection image sources.
  • the image source group includes a first image source 11 and a second image source 12, and may also include more image sources, for example, a third image source 13 and the like.
  • the first image source 11 and the second image source 12 are respectively connected to the driving assistance controller 100 and can be used to realize at least two-layer imaging.
  • the light control device 40 includes a main optical axis control element 41 and a dispersion element 42; the projection image source 30 and the light control device 40 are used to realize large-scale imaging.
  • the curved mirror 20 and the light control device 40 may be arranged on the same side of the reflection device 50.
  • the reflection device 50 may be a windshield of a vehicle (for example, a windshield made of glass), or a windshield.
  • the reflective film inside the window, etc., the reflective film can reflect the imaging light emitted by the head-up display system, and does not affect the driver to observe things or scenes outside the vehicle through the reflective film; correspondingly, the curved mirror 20 and the light control device 40 They can all be located inside the vehicle, that is, located inside the reflection device 50.
  • the curved mirror 20 and the light control device 40 may be arranged under the reflection device 50, such as an instrument panel (IP) table of an automobile.
  • IP instrument panel
  • the first image source 11 is configured to emit a first imaging light incident on the curved mirror 20, and the second image source 12 is configured to emit a second imaging light incident on the curved mirror 20;
  • the first object distance corresponding to the source 11 is different from the second object distance corresponding to the second image source 12.
  • the first object distance is the propagation path length of the first imaging light from the first image source 11 to the curved mirror 20, or the first image The distance from the source 11 to the curved mirror 20;
  • the second object distance is the propagation path length of the second imaging light from the second image source 12 to the curved mirror 20, or the distance from the second image source 12 to the curved mirror 20.
  • the optical path where the first imaging ray is located and the optical path where the second imaging ray is located intersect the eye box range of the head-up display system.
  • the curved mirror 20 is configured to reflect the first imaging light and the second imaging light to the reflecting device 50, and the reflecting device 50 can reflect the first imaging light and the second imaging light to a predetermined range. For example, the eye box range 62.
  • each image source in the image source group may be a display, and the display may include a plurality of active light-emitting elements, such as LEDs, etc., or include passive light-emitting elements, such as LCD, DLP, etc., in other embodiments, the image source group
  • the various image sources inside can also be projectors. The embodiment of the present disclosure does not limit the form of each image source in the image source group.
  • the projection image source 30 is configured to emit projection light incident to the light control device 40, and the light path where the projection light is located intersects the range of the eye box.
  • the main optical axis control element 41 is configured to reflect the projection light (for example, multiple projection light) to the reflection device 50, and the reflection device 50 can reflect the projection light (for example, the multiple projection light) to the observation range 61, and the observation range 61 is a predetermined range (For example, the eye box area 62) a location or area.
  • the dispersion element 42 is arranged on the side of the main optical axis control element 41 close to the projection light source, and is arranged between the main optical axis control element 41 and the projection light source on the optical path where the projection light is located. It should be noted that, according to the propagation path of the projection light and the sequence of propagation time, etc., because the projection light may be reflected or refracted, the light path where the projection light is located may be bent, that is, the propagation direction is changed.
  • the dispersion element 42 is configured to diffuse the projection light reflected by the main optical axis control element 41 and form a light spot, that is, the dispersion element 42 is configured to diffuse the projection light into a light beam, that is, to diffuse the projection light reflected by the main optical axis control element , So that the projected light forms a beam used to form a spot.
  • a diffusing element may also be called a diffusing element, and the diffusing element can diffuse the light beam passing through the diffusing element without changing the optical axis of the light beam.
  • the projection image source 30 may be a projection device such as a projector, and may be installed in a position above the driver's head such as a sunroof of a car when in use.
  • the projection image source 30 cooperates with the light control device 40 to realize large-scale imaging, such as full-window imaging, that is, the projection image source 30 can form an image almost as large as the windshield outside the windshield.
  • the projection image formed by the projection image source 30 is larger than the imaging image formed by each image source.
  • the projection image source 30 can realize full window imaging, that is, the projection image formed by the projection image source 30 can cover the entire window.
  • the field of view Field of View, FOV
  • FOV Field of View
  • the range of the horizontal field of view of the image viewed by the driver’s eye position is greater than or equal to 15 degrees, such as not less than 20 degrees, such as not less than 25 degrees, such as not less than 30 degrees, such as Between 15 degrees and 100 degrees, the range of the vertical field of view angle is greater than or equal to 5 degrees, for example, not less than 15 degrees, such as not less than 20 degrees, such as not less than 25 degrees, such as between 5 degrees and 30 degrees. Therefore, the problem of the limited field of view of the head-up display system in the prior art can be solved, and ultra-large field of view imaging under low power consumption can be realized.
  • the above “horizontal” and “vertical” are two mutually perpendicular directions. Taking the car body coordinate system as an example, the above “horizontal” can refer to the width direction of the car in the car body coordinate system, and the above “vertical” can refer to the car body coordinate system. The height direction of the middle car.
  • the driving assistance controller 100 is configured to select a target image source from a plurality of image sources in the projection image source 30 and the image source group, and output prompt content to the target image source, so that the target image source displays the prompt content. Therefore, the user can see the prompt content within the eye box 62.
  • the target image source may be one or more selected from the projection image source 30 and a plurality of image sources in the image source group.
  • the driving assistance controller may be configured to select the projection image source and select at least one of the multiple image sources in the image source group as the target image source, and output prompt content to the target image source, so that The target image source displays the prompt content.
  • the projected image source and the image source can respectively display different information or display related information.
  • the image source in the image source group can be used to display related information of distant objects
  • the projection image source can be used to display related information of close objects.
  • the first image source 11 and the second image source 12 in the image source group are respectively used for imaging, and the first object distance of the first image source 11 and the second object distance of the second image source 12 are different.
  • the imaging light such as the first imaging light, the second imaging light, etc.
  • the image has a larger image distance; correspondingly, the image formed by the curved mirror 20 can form a corresponding virtual image on the other side of the reflecting device 50 under the action of the reflective device 50, and the virtual image formed by the curved mirror 20 has an image distance The larger the value,
  • the image source group includes three image sources (that is, the first image source 11, the second image source 12, and the third image source 13) as an example, and the three image sources are respectively enlarged in the first The imaging position 111, the second magnified imaging position 121, and the third magnified imaging position 131 are respectively imaged, so that the head-up display system can image at different positions from the reflection device 50.
  • the first object distance and the second object distance may be smaller than the focal length of the curved mirror 20 so that the curved mirror 20 can form a virtual image enlarged by the first image source 11 and the second image source 12.
  • the imaging light emitted by the image source in the image source group can be incident to the reflecting device 50 after being reflected by the curved mirror 20.
  • the reflecting device 50 reflects the imaging light to a predetermined range, such as the range of the eye box, so that driving The operator can observe the image formed by the image source within the range of the eye box.
  • the eye box range refers to the range in which the driver can view the head-up display system imaging on the reflector 50.
  • the eye box range roughly corresponds to the position of the driver’s head; the size of the eye box range can be based on actual conditions. set.
  • the projection light emitted by the projection image source 30 can also be incident on the reflection device 50 after being processed by the light control device, and the projection light is reflected to a predetermined range by the reflection of the reflection device 50, such as the eye Within the range of the box, the driver can see the virtual image formed outside the reflector 50.
  • the reflection device 50 can form an image of the projection image source 30 at the projection imaging position 301.
  • the projection light A emitted by the projection image source 30 passes through the dispersion element 42 and then strikes the main optical axis control element 41; the dispersion element 42 will diffuse the projection light A for the first time.
  • the figure 3 does not indicate the process of this first dispersion.
  • the main optical axis control element 41 reflects the incident projection light A. As shown in FIG.
  • the projection light A when there is no dispersive element 42, the projection light A can be projected to the observation range 61 along the optical path a; when the dispersive element 42 is provided outside the main optical axis control element 41, the dispersive element 42 affects the projection light A Perform the second dispersion to disperse the projection light A into a light beam (for example, the light beam includes light A1, light A2, etc.) and disperse it into a range to form a light spot.
  • the light spot can be used as the eye box range 62, so that the driver is in the eye
  • the imaging of the projection image source 30 can be viewed within the box range 62.
  • the preset shape of the light spot includes, but is not limited to, a circle, an ellipse, a square, a rectangle, and a bat wing shape.
  • the size of the light spot is determined by at least two dispersions, and the shape of the light spot is determined by the shape of the dispersion element 42.
  • FIG. 3 takes a rectangular light spot as an example.
  • the observation range 61 may be a point or an area range, that is, the main optical axis control element 41 converges the projection light emitted by the projection image source 30 into the observation range 61.
  • the dispersion angle of the diffused light spot in the side view direction can be 2 degrees to 10 degrees, such as 10 degrees, 8 degrees, or 5 degrees; the dispersion angle in the front view direction can be 5 degrees to 50 degrees, such as 50 degrees, 30 degrees, 20 degrees or 10 degrees.
  • the dispersion element 42 includes, but is not limited to, diffractive optical elements (DOE), such as a beam shaper (Beam Shaper). After the light passes through the diffractive optical element, it will diffuse and form a spot with a specific geometric shape. The size and shape are determined by the microstructure of the diffractive optical element.
  • DOE diffractive optical elements
  • Beam Shaper Beam Shaper
  • the dispersion element 42 is used to control the degree of dispersion of the light, and the light after passing through the main optical axis control element 41 is diffused at a certain angle, which can cover the required range of the eye box.
  • the spread angle and spot size of the light after diffusion determine the brightness and visual range of the final imaging. The smaller the dispersion angle, the higher the imaging brightness and the smaller the visual range; and vice versa.
  • the main optical axis control element 41 can converge the projection light of different incident angles into the same observation range 61, thereby improving the brightness of the projected light; at the same time, the light is diffused by the dispersion element 42, which is convenient
  • the user (for example, the driver) views the image formed by the projection image source 30 within the range of the light spot, and while increasing the brightness of the light, the imaging range can also be expanded.
  • the light control device 40 can concentrate the projection light line, it is not necessary for the projection image source 30 to have a particularly high brightness, so that the virtual image formed by the reflection device 50 can have a higher brightness; and
  • the control device 40 may have a larger area, so that the light control device 40 can reflect the projection light to a larger area on the surface of the reflection device 50.
  • the light control device 40 may be laid on the surface of the IP platform of the vehicle.
  • the projected light can be incident on the surface area of the reflecting device 50, which is the projected imaging area 52, through which the user (for example, the driver) can see
  • the virtual image formed at the projection imaging position 301 is an image formed by the reflection device 50 and corresponding to the projection image source 30.
  • the area where the imaging light emitted by the image source group is incident on the surface of the reflecting device 50 is the enlarged imaging area 51, that is, the driver can view the corresponding enlarged imaging position through the enlarged imaging area 51 (for example, the first enlarged imaging position 111,
  • the virtual image at the second enlarged imaging position 121, the third enlarged imaging position 131, etc.) is an image formed by the reflection device 50 and corresponding to the image source in the image source group.
  • different image sources in the image source group can correspond to different magnified imaging areas.
  • Figures 5 and 6 take three magnified imaging areas as an example.
  • the first image source 11, the second image source 12, and the third image The sources 13 respectively correspond to different magnified imaging areas.
  • the first imaging light emitted by the first image source 11 may be incident on an enlarged imaging area on the surface of the reflecting device 50, and the reflecting device 50 forms a virtual image corresponding to the first image source 11 at the first enlarged imaging position 111 ,
  • the driver can view the virtual image at the first magnified imaging position 111 through the magnified imaging area.
  • the distances of the first enlarged imaging position 111, the second enlarged imaging position 121, and the third enlarged imaging position 131 to the vehicle are different, for example, 5 m, 15 m, and 30 m, respectively.
  • the area of the projected imaging area 52 on the reflection device 50 can be larger than the area of the enlarged imaging area 51.
  • the magnified imaging area 51 may be located in the projection imaging area 52, as shown in FIG. 5; or, in other examples, the magnified imaging area 51 and the projection imaging area 52 are two different areas, as shown in FIG. 6; or, in other examples, the enlarged imaging area 51 and the projected imaging area 52 may also be two areas that partially overlap.
  • multiple image sources in an image source group can work at the same time or work individually or partly at the same time.
  • they can be displayed in a side-by-side imaging manner.
  • At least one of the light emitted by the image source group and the projection image source 30 can cover all of the reflecting device 50. After the light is reflected by the reflecting device 50, it will be reflected in the eye box area 62. The driver sees it.
  • imaging light refers to light that is emitted by the image source in the image source group and can be transmitted to the eye box 62;
  • projection light refers to the light that is emitted by the projection image source and can be transmitted.
  • Light within 62 of the eye box For example, on the surface of the reflecting device 50, the area where light that can propagate to the eye box area 62 is incident will be used as the magnified imaging area or the projection imaging area.
  • the head-up display system further includes a driving assistance controller 100 configured to determine the prompt content that needs to be displayed, and determine which image source needs to display the prompt content.
  • the driving assistance controller is configured to select a target image source from a plurality of image sources in the projection image source 30 and the image source group, and output prompt content to the target image source, so that the target image source displays the prompt content, thereby causing reflection
  • the device 50 forms a virtual image at the corresponding imaging position, so that the prompt content can be displayed in the imaging area for the driver to watch.
  • the vehicle speed can be used as the prompt content; and since the projection image source 30 allows the observer to view the image in the projection imaging area, the projection image source 30 can be used as the target at this time. Like the source.
  • the “display prompt content in the imaging area” in the embodiments of the present disclosure means that the driver can view the prompt content through the imaging area, so that from the driver’s perspective, it appears to be displayed in the imaging area.
  • the prompt content, but the virtual image corresponding to the prompt content is substantially located outside the reflector 50, such as the imaging position in FIG. 4 (including the first magnified imaging position 111, the second magnified imaging position 121, and the third magnified imaging position 131 , Projection imaging position 301).
  • the head-up display system utilizes multiple image sources with different object distances in the image source group to be capable of imaging at multiple imaging positions at different distances from the reflecting device, thereby realizing multi-level imaging, so that The image formed by the image source can be attached to objects at different distances to improve the attachment effect.
  • the driving assistance controller is configured to select the image with the closest image distance to the object distance from multiple image sources. Source to display, you can reduce the parallax.
  • the light control device can gather the projection light of different incident angles into the same observation range and diffuse it into the eye box, thereby improving the brightness of the projection light and forming a larger imaging range; the light control device can Large-scale setting, forming a large-area projection imaging area on the surface of the reflecting device, realizing large-scale imaging.
  • the driving assistance controller selects a suitable image source as the target image source, and controls the target image source to display prompt content on the surface of the reflecting device, so that the reflecting device can display a larger range and/or multi-level image, which can improve the display of the head-up display system effect.
  • the driving assistance controller may also be configured to determine the prompt content that needs to be displayed, and determine the prompt position, that is, determine the position where the prompt content is displayed on the reflection device 50.
  • the driving assistance controller may also be configured to determine the imaging area including the prompt position, and use the image source corresponding to the imaging area (for example, the image source can be imaged in the imaging area) as the target image source, and control
  • the target image source displays the prompt content at the prompt position;
  • the imaging area is an area where the imaging light can be incident on the surface of the reflecting device 50.
  • the imaging area is located in the magnified imaging area or the projection imaging area.
  • each prompt content may have a corresponding prompt position
  • the prompt position may be preset, or may also be a position determined based on the current actual scene.
  • the prompt content is vehicle speed, and it is preset to display the vehicle speed at the bottom left of the reflector 50
  • the corresponding position at the bottom left of the reflector 50 can be directly used as the prompt position; or, there are pedestrians outside the current vehicle, and it needs to be formed with this
  • the graphic corresponding to the position of the pedestrian is used to remind the driver, the graphic is the prompt content, and the position on the reflector 50 where the prompt content needs to be displayed is the prompt position; for example, the position where the pedestrian is projected onto the reflector 50 can be used as the prompt position.
  • the prompt location may be a location point or a location range, which may be determined based on actual conditions.
  • different image sources correspond to different imaging areas on the reflection device 50.
  • the image source corresponding to the imaging area can be used as the target image source, based on The target image source can display the corresponding prompt content at the prompt position.
  • the prompt location is located in the enlarged imaging area corresponding to the first image source 11, the first image source 11 may be used as the target image source.
  • one imaging area can be selected from them; for example, the imaging area can be selected randomly or based on a preset selection rule.
  • the head-up display system is capable of displaying in a fit manner based on at least the principle of Augmented Reality (AR).
  • the head-up display system may also be based on Mixed Reality (MR).
  • MR Mixed Reality
  • the projection position of the external object projected (or mapped) onto the reflection device 50 is within the projection imaging area, the external object is taken as the target object; the projection imaging area is the projection light emitted by the projection image source 30 can be incident on the reflection device 50 Surface area.
  • the projection position within the projection imaging area or the edge of the projection position is used as the presentation position.
  • the "edge of the projection position" in the embodiments of the present disclosure includes the inner edge or the outer edge of the projection position, which is outside the projection position; and the edge of the projection position also includes the contour of the projection position.
  • the projection position of the external object projected (or mapped) to the reflecting device can be determined by the observation area (for example, the eye box area) when the user uses the head-up display system and/or the vehicle.
  • the observation area for example, the eye box area
  • the external object falls on the projection area of the reflector 50.
  • the connection between the external object and the range of the eye box, and the part where it intersects with the reflecting device 50 can be regarded as the projection position of the external object on the reflecting device.
  • external objects are things located outside the reflector 50, including stationary objects such as road surfaces and indicators, as well as movable objects such as motor vehicles, pedestrians, animals, and non-motor vehicles.
  • the external object can be projected onto the reflecting device 50.
  • the external object can be projected to a certain position of the reflecting device 50 along the direction of the eye box range. This position is the projection position, that is, the external object, the projection position, and the eye box range. Collinear, so that the driver can see the external objects through the projection position at the eye box range.
  • the projection position is within the projection imaging area, the projection image source 30 can be used as the target image source; and the external object can also be used as the target object that can perform AR display.
  • the projection position or the edge of the projection position is used as the prompt position, and the target image source (that is, the projection image source 30) can be controlled to display the prompt content at the prompt position. Since the prompt position is consistent with the projection position of the external object, It is possible to make the three points of the external object, the prompt content displayed on the reflector 50, and the eye box range collinear, so the driver at the eye box range can watch the prompt content that fits the external object (for example, frame the external object, etc.) ), which can remind the driver more effectively.
  • the target image source that is, the projection image source 30
  • the driving assistance controller may also be configured to use the external object as the target object when the projection position of the external object projected (or mapped) onto the reflecting device 50 is within the magnified imaging area, and determine the reference
  • the edge of the position is used as the prompt position; the image distance corresponding to the distance between the reference object and the target object is used as the target image distance, and the image source corresponding to the target image distance is used as the target image source; for example, the image distance is The distance between the virtual image of the image source and the curved mirror 20 formed by the curved mirror 20; for example, the image distance is the distance between the magnified imaging position and the reflecting device; for example, the image distance is the distance between the magnified imaging position and the range of the eye box distance.
  • the driving assistance controller may also be configured to, when the projection position of the external object is within the magnified imaging area, use the external object as an AR display Target object, and use the corresponding image source in the image source group as the target image source.
  • the embodiment of the present disclosure determines which image source is the target image source based on the distance between the external object and the head-up display system (ie the target distance), for example, the distance may be the outside world
  • the distance between the object and the reflecting device 50 for example, the distance may be the distance between the external object and the eye box; for example, the distance may be the distance between the external object and the curved mirror.
  • different image sources in the image source group have different object distances, based on the imaging law, different image sources also correspond to different image distances, that is, the distance between the virtual image formed by the image source and the curved mirror 20 is different
  • the image distance can be mapped to different magnified imaging positions outside the reflecting device 50 one by one, such as the first magnified imaging position 111, the second magnified imaging position 121, and the third magnified imaging position 131 in FIG. 4; and the larger the image distance Larger, the farther the corresponding magnified imaging position is. Therefore, after the target distance of the target object is determined, the zoomed imaging position closest to the target object can be determined, and the image source corresponding to the nearest zoomed imaging position can be used as the target image source.
  • the second image source may be used as the target image source.
  • a distance range can be allocated according to the image distance of each image source, and according to which distance range the target distance falls into, it is determined which image distance the target distance matches with, and then which image source is used as the target image source.
  • the driving assistance controller may also be configured to use the external object as the target object when the projection position of the external object projected (or mapped) onto the reflecting device 50 is within the magnified imaging area and within the projection imaging area. , And determine the distance between the reference object (such as a vehicle, such as a vehicle) and the target object; and use the area corresponding to the projection position, such as the projection position or the edge of the projection position, as the prompt position; respectively determine the image of the projection image source 30 The distance and the image distance of each image source in the image source group, the image distance corresponding to the distance between the reference object and the target object is used as the target image distance, and the projected image source 30 or image corresponding to the target image distance is used as the target image distance.
  • the image source in the source group is used as the target image source.
  • the image distance of the projection image source 30 is the distance between the projection imaging position 301 and the reflection device 50; for example, the image distance of the projection image source 30 is the distance between the projection imaging position 301 and the eye box range.
  • determining the most suitable image source as the target image source based on the target distance of the target object can minimize the distance difference between the virtual image formed by the target image source outside the reflecting device 50 and the target object.
  • the virtual image can be better fitted to the target object, the parallax can be effectively reduced, and the effect of the augmented reality display can be improved.
  • the head-up display system may further include a first transflective element 21; the first transflective element 21 can transmit light with the first characteristic and reflect The second characteristic of light.
  • the first image source 11 is arranged on one side of the first transflective element 21, and the second image source 12 and the curved mirror 20 are arranged on the other side of the first transflective element 21; the above-mentioned "one side” and "the other side” For the opposite side.
  • the first imaging light has a first characteristic
  • the second imaging light has a second characteristic.
  • the first transflective element 21 is used to adjust the position of a certain image source in the image source group, and the imaging light emitted by the image source may not be blocked by other image sources; the second image source is changed in FIG. 7
  • the position of 12 is shown as an example.
  • the first transflective element 21 can transmit light with the first characteristic, so that the first imaging light can normally pass through and enter the curved mirror 20, so that the first image source 11 can normally image; and, the first transflective The element 21 can also reflect light with the second characteristic, so that the second imaging light can be reflected by the first transflective element 21, and then enter the curved mirror 20 to achieve imaging.
  • the first characteristic and the second characteristic may be two different characteristics.
  • the "characteristic" in the embodiments of the present disclosure refers to the properties of light, such as polarization characteristics, wavelength characteristics, and so on.
  • the first transflective element can transmit polarized light in the first polarization direction and can reflect polarized light in the second polarization direction, and the first polarization direction and the second polarization direction are perpendicular to each other; and the first image source 11 may By emitting the first imaging light in the first polarization direction, the second image source 12 can emit the second imaging light in the second polarization direction, which at least improves the display effects of the first image source 11 and the second image source 12.
  • the first transflective element may be an element such as a reflective polarizer (RPM) film or a dual-layer brightness enhancement film (DBEF).
  • the first characteristic and the second characteristic may also be the same characteristic
  • the first transflective element is a transmissive and reflective medium.
  • the light transmittance of the first transflective element can be 5%-95%
  • the reflectivity of the first transflective element can be 5%-95%; for example, the first transflective element is semi-transmissive and semi-reflective.
  • the medium, that is, the transmittance and reflectivity of the first transflective element to light are both 50%.
  • the first imaging light emitted by the first image source 11 passes through the first transflective element 21, half is transmitted and the other half is Reflection, so that half of the first imaging light can be transmitted to the curved mirror 20; correspondingly, when the second imaging light emitted by the second image source 12 reaches the first transflective element 21, half of the second imaging light can be It is reflected to the curved mirror 20, so that imaging of the first image source 11 and the second image source 12 can also be realized.
  • the light transmittance of the first transflective element is about 30%
  • the reflectivity is about 70%.
  • About 70% is reflected, so that about 30% of the first imaging light can be transmitted to the curved mirror 20; correspondingly, when the second imaging light emitted by the second image source 12 reaches the first transflective element 21, about 70% % Of the second imaging light can be reflected to the curved mirror 20, and imaging of the first image source 11 and the second image source 12 can be realized.
  • the first imaging light has a first characteristic, which may be that the first imaging light only has the first characteristic; or, part of the characteristics of the first imaging light is the first characteristic, and it may also have other characteristics. Or, it may also have the second characteristic.
  • the first imaging light that can be emitted by the first image source 11 includes natural light, and the first imaging light can be decomposed into polarized light with a first polarization characteristic and polarized light with a second polarization characteristic. It can be considered that the first imaging light also has a first polarization characteristic. The first characteristic and the second characteristic.
  • the first characteristic part of the first imaging light can still pass through the first transflective element 21, and a part of the first imaging light can still enter the curved mirror 20 without affecting the first imaging light.
  • An image source 11 is imaged.
  • the transflective element can transmit light of a certain characteristic means that the transflective element can transmit light of that characteristic or can transmit light of part of the characteristic; correspondingly, transflective The ability of an element to reflect light of a certain characteristic has a similar meaning.
  • the first transflective element 21 can transmit horizontally polarized light and reflect vertically polarized light.
  • the first imaging light is light whose polarization direction is 45 degrees with the horizontal direction
  • the first imaging light can be decomposed into horizontally polarized light and Vertically polarized light, that is, horizontally polarized light in the first imaging light can pass through the first transflective element 21, for example, it can also be regarded as "the first transflective element 21 can transmit light with the first characteristic".
  • the first characteristic and the second characteristic in the embodiments of the present disclosure may be the same kind of characteristics, for example, both are polarization characteristics, or they may be different types of characteristics.
  • the first characteristic is a polarization characteristic
  • the second characteristic is a single characteristic.
  • the wavelength characteristics can be determined based on the selected transflective element.
  • the head-up display system may further include a second transflective element 22, and the image source group further includes a third image source 13; the third image source 13 is used to emit light incident on the curved mirror 20 with The third imaging light of the third characteristic; the third object distance corresponding to the third image source 13 is different from the first object distance and the second object distance, and the third object distance is the third imaging light from the third image source 13 to the curved surface The length of the propagation path of the mirror 20.
  • the second transflective element 22 can transmit light with the first characteristic and reflect light with the third characteristic; the first transflective element 21 can also transmit light with the third characteristic.
  • the second transflective element 22 is arranged between the first image source 11 and the first transflective element 21 on the optical path where the first imaging light is located.
  • the third image source 13 and the first transflective element 21 can be arranged in the second The same side of the transflective element 22; see FIG. 8.
  • the second transflective element 22 can transmit light with the second characteristic and reflect light with the third characteristic; the first transflective element 21 can also reflect the light with the third characteristic;
  • the second transflective element 22 is arranged between the second image source 12 and the first transflective element 21 on the optical path of the second imaging light.
  • the third image source 13 and the first transflective element 21 can be arranged in the second The same side of the transflective element 22; see FIG. 9.
  • the description of "between” involved in the positional relationship of the above-mentioned optical elements is not the “between” in the physical position, but the “between” on the optical path; for example, the first imaging ray After being emitted from the first image source, it first passes through the second transflective element, and then passes through the first transflective element.
  • the object distance of the third image source 13 (that is, the third object distance) is also different from the object distances of the first image source 11 and the second image source 12, and the three image sources can reflect Imaging at different positions outside the device 50, for example, the three magnified imaging positions 111, 121, 131 shown in FIG. 4 may be imaged separately, so as to realize imaging at different positions.
  • the third characteristic of the third imaging light may be other characteristics that are different from the first characteristic and the second characteristic.
  • the second transflective element 22 can transmit light in the first polarization direction and reflect light in the third polarization direction, and the first transflective element 21 can transmit light in the fourth polarization direction.
  • the light reflects the light in the second polarization direction; wherein, the first polarization direction and the third polarization direction are not perpendicular to the fourth polarization direction.
  • the first imaging light emitted by the first image source 11 has a first polarization direction.
  • the first imaging light can pass through the second transflective element 22 and enter the first transflective element 21;
  • the direction is not vertical, so the first imaging light can decompose a part of the light in the fourth polarization direction, so that this part of the light can pass through the first transflective element 21, and a part of the first imaging light can pass through the first transflective Element 21,
  • the first transflective element 21 that can transmit light in the fourth polarization direction can also be regarded as the first transflective element 21 that can transmit light in the first polarization direction (that is, can transmit light of the first characteristic), the first transflective element 21 It can pass through a part of it; in the same way, the third imaging light emitted by the third image source 13 has a third polarization direction, and when the third imaging light reaches the first transflective element 21, it can also pass through a part, for example, With the component in the fourth polarization direction, the first transflective element 21 can also transmit light with the third characteristic.
  • the first characteristic, the second characteristic, and the third characteristic are three different wavelength characteristics, for example, the first characteristic, the second characteristic, and the third characteristic correspond to different wavelength distributions; for example, the wavelength The distribution can be band.
  • the second transflective element 22 can transmit light of the first waveband and reflect light of the third waveband
  • the first transflective element 21 can reflect light of the second waveband and transmit other light.
  • the imaging light from the three image sources can also be incident on the curved mirror 20 to realize imaging respectively.
  • the imaging principle shown in FIG. 9 is basically similar to the imaging principle of FIG. 8. In FIG.
  • transflective elements of different properties are selected, that is, the first transflective element 21 can transmit light of the first characteristic and reflect the second characteristic and The light of the third characteristic, and the second transflective element 22 can transmit the light of the second characteristic and reflect the light of the third characteristic.
  • the solution shown in FIG. 9 is not described in detail here.
  • the "propagation path length" is the path length of the light rays from the start point to the end point. , If the light is incident directly from the starting point to the end point, the length of the propagation path is the distance between the start point and the end point; if the light is incident to the end point after multiple reflections, the length of the propagation path is the length of the light reaching each reflection point in turn The sum of distances.
  • the first imaging light emitted by the first image source 11 can be directly incident on the curved mirror 20, so the first object distance is the distance between the first image source 11 and the curved mirror 20; and the second image source The second imaging light emitted by 12 first reaches the first transflective element 21, and then enters the curved mirror after being reflected by the first transflective element 21. Therefore, the second object distance of the second image source 12 can be the second image source 12 and The distance between the first transflective element 21 plus the distance between the first transflective element 21 and the curved mirror 20.
  • the third object distance of the third image source 13 may be the distance between the third image source and the second transflective element 22, the distance between the second transflective element 22 and the first transflective element 21, The sum of the three distances between a transflective element 21 and the curved mirror.
  • the distance between the image source in the image source group and the curved mirror 20 can also be changed through the plane mirror 23 in the mirror group, for example, The distance can be the optical path through which the imaging light travels, thereby reducing the volume of the head-up display system.
  • the head-up display system may also include a mirror group, which includes one or more plane mirrors 23; the plane mirror 23 is used to reflect the imaging light emitted by the image source group to the curved mirror. 20.
  • the plane mirror 23 is arranged on the propagation path of the imaging light to change the propagation path, so that the imaging light can be transmitted to the curved mirror 20 in a manner of reflecting the imaging light.
  • the mirror group includes a flat mirror 23, and the flat mirror 23 is used to reflect the imaging light emitted by each image source in the image source group to the curved mirror 20 at least partially.
  • multiple image sources may share a plane mirror 23.
  • the first image source 11 and the second image source 12 share a plane mirror 23.
  • the mirror group includes a plurality of plane mirrors 23, and the plurality of plane mirrors are configured to reflect the imaging light emitted by the plurality of image sources included in the image source group to the curved mirror.
  • a plurality of plane mirrors 23 correspond to a plurality of image sources in the image source group; each plane mirror 23 is used to reflect the imaging light emitted by the corresponding image source to the curved mirror. 20; Or, two plane mirrors 23 may correspondingly reflect the imaging light emitted by three image sources, etc.
  • the embodiment of the present disclosure does not limit the correspondence between multiple plane mirrors and multiple image sources. For example, different image sources can use different plane mirrors 23; as shown in FIGS.
  • the first image source 11 and the second image source 12 respectively use the corresponding plane mirrors 23; for example, Set a total image source, and change the image distance corresponding to different areas of the total image source by setting the plane mirror 23 at different positions, so that the total image source can be divided into multiple image sources, as shown in Figure 11, the total image source
  • the image source is divided into a first image source 11 and a second image source 12, and the plane mirrors 23 corresponding to the first image source 11 and the second image source 12 are located at different positions, so that the first object of the first image source 11 The distance is different from the second object distance of the second image source 12.
  • the optical path can also be changed based on the plane mirror 23.
  • the structure can be shown in FIGS. 13-15 correspondingly.
  • the main optical axis control element 41 of the light control device is provided with a plurality of reflection structures on the surface, and the projection light rays are converged to the same observation range 61 based on the reflection structures.
  • the size of each reflective structure is smaller than the preset size.
  • the reflective structures are all microstructures, and the size of the reflective structure refers to one or more of the length, width, radius, and area of the reflective structure.
  • the value of the preset size can be determined according to actual needs, for example, the preset size (for example, the preset length or the preset width) is 1cm, 0.5mm, 10 ⁇ m, etc., or the preset size (for example, the preset area) is 1mm 2 , The embodiment of the present disclosure does not limit this.
  • the preset size for example, the preset length or the preset width
  • the preset size for example, the preset area
  • the embodiment of the present disclosure does not limit this.
  • multiple miniature reflective structures multiple light rays (that is, light rays with different incident angles) can be reflected to the same observation range 61.
  • one path light refers to light having a certain range of incident angle
  • multiple path light refers to light having different incident angle ranges, and these light rays can all enter the same observation range 61.
  • the main optical axis control element 41 may include a plurality of discrete first reflection structures 411, and the first reflection structures 411 are used to reflect the projection light (for example, one projection light) to the observation range 61.
  • each first reflective structure 411 is similar to a micro-mirror, and can reflect a projection light emitted by the projection image source 30 to the observation range 61.
  • a line of light refers to light with the same incident angle or within a preset range.
  • the point (x, y, z) on the first reflective structure 411 satisfies the following equation:
  • P 1 is the coordinates of the location of the projection image source 30
  • P 2 is the coordinates of the observation range 61
  • the observation range is the range of the eye box that intersects the projection light
  • M 0 (x 0 , y 0 , z 0 ) Is the coordinate of a known point on the first reflective structure 411, Indicates the normal vector of the first reflective structure 411.
  • the plane of each first reflective structure 411 is jointly determined by the location of the projection image source 30, the observation range 61 to which the projection light is reflected, and the location of the first reflective structure 411 itself.
  • FIG. 16 takes a first reflection structure 411 in the main optical axis control element 41 as an example for illustration.
  • the location of the projection image source 30 is P 1
  • the point of the observation range 61 is P 2 .
  • the normal line ie, the dashed line in FIG. 16
  • the normal line is perpendicular to the plane where the first reflective structure 411 is located, that is, the normal line is a vertical vector of the plane where the first reflective structure 411 is located. In the space coordinate system, the vertical vector is:
  • the incident angle of the incident light (that is, the projected light) of the first reflective structure 411 is the same as the exit angle.
  • M 0 (x 0 , y 0 , z 0 ) in FIG. Know the point, then the vertical vector lies in the vector with The angle bisector of, therefore:
  • the reflective surface of the first reflective structure 411 (that is, the plane where the first reflective structure 411 is located) can be determined by the normal vector And a known point M 0 on the reflecting surface.
  • the first reflective structure 411 is a micro-structure, that is, it is only necessary to determine the point (x, y, z) of the first reflective structure 411 within a small value range, that is, the point (x, y, z) of the first reflective structure 411 The point (x, y, z) satisfies the following equation within the corresponding value range:
  • P 1 is the coordinates of the location of the projection image source 30
  • P 2 is the coordinates of the observation range 61
  • M 0 (x 0 , y 0 , z 0 ) is the coordinates of a known point on the first reflective structure 411
  • P ⁇ ,x , P ⁇ ,y , P ⁇ ,z respectively represent the normal vector
  • each first reflective structure 411 of the main optical axis control element 41 For each first reflective structure 411 of the main optical axis control element 41, a known point on each first reflective structure 411 can be determined, which can then be determined by combining the position P 1 of the projection image source 30 and the observation range 61P 2 The normal vector of each first reflective structure 411 determines the reflective surface of each first reflective structure 411.
  • the known point M 0 can be the center point of the first reflective structure 411, or a point on the intersection of the first reflective structure 411 and the plane where the main optical axis control element 41 is located, or the first reflective structure
  • Other preset points on 411 are not limited in the embodiment of the present disclosure.
  • the value range of the point (x, y, z) can be:
  • x 1 , x 2 , y 1 , y 2 , z 1 , and z 2 are preset values determined according to the placement position of the first reflective structure 411, and x 1 corresponding to different first reflective structures 411
  • the values of ,x 2 ,y 1 ,y 2 ,z 1 ,z 2 are not exactly the same.
  • the x component of the position where the reflective structure 411 is located is between 1.5 and 1.9.
  • the meaning that the values are not completely the same is: for the six values x 1 , x 2 , y 1 , y 2 , z 1 , z 2 , the six values corresponding to the two different first reflective structures 411 will not be completely Same, that is, at least one of the six values or all of them are not the same.
  • the main optical axis control element 41 includes a plurality of continuous second reflection structures 412, and the second reflection structures 412 are used to reflect the multiple projection light rays to the observation range 61.
  • the second reflective structure 412 is a continuous structure, that is, the main optical axis control element 41 includes a plurality of continuous second reflective structures 412, and each second reflective structure 412 is used to emit the projection image source 30 The multiple projection light rays are reflected to the observation range 61.
  • the second reflective structure 412 is a continuous free-form surface, and the included angle between the free-form surface and the plane where the main optical axis control element 41 is located as a whole is a certain fixed value ⁇ .
  • the upper part of FIG. 17 is a schematic diagram of a front view of the light control device, and the lower part is a schematic diagram of a top view of the light control device.
  • the second reflective structure 412 intersects the main optical axis control element 41, and the line of intersection is a free curve, that is, the curve where the point M and the point M 0 in the lower half of FIG. 17 are located.
  • a known point M 0 on the plane of intersection of the second reflective structure 412 and the main optical axis control element 41 is first preset, and the coordinates of M 0 are (x 0 , y 0 , z 0 ). Similar to the embodiment corresponding to FIG. 16, the position of the projection image source 30 is P 1 , and the point of the observation range 61 is P 2 .
  • the second reflective structure 412 since the second reflective structure 412 is a free-form surface, it does not have a unique normal, but at a known point M 0 , the normal of the second reflective structure 412 for:
  • the normal vector of the plane Is (A,B,C), that is A, B, and C respectively represent normal vectors The components on the x-axis, y-axis, and z-axis.
  • the normal vector And normal The included angle between is the included angle ⁇ between the second reflective structure 412 and the plane where the main optical axis control element 41 is located. Therefore, according to the normal vector of the plane where the main optical axis control element 41 is located And the normal of the second reflective structure 412 at the point M 0 Then the angle ⁇ can be determined. which is,
  • the second reflective structure can be determined based on the line of intersection between the second reflective structure 412 and the plane where the main optical axis control element 41 is located (ie, the curve where the point M and the point M 0 are located in the lower half of FIG. 17) 412 free-form surface.
  • the preset value range of this point M(x,y,z) can be:
  • x v , x u , y v , y u , z v , and z u are respectively the boundary values of the size of the main optical axis control element 41.
  • the second reflective structure 412 is a continuous free-form surface, and the fixed included angle ⁇ between the second reflective structure 412 and the main optical axis control element 41 and the intersection line between the two can be used accurately.
  • the free-form surface of the second reflective structure 412 is determined.
  • another known point M 0 can be re-determined, and then the corresponding included angle ⁇ and line of intersection can be determined.
  • Different second reflective structures 412 have different included angles ⁇ , and the intersection lines between the second reflective structure 412 and the main optical axis control element 41 are also different.
  • different forms of intersection lines are distributed on its plane.
  • the two second reflective structures 412 correspond to different included angles ⁇ 1 and ⁇ 2
  • the two included angles correspond to different intersection trajectories L 1 and L 2 .
  • the processing machine can fix the included angle, and then follow the The trajectory of the intersection can be processed, and the processing technology is simple; and if the processing depth of the second reflective structure 412 (or the height of the second reflective structure 412) is the same, since the included angle ⁇ of the second reflective structure 412 is fixed, the two The distance between adjacent intersection lines may also be a fixed value, and the distribution of the second reflective structure 412 is more uniform.
  • the head-up display system may further include an information collection device 200, which is connected to the driving assistance controller 100, for example, in a wired or wireless manner. Communication connection; the information collection device 200 is configured to collect driving information and environmental information, and send the collected driving information and environmental information to the auxiliary driving controller 100.
  • the driving assistance controller 100 may also be configured to obtain driving information and environmental information, and generate prompt content according to the driving information and environmental information.
  • the information collecting device 200 can collect driving information related to the current driving state of the vehicle or the driver, and can also collect environmental information around the vehicle, so that the driving assistance controller 100 can be based on the driving information.
  • Information and environmental information generate corresponding prompt content.
  • the information acquisition device may include image acquisition equipment, radar (such as vehicle radar), infrared sensors, laser sensors, ultrasonic sensors, rotational speed sensors, angular velocity sensors, GPS (Global Positioning System), V2X (Vehicle to X) , Represents one or more of the information exchange between the car and the outside world) system and ADAS (Advanced Driving Assistant System).
  • radar such as vehicle radar
  • infrared sensors such as vehicle radar
  • laser sensors such as laser sensors
  • ultrasonic sensors such as laser sensors
  • rotational speed sensors such as GPS (Global Positioning System)
  • V2X Vehicle to X
  • ADAS Advanced Driving Assistant System
  • different information collection devices can be installed in
  • the head-up display system provided by some embodiments of the present disclosure can be installed on a vehicle, and the prompt content to be displayed can be determined based on the speed of the vehicle.
  • the driving information collected by the information collection device includes vehicle speed information, such as local vehicle speed information, which can indicate the speed of the vehicle; and the information collection device can also monitor objects outside the vehicle, that is, external objects, and Determine the distance between a reference object (ie, a vehicle, such as a vehicle) and an external object.
  • the information collection device may include a speed sensor, or a rotational speed sensor arranged on a wheel, so as to determine the corresponding local vehicle speed information; for example, when the vehicle is a vehicle, it may also use the vehicle's data transmission system, which may be The on-board automatic diagnostic system OBD (On-Board Diagnostics) can read the speed information of the vehicle and determine the local speed information; for example, through auxiliary devices installed in the vehicle, such as driving recorders, electronic dogs, smart phones and other equipment. With the vehicle speed measurement function to measure the speed of the vehicle, determine the local speed information of the vehicle.
  • OBD On-Board Diagnostics
  • the information acquisition device may also include image acquisition equipment, radar (such as vehicle-mounted radar), or distance sensor (such as infrared distance sensor, laser distance sensor, ultrasonic distance sensor, etc.), etc., which can determine the relationship between the external object and the vehicle.
  • the distance can be the target distance, and the target image source can be selected from multiple image sources based on the distance to achieve a fit display.
  • the driving assistance controller 100 After the driving assistance controller 100 obtains the vehicle speed information and the distance to the external object, as shown in FIG. 20, the driving assistance controller 100 generates prompt content according to the driving information and the environmental information including:
  • Step S101 Determine the current safety distance according to the vehicle speed information, and determine whether the distance between the reference object and the external object is greater than the safety distance.
  • the external objects in this embodiment may include moving objects such as other vehicles, pedestrians, animals, non-motorized vehicles, etc., outside the vehicle, and may also include stationary objects such as roads and indicators.
  • moving objects such as other vehicles, pedestrians, animals, non-motorized vehicles, etc.
  • stationary objects such as roads and indicators.
  • different corresponding relationships can be used to determine the safety distance.
  • Step S102 When the distance between the reference object and the external object is not greater than the safe distance, it is determined that it is currently in an alarm state, and the corresponding alarm information is used as the prompt content.
  • the alarm information includes one or more of the alarm image and the alarm video .
  • the warning message may include warning text, such as "Too close to the vehicle ahead, please slow down"; or, the warning message may also include warning images, for example, a graphic displaying a red exclamation mark, or a warning message corresponding to the external object.
  • the location that is, the prompt location
  • the alarm information may also include an alarm video, such as an animation showing two cars colliding.
  • the content in the alarm image or the alarm video may be at least one of text, graphics, symbols, animation, and pictures. "Not greater than” can be less than or equal to, or can be less than.
  • the safety distance in the embodiment of the present disclosure may include one or more of the front safety distance, the rear safety distance, and the side safety distance. If the external object is located in the front, when the distance between the reference object and the external object is not greater than the front safe distance, it can be determined that the current state of the reference object is in the alarm state; if the external object is located behind, it is between the reference object and the external object. When the distance is not greater than the rear safety distance, the current state of the reference object can be determined to be in the alarm state; if the external object is located on the side, when the distance between the reference object and the external object is not greater than the side safety distance, the current state of the reference object can be determined to be in the alarm state Alarm status. For example, appropriate warning information can be used as the prompt content in the corresponding situation. For example, if the external object on the right is closer to the vehicle, you can use "Please keep a distance from the vehicle on the right" as the prompt content.
  • the driving assistance controller 100 can also be configured to determine the corresponding prompt location, and determine the image source that needs to display the prompt content, that is, the target image source, and then the target image source can be used to reflect
  • the prompt content is displayed at the prompt position on the device 50.
  • the prompt position may be preset or determined based on the projection position of the external object on the reflection device 50, so as to achieve a fit display.
  • Step S103 When the distance between the reference object and the external object is greater than the safe distance, it is determined that the current state of the reference object is in the normal state, and the corresponding prompt information (ie information in the normal state or information in the non-warning state) is used as the prompt content ,
  • the prompt information includes one or more of empty set, prompt text, prompt image, and prompt video.
  • the prompt information of the prompt function is used as the prompt content.
  • the prompt information can be an empty set, that is, if the prompt content is empty, the head-up display system may not display any information; for example, the prompt information can be prompt text, such as "safe distance, please continue to maintain", etc.; the prompt information can also be It is a reminder image, such as a light-colored image, etc.; the reminder information can also be a reminder video, such as an applause animation.
  • the assisted driving controller 100 may be configured to control the target image source to display the prompt content in a normal manner or a first highlighting manner.
  • the first highlighting manner includes dynamic display (such as scrolling display, bounce display). , Flashing display), highlight display, display in the first color one or more.
  • the driving assistance controller 100 may be configured to control the target image source to display the prompt content in a normal manner or a second highlighting manner, and the second highlighting manner includes displaying in a second color.
  • the prompt content when the reference object, for example, the vehicle is in an alarm state or a normal state, can be displayed in the same manner (for example, it can be a normal manner), and the prompt displayed in different states
  • the content is different, and the normal mode includes one or more of static display, dynamic display (such as scroll display, bounce display, flashing display), highlight display, and the like.
  • the head-up display system in different states, not only the displayed prompt content is different, but the display mode is also different.
  • the head-up display system can display "Currently safe, please continue to maintain” in the second color (for example, green); in the alarm state, it can display "The distance to the vehicle ahead is too far" in the first color (for example, red). Near, please slow down.”
  • the same prompt content can also be displayed in different display modes.
  • the external object is a pedestrian
  • the head-up display system currently needs to identify the pedestrian in AR, such as a rectangular frame to mark the location of the pedestrian; if the current state is normal, the second color (such as green) can be displayed.
  • the rectangular frame can display a green rectangular frame; if it is currently in an alarm state, the rectangular frame can be displayed in the first color (for example, red), and a red rectangular frame can be displayed.
  • the state of the vehicle can be determined in real time, and the prompt content can be displayed in different display modes in real time. For example, if it is currently in an alarm state, the prompt content of "please slow down” can be displayed in red; afterwards, the driver adjusts the distance from the external object by decelerating and other methods so that the external object is outside the safe distance, that is, it will be in the normal state afterwards. At this time, the prompt content such as "current driving safety” can be displayed in green again.
  • FIG. 21 takes the external object as a vehicle as an example, and schematically shows a display mode when the distance to the local vehicle is too close.
  • the head-up display system detects that the distance between the front vehicle 71 and the local vehicle is 50m, and the current safety distance is 60m. For example, in an alarm state, the head-up display system can be displayed on the reflection device 50 (e.g., local vehicle).
  • the prompt content displayed on the windshield includes the warning text 501, that is, "please slow down".
  • the prompt content also includes a rectangular frame 502 that selects the vehicle 501 in front.
  • the rectangular frame 502 can be displayed in red or highlighted. Display etc. to enhance the reminder effect.
  • the distance to the vehicle 71 in front may also be displayed at the same time. In FIG. 21, the distance "50.0 m" is displayed below the rectangular frame 502.
  • the head-up display system may further include a sounding device or a vibrating device.
  • the driving assistance controller 100 may also be configured to: send a warning voice to the sounding device, and control the sounding device to play the warning voice; and/or , Send a vibration command to the vibration device to control the vibration of the vibration device.
  • the vibrating device can be set in a position that can touch the user.
  • a speaker can be added to the head-up display system, or a voice reminder can be given by means of a speaker on the vehicle.
  • the warning voice can be a meaningless warning ringtone, or it can also be a meaningful voice, such as "Attention! Keep the distance between cars! and so on.
  • a mechanical vibration device can be installed on the steering wheel or seat of the vehicle where the driver will directly contact, so that the driver can be vibrated to alert the driver in an alarm state.
  • the related information of the external object can also be displayed in real time or intermittently (that is, at predetermined intervals, for example, at intervals of 10 ms or 20 ms, etc.).
  • the information acquisition device may include image acquisition equipment, radar (such as vehicle radar), or distance sensor (such as infrared distance sensor, laser distance sensor, ultrasonic distance sensor, etc.), etc., in determining the distance between the reference object and the external object
  • the location of the external object is also determined, that is, the environmental information may include the location of the external object and the reference object, such as the distance between a vehicle (for example, a vehicle) and the external object.
  • the driving assistance controller 100 may use the location of the external object and the reference object, such as the distance between a vehicle (for example, a vehicle) and the external object as the prompt content, so that the prompt content can be displayed on the reflector 50 in real time, and then It can remind the driver of the location and distance of external objects in real time.
  • the location of the external object and the reference object such as the distance between a vehicle (for example, a vehicle) and the external object as the prompt content
  • the location of the external object can also be visually identified in an AR display mode.
  • the driving assistance controller 100 may also be configured to determine the projection position of the external object projected (or mapped) onto the reflection device, use the area corresponding to the projection position, such as the projection position or the edge of the projection position as the prompt position, and control the target image
  • the source displays the preset prompt content at the prompt location.
  • the prompt content consistent with the external object can be displayed at the corresponding position of the reflector 50, so that the external object can be marked intuitively to the driver.
  • the external object is a vehicle
  • a box may be displayed at the corresponding position of the windshield, and the box may frame the vehicle.
  • the head-up display system can take certain information that can be displayed all the time as the prompt content in real time, and display it in the preset position of the reflection device 50.
  • the location and distance of all external objects around the vehicle can be monitored in real time, and a bird's-eye view of the vehicle can be generated.
  • the bird's-eye view can schematically show the location of external objects in each direction of the vehicle, so that the driver can Quickly check the surrounding environment; and, you can also display the surrounding external objects in different colors to indicate different levels of danger.
  • the situation of other vehicles around the local vehicle 73 can be displayed on the reflector 50 in the form of a bird's-eye view.
  • the bird's-eye view 503 shows that the rear vehicle 72 behind the local vehicle 73 is about to pass, and the warning text can also be displayed. 501, which means "overtaking behind.”
  • the external objects are pedestrians, non-motorized vehicles, etc.
  • they generally have a higher safety priority.
  • the vehicle may need to give priority to the location of pedestrians during driving, and avoid relatives. Collision; therefore, priority is given to reminders when the external objects are pedestrians, non-motorized vehicles, etc.
  • the external object when the external object is a special object, it is determined that it is currently in an alarm state, and the corresponding alarm information is used as the prompt content.
  • the alarm information may include one or more of an alarm image and an alarm video.
  • the external object is a pedestrian, an animal or a non-motor vehicle, and the external object is located in the current driving route, the external object is regarded as a special object.
  • the external object is a pedestrian, an animal or a non-motor vehicle, and the external object moves toward the current driving route, the external object is regarded as a special object.
  • the external object is a pedestrian, an animal or a non-motorized vehicle, and the distance from the external object is less than a preset distance value, the external object is regarded as a special object.
  • the densely-object areas include one or more of schools, hospitals, parking lots, and urban areas.
  • the driving information includes the driver's line of sight location information; when the external object is a pedestrian, animal or non-motor vehicle, and the line of sight location information does not match the location of the external object, the external object is regarded as a special object.
  • the external object when the external object is a pedestrian, an animal, or a non-motor vehicle that requires special attention, it can be determined whether the external object can be a special object. For example, if the external object is located in the current route of the vehicle, or when the external object is moving toward the current driving route, it means that the vehicle is more likely to collide with the external object, which can be used as an alarm state. Or, if the distance to the external object is less than the preset distance value, it means that the external object is close to the vehicle, which can also be used as an alarm state; wherein, the preset distance value can be a preset distance value, for example, It may be the "safe distance" determined based on the vehicle speed in any of the above embodiments.
  • the information collection device may also include image collection equipment, infrared sensors, etc., based on the information collection device to determine the driver's line of sight information, such as the driver's eye position, line of sight position, etc.; if the line of sight information is related to the location of the external object Mismatch, indicating that the driver may not notice the external object at present, and can be set to an alarm state to remind the driver.
  • the information collection device can determine the gaze direction information based on eye tracking technology, or other technologies can also be used, which is not limited here.
  • warning information to remind the driver may be generated, such as "there is a pedestrian ahead, pay attention to avoid", “the school ahead, pay attention to pedestrians", etc., and the warning Information as the reminder content.
  • the head-up display system can display the warning text 501 on the reflector 50, that is, "Attention Pedestrian", and can also highlight the pedestrian 74 through the rectangular frame 502, and The arrow 504 that can indicate the movement trend of the pedestrian 74 reminds the driver that a pedestrian is currently moving toward the current driving lane 75.
  • the prompt content may be displayed in the normal manner or the first highlight display manner, and auxiliary reminding methods may also be adopted such as voice reminding.
  • the reminding manner is basically similar to the above-mentioned embodiment, and will not be repeated here.
  • the "safe distance" in any of the foregoing embodiments may also include a front safety distance, which refers to a safety distance between a vehicle and an external object located in front of the vehicle.
  • the driving assistance controller can also be configured to: when the external object is located in front, the distance between the reference object and the external object is not greater than the front safety distance, and the difference between the safety distance and the distance is greater than the preset distance difference and/or When the duration of the warning state exceeds the preset duration, a deceleration command or braking command is generated, and a deceleration command or braking command is output, for example, a deceleration command or a braking command is output to the driving system of the vehicle.
  • the current state of the reference object may be an alarm state; for example, if the safety distance is less than the distance between the reference object and the external object The difference is greater than the preset distance difference, or the reference object is in the alarm state for longer than the preset time, indicating that the external object may be too close to the vehicle, or the distance between the two is in the dangerous range for a long time, the driving assistance controller 100 Can generate deceleration command or braking command, and output the deceleration command or braking command, for example, output to the driving system of the vehicle, so that the vehicle can be decelerated or braked, so that the vehicle and external objects can maintain safety distance.
  • the head-up display system can also monitor whether the lane is deviated, and determine that there is a lane deviating problem when deviating from the lane, for example, can issue an alarm.
  • the information collection device can include image collection equipment, radar, GPS, etc., based on the information collection device, the location of the vehicle can be determined, which can be vehicle location information; for example, the image collection device can determine the lane in front of the vehicle. , May be lane position information, which may include the current lane of the vehicle, the adjacent lane of the vehicle, and so on.
  • the driving assistance controller 100 can obtain the vehicle position information and lane position information, referring to FIG. 24, the driving assistance controller 100 generating prompt content according to the driving information and environment information may include:
  • Step S201 Determine the offset parameter of the vehicle deviating from the current driving lane according to the vehicle position information and the lane position information, and determine whether the offset parameter is greater than the corresponding offset threshold; the offset parameter includes the offset distance and/or the offset angle.
  • whether the vehicle is located in a suitable lane can be determined based on the vehicle position and the lane position, and it can be judged whether there is a deviation.
  • the offset parameter can be zero, and the offset distance and the offset angle can both be zero; in the case where the vehicle may be offset, such as the vehicle pressure line, the corresponding offset needs to be determined. Shift distance; in the case where the driving direction of the vehicle is inconsistent with the lane direction, the corresponding offset angle needs to be determined, for example, the angle at which the vehicle deviates from the lane.
  • Step S202 When the offset parameter is greater than the corresponding offset threshold, it is determined that the reference object is currently in an alarm state, and the corresponding alarm information is used as the prompt content.
  • the alarm information includes one of the alarm image, the alarm video, and the priority driving lane or Multiple.
  • the current offset parameter is greater than the offset threshold, it means that the offset distance is too large and/or the offset angle is too large, and the vehicle has a risk of offset.
  • the vehicle can be regarded as being in an alarm state, and The corresponding warning information is used as a reminder to remind the driver.
  • the warning information includes warning images or warning videos related to lane deviation.
  • the current priority driving lane may also be marked, that is, the priority driving lane is used as the reminder content.
  • the priority driving lane can be used as an external object, and the corresponding prompt position can be determined by determining the projection position of the priority driving lane mapped to the reflection device 50, for example, the area corresponding to the projection position, such as the projection position or the projection position.
  • the edge of the position is used as the prompt position, and the priority driving lane is displayed at the prompt position on the reflector 50.
  • the reflection device 50 may display graphics matching the priority driving lane, a trapezoid (corresponding to a straight priority driving lane), a fan ring with a gradually reduced width (corresponding to a priority driving lane that needs to be turned), and the like.
  • the shape of the graphics displayed on the reflection device 50 may be determined based on the actual shape of the priority driving lane mapped to the reflection device 50.
  • the offset parameter when the offset parameter is greater than the corresponding offset threshold, it can be directly determined that the reference object is in an alarm state; or, when the offset parameter is greater than the corresponding offset threshold, comprehensively determine whether the current lane is offset based on other driving information , That is, whether it can be regarded as an alarm state.
  • information collection devices include speed sensors, acceleration sensors, angular velocity sensors, etc., which can be used to collect vehicle speed, vehicle acceleration, vehicle steering angle, etc.; and the vehicle's own system can determine the state of the turn signal to determine whether the turn signal is In the open state; some embodiments of the present disclosure generate vehicle state information based on information such as vehicle speed, vehicle acceleration, and turn signal status, and send the vehicle state information as a kind of driving information to the driving assistance controller 100, which is the driving assistance controller 100 determines whether it is an alarm state based on current offset parameters and vehicle state information.
  • the offset parameter is greater than the corresponding offset threshold, and when the vehicle speed is greater than the first preset speed value or the vehicle acceleration is not greater than zero, it can be determined that the reference object is currently in an alarm state.
  • the offset parameter is greater than the corresponding offset threshold, and when the turn signal on the same side of the vehicle's offset angle is not turned on, it can be determined that the reference object is currently in an alarm state.
  • the offset parameter is greater than the corresponding offset threshold, and the current track state is immutable, it can be determined that the reference object is currently in the alarm state.
  • the offset parameter is greater than the corresponding offset threshold, and the time of departure from the lane is greater than the preset first departure time threshold, it can be determined that the reference object is currently in an alarm state.
  • the offset parameter is greater than the corresponding offset threshold, it indicates that there may be an offset risk. Then, based on the vehicle status information, it is determined whether the offset state is normal, and if it is abnormal, it can be used as an alarm state. For example, when the vehicle speed is greater than the first preset speed value or the vehicle acceleration is not greater than zero, the vehicle speed may be too fast, or the vehicle still does not decelerate even when the vehicle is offset, the vehicle may be considered dangerous and the vehicle may be considered to be in an alarm status.
  • the direction corresponding to the offset angle of the vehicle is not opposite to the direction corresponding to the steering angle, indicating that the steering angle of the vehicle is the same as the offset direction, or the vehicle is still going straight, it can be considered to be in an alarm state; for example, the vehicle is currently turning to the left Offset, that is, the direction corresponding to the offset angle is the left direction. If the vehicle also turns to the left, the offset angle may be increased, and there is a greater risk. Or, if the turn signal on the same side of the vehicle's offset angle is not turned on, for example, the vehicle is shifting to the left and the left turn signal is not turned on, it can be indirectly considered that the driver is not currently turning on the standard.
  • the driving information collected by the information collection device also includes vehicle status information, which includes one or more of vehicle speed, vehicle acceleration, turn signal status, double flashing signal status, and yaw rate.
  • the driving assistance controller 100 can make the following judgments based on the vehicle state information:
  • the offset parameter is greater than the corresponding offset threshold, and when the vehicle speed is less than the second preset speed value or the vehicle acceleration is less than zero, it is determined that the reference object is currently in a normal state; when the offset parameter is greater than the corresponding offset threshold, and when When the turn signal on the same side of the vehicle's offset angle is turned on, it is determined that the reference object is currently in the normal state; when the offset parameter is greater than the corresponding offset threshold, and the double flashing signal light is on, determine the reference object It is currently in a normal state; when the offset parameter is greater than the corresponding offset threshold, and the yaw rate is greater than the preset angular velocity threshold, it is determined that the reference object is currently in a normal state; when the offset parameter is greater than the corresponding offset threshold and it deviates from the lane When the duration is less than the preset second deviation duration threshold, it is determined that the reference object is currently in a normal state; when the offset parameter is greater than the corresponding offset threshold, and the driving information includes the driver's line
  • the offset parameter when the offset parameter is greater than the corresponding offset threshold, it indicates that there is a risk of offset. However, if it is determined based on the vehicle status information that the current is a normal offset (such as a normal lane change), etc., it may not be An alarm is regarded as a normal state. For example, if the vehicle speed is less than the second preset speed value or the vehicle acceleration is less than zero, it indicates that the vehicle is not fast or is decelerating, and the risk is small, and it can be regarded as a normal state.
  • the turn signal on the same side of the vehicle's offset angle is turned on, it means that although the vehicle is currently deviating from the lane, the driver is turning in the offset direction in a standard manner, that is, the driver is changing lanes normally, or Turning can be considered a normal state. If the double-flashing signal light is on, or the yaw rate is greater than the preset angular velocity threshold, it means that the vehicle needs to deviate or change lanes due to a fault, or the vehicle encounters an emergency that leads to emergency steering, avoidance, etc., which may not be regarded as lane deviation.
  • the situation in which an alarm is needed for shifting that is, for lane shifting, it can also be regarded as a normal state that does not belong to the lane shifting situation.
  • the driver For example, if the driver’s line of sight information and the direction corresponding to the offset angle are the same, it means that although the current vehicle has deviated from the lane, but the driver has noticed the offset, it can also be regarded as a normal state and no additional warning is required. Remind the driver.
  • Step S203 When the offset parameter is not greater than the corresponding offset threshold, it is determined that the reference object is currently in a normal state, and the corresponding prompt information is used as the prompt content.
  • the prompt information includes empty set, prompt text, prompt image, prompt video, priority One or more of the driving lanes.
  • the current offset parameter is not greater than the offset threshold, it indicates that the offset distance is not large and/or the offset angle is not large, which can indicate that the vehicle is driving normally, and the vehicle can be regarded as being in a normal state.
  • the corresponding prompt information can be used as the prompt content.
  • the auxiliary driving controller 100 can be configured to control the target image source to display the prompt content in a normal way or in the first highlighting way.
  • the first highlighting way includes dynamic display (such as scrolling display, bounce display, flashing display), highlighting, and first color display.
  • the driving assistance controller 100 may be configured to control the target image source to display the prompt content in a normal manner or a second highlighting manner, and the second highlighting manner includes displaying in a second color.
  • the display mode in this embodiment is basically similar to the foregoing embodiment, and will not be repeated here.
  • the vehicle is in a normal state.
  • the offset parameter when the offset parameter is not greater than the corresponding offset threshold, it means that the vehicle is driving normally and there is no offset.
  • Simple prompt content can be determined, such as displaying the text "Lane Keep medium.
  • the offset parameter is greater than the corresponding offset threshold, but in the above normal state, it means that although the vehicle is currently deviating from the lane, it can display the corresponding prompt content in a normal steering mode, etc.
  • the head-up display system AR displays images corresponding to the current lane and the turning lane, such as projecting a blue directional arrow pointing to the turning lane, and projecting a blue virtual road that fits the current road and the projection fits the turning lane.
  • the head-up display system can determine that the current driving lane 75 is a right-turning lane according to the lane position information corresponding to the current driving lane 75. If the vehicle continues to go straight, the deviation angle of the vehicle will increase.
  • the warning text 501 that is, "please turn right” is displayed on the reflection device 50, and an arrow 504 that fits the current driving lane 75 can also be displayed, so that the driver can be intuitively reminded to turn right.
  • the warning text 501 "Please turn on the left turn light” can be displayed on the reflector 50 to remind the driver to turn on the left turn signal; the arrow 504 can also be used to indicate the current driving direction of the vehicle to remind the driver that the driver is currently heading Offset left.
  • the driving assistance controller 100 may also be configured to determine the priority driving lane of the vehicle according to the vehicle position information and the lane position information, and use the priority driving lane as the target object; determine the projection position of the target object projected on the reflection device 50, and correspond to The area of the projection position, such as the projection position or the edge of the projection position, is used as the prompt position, and the target image source is controlled to display the preset prompt content at the prompt position.
  • the driving assistance controller 100 may determine the priority driving lane of the vehicle in real time, or determine the priority driving lane of the vehicle intermittently, that is, determine the priority driving lane of the vehicle at a certain interval of time, such as an interval of 10ms or 20ms, etc., and then Based on the position of the priority driving lane, the projection position of the lane to be projected onto the reflection device 50 is determined, and then the prompt position is determined.
  • the head-up display system can be more Accurately determine which positions of the reflection device 50 to display the content that fits the priority driving lane.
  • multiple image sources can be used to display a part of the priority driving lane, for example, the first image source 11 and the second image source 12 may be used to display the priority driving respectively.
  • a part of a lane; or, a point on the priority lane is used as a reference point (for example, an intermediate point is used as a reference point), and the distance between the reference point and the vehicle is used as a distance to determine a target image source.
  • different display modes can be used to display the priority driving lane.
  • the priority driving lane is displayed in green; when the vehicle deviates, the priority driving lane can be displayed in red.
  • graphics or arrows that visually fit the priority driving lane can be displayed to guide the driver to drive.
  • the offset parameter is greater than the corresponding offset threshold, and the difference between the offset parameter and the offset threshold is greater than the preset offset difference and/or the duration of the offset state If the preset safety offset time is exceeded, a deceleration command or braking command can be generated, and the braking signal or deceleration signal can be output, for example, to the driving system of the vehicle.
  • the controller 100 can be configured to generate a deceleration command or a braking command, and output the deceleration command or braking command, for example, to the driving system of the vehicle, so that the vehicle can be decelerated or braked, and the vehicle can be prevented from being seriously offset. And cause a traffic accident.
  • the head-up display system can also prompt the driver of abnormal roads.
  • the information acquisition device may include image acquisition equipment and/or radar, etc., to collect road abnormal information; or, it may also obtain road abnormal information based on other external systems (such as real-time traffic systems, etc.), and the road abnormal information includes obstacles.
  • the driving assistance controller 100 may also be configured to use the road abnormality information as the prompt content when the road abnormality information is acquired.
  • the driving assistance controller 100 may also be configured to determine the abnormal position according to the road abnormality information and project it to the projection position on the reflection device 50 according to the shadow length position, and use the area corresponding to the projection position, such as the projection position or the edge of the projection position, as a prompt Position, and control the target image source to display the prompt content corresponding to the road abnormal information at the prompt position.
  • the corresponding road abnormality information can be obtained based on the information collection device or other system, and the driving assistance controller 100 can directly use the road abnormality information as the prompt content Displayed on the reflector 50, for example, the prompt content is "There is a traffic accident 100 meters ahead" or the like.
  • the position of the abnormal road may also be marked on the reflector 50 in the manner of AR display.
  • the position of the obstacle can be determined, for example, it can be an abnormal position, and the abnormal position is projected onto the reflection device 50
  • the projection position is used as a reminder position, and the corresponding reminder content (such as a figure matching the shape of the obstacle, etc.) can be displayed at the reminder position, so that the position of the obstacle can be displayed to the driver intuitively, and the reminder can be more effective The driver.
  • the head-up display system can also remind the driver.
  • the environmental information also includes visibility information.
  • the visibility information is less than the preset visibility threshold, it indicates that the current visibility is low and the driving environment is poor.
  • the information collection device includes vehicle radar, distance sensors, etc. in low visibility environments.
  • the components of external objects can also be detected normally.
  • the driving assistance controller 100 can collect the location information of the external objects based on the information collection device 200; then, the driving assistance controller 100 can be configured to use the location information of the external objects as a reminder.
  • the driving assistance controller 100 determines the projection position of the external object projected (or mapped) onto the reflector 50, uses the area corresponding to the projection position, such as the projection position or the edge of the projection position, as the prompt position, and controls the target image source
  • the preset reminder content is displayed at the reminder position.
  • the location information of the external object includes the location of the external object and the distance between the vehicle (such as a vehicle) and the external object.
  • the head-up display system detects the external object, it can display the location of the external object. information. Or, use AR to more intuitively mark the location of the external object, so as to inform the driver of the location of the external object and avoid collision.
  • the road can also be used as an external object, and the position of the road can be determined according to real-time road conditions and networked road information, so that the driving route can be displayed on the reflector 50, such as marking auxiliary lines and turning signs on the correct driving road. Wait.
  • abnormal roads and external objects in low-visibility environments all of them can be regarded as key marked objects, which can be determined as alarm states; or, they can be subdivided and divided into normal states and alarm states. For example, it can be divided based on the distance from the vehicle. If the abnormal road or external object is far away from the vehicle, it can be in a normal state; if the distance is close, it can be in an alarm state.
  • the prompt content in different states can be displayed in the corresponding display mode.
  • the prompt content in the above multiple embodiments refers to one content that can currently be displayed on the reflection device 50; at the same point in time, multiple prompt content can be displayed on the reflection device 50.
  • the alarm state and the normal state determined in any of the foregoing embodiments may also correspond to a state of prompt content, that is, at the same moment, different prompt contents correspond to different states.
  • the vehicle is a vehicle, and there are two pedestrians A and B in front of the vehicle. Pedestrian A is closer to the vehicle, and pedestrian B is farther from the vehicle.
  • pedestrian A it can be determined as an alarm state, for example, in the reflector 50 (for example, the windshield of a vehicle) is marked by a red frame; for pedestrian B, it can be determined to be a normal state, and a green frame can be used on the reflection device 50 to mark the pedestrian B, that is, on the reflection device A red frame and a green frame can be used to mark pedestrian A and pedestrian B on 50, and the two can be independent of each other.
  • the reflector 50 for example, the windshield of a vehicle
  • pedestrian B it can be determined to be a normal state, and a green frame can be used on the reflection device 50 to mark the pedestrian B, that is, on the reflection device A red frame and a green frame can be used to mark pedestrian A and pedestrian B on 50, and the two can be independent of each other.
  • the driving assistance controller 100 may also be configured to generate shared information according to the prompt content, and send the shared information to the server or to other devices within a preset distance, such as vehicles, mobile phones, laptops, etc. .
  • the transportation vehicle installed with the head-up display system can share the collected information to other transportation tools, and it can be directly sent to other transportation tools nearby, or it can be uploaded to the server, and then forwarded by the server to the needs.
  • the means of transportation of the information For example, when the head-up display system uses the location information of external objects, the location information of special objects, road abnormal information, etc. as the prompt content, the prompt content can be shared with other vehicles; or, when the local vehicle has a lane deviation , You can also notify other nearby vehicles to remind other vehicles to avoid.
  • the head-up display system includes an image source group and a curved surface 20.
  • the image source group includes a first image source 11 and a second image source 12.
  • An image source 11 is configured to emit a first imaging light incident on the curved mirror 20, and a second image source 12 is configured to emit a second imaging light incident on the curved mirror 20; the first object distance and the first object distance corresponding to the first image source 11 The second object distances corresponding to the two image sources 12 are different.
  • the first object distance is the propagation path length of the first imaging light from the first image source 11 to the curved mirror 20, or the distance from the first image source 11 to the curved mirror 20;
  • the second object distance is the distance of the second imaging light from the first image source 11 to the curved mirror 20.
  • the optical path where the first imaging ray is located and the optical path where the second imaging ray is located intersect the range of the eye box.
  • the curved mirror 20 is configured to reflect the first imaging light and the second imaging light to a first predetermined range.
  • the reflection device can reflect the first imaging light and the second imaging light to the second predetermined range, such as the range of the eye box, so that the user can
  • the images formed by the first image source 11 and the second image source 12 are acquired within the range. Since the first image source 11 and the second image source 12 have different object distances, imaging at different positions can be realized.
  • the head-up display system further includes a projection image 30 and a light control device 40.
  • the light control device 30 includes a main optical axis control element 41 and a dispersion element 42; the projection image source 30 It is configured to emit the projection light incident to the light control device 40, for example, the light path where the projection light is located intersects the range of the eye box.
  • the main optical axis control element 41 is configured to reflect the projection light to the reflection device, so that the reflection device can reflect the projection light to a position or area within the second predetermined range; the dispersion element 42 is arranged on the main optical axis control element 41 close to the projection
  • One side of the light source 30 is arranged between the main optical axis control element 41 and the projection light source 30, for example, between the main optical axis control element 41 and the projection light source 30 on the optical path where the projection light is located.
  • the dispersion element 42 is configured to diffuse the projection light into a light beam, that is, to diffuse the projection light reflected by the main optical axis control element, so that the projection light forms a light beam for forming a light spot.
  • a diffusing element may also be called a diffusing element, and the diffusing element can diffuse the light beam passing through the diffusing element without changing the optical axis of the light beam.
  • the head-up display system further includes a first transflective element 21; the first transflective element 21 can transmit light with a first characteristic and reflect light with a second characteristic; An image source 11 is arranged on one side of the first transflective element 21, and the second image source 12 and curved mirror 20 are arranged on the other side of the first transflective element.
  • the above-mentioned “one side” and “the other side” are opposite Side; the first imaging light has a first characteristic, and the second imaging light has a second characteristic.
  • the head-up display system further includes a second transflective element 22, and the image source group further includes a third image source 13;
  • the third image source 13 is configured to emit light incident on the curved mirror 20 , The third imaging light with the third characteristic; the third object distance corresponding to the third image source 13 is different from the first object distance and the second object distance.
  • the third object distance is the third imaging light from the third image source 13 The propagation path length to the curved mirror 20, or the distance from the third image source 13 to the curved mirror 20.
  • the second transflective element 22 can transmit light with the first characteristic and reflect light with the third characteristic; the first transflective element 21 can also transmit light with the third characteristic; the second transflective element 22 is arranged at Between the first image source 11 and the first transflective element 21, for example, the second transflective element 22 is arranged between the first image source 11 and the first transflective element 21 on the optical path where the first imaging light is located.
  • the third image source 13 and the first transflective element 21 are arranged on the same side of the second transflective element 22; or, in other examples, the second transflective element 22 can transmit light with the second characteristic, And reflect light with the third characteristic; the first transflective element 21 can also reflect the light with the third characteristic; the second transflective element 22 is arranged between the second image source 12 and the first transflective element 21, for example, The second transflective element 22 is arranged between the second image source 12 and the first transflective element 21 on the optical path of the second imaging light.
  • the third image source 13 and the first transflective element 21 are arranged on the same side of the second transflective element 22, refer to FIG. 9.
  • the head-up display system may further include a mirror group.
  • the mirror group includes a flat mirror 23, and the flat mirror 23 is configured to emit each image source in the image source group.
  • the imaging light is at least partially reflected to the curved mirror 20; or, as shown in FIG. 11, the mirror group includes a plurality of plane mirrors 23, and the plurality of plane mirrors are configured to image the images emitted by the plurality of image sources included in the image source group.
  • the light is reflected to the curved mirror.
  • multiple flat mirrors 23 correspond to multiple image sources in the image source group one-to-one; each flat mirror 23 is used to reflect the imaging light emitted by the corresponding image source to the curved mirror. 20; Or, two flat mirrors 23 can reflect the imaging light emitted by three image sources, etc.
  • the embodiment of the present disclosure does not limit the correspondence between multiple flat mirrors and multiple image sources.
  • the optical path can also be changed based on the plane mirror 23.
  • the structure can be referred to FIGS. 13-15 accordingly.
  • the area of the projection imaging area on the reflection device is larger than the area of the magnified imaging area; the projection imaging area is the area where the projection light can enter the surface of the reflection device, and the magnified imaging area is the imaging light emitted by the image source group.
  • At least one embodiment of the present disclosure also provides a method for controlling a head-up display system.
  • the head-up display system includes an image source group and a projection image source.
  • the image source group includes a plurality of image sources, and the plurality of image sources are configured to respectively display a plurality of images. Layer, can be used to realize multi-level imaging.
  • the imaging range of the projected image source is larger than that of multiple image sources.
  • the control method includes: select the target image source from the projected image source and multiple image sources, and output prompts to the target image source Content, so that the target image source displays the prompt content.
  • the target image source may be one or more selected from the projection image source and multiple image sources.
  • the head-up display system can be any head-up display system provided by the embodiments of the present disclosure, and the control method can also realize various functions and various operations performed by the driver assistance controller in the aforementioned head-up display system, which can be referred to above The embodiments are not repeated here.
  • At least one embodiment of the present disclosure also provides a vehicle, such as a vehicle, a ship, or an airplane.
  • vehicle includes any head-up display system provided by the embodiments of the present disclosure, so that a user (such as a driver) can use the head-up display system to update Safe and convenient control of vehicles.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Instrument Panels (AREA)

Abstract

L'invention concerne un système d'affichage tête haute et son procédé de commande, ainsi qu'un moyen de transport. Le système d'affichage tête haute comprend : un groupe de sources d'image, un miroir incurvé (20), une source d'image de projection (30), un appareil de commande de rayons lumineux (40) et un dispositif de commande de conduite assistée (100), le dispositif de commande de conduite assistée (100) étant respectivement relié à la source d'image de projection (30) et à une pluralité de sources d'image dans le groupe de sources d'image, et le dispositif de commande de conduite assistée (100) étant conçu pour sélectionner une source d'image cible à partir de la source d'image de projection (30) et de la pluralité de sources d'image dans le groupe de sources d'image, et fournir un contenu d'invite à la source d'image cible, de sorte que la source d'image cible affiche le contenu d'invite. Le système d'affichage tête haute peut former des images en une pluralité de positions, les distances de cette pluralité de positions à un appareil de réflexion sont différentes, de sorte que les images formées peuvent s'ajuster sur des objets à différentes distances, ce qui permet d'améliorer l'effet d'ajustement ; et l'appareil de commande de rayons lumineux peut former des images dans une vaste plage, et peut améliorer l'effet d'affichage du système d'affichage tête haute.
PCT/CN2021/070945 2020-01-10 2021-01-08 Système d'affichage tête haute et son procédé de commande, ainsi que moyen de transport WO2021139792A1 (fr)

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