WO2021204011A1 - Head up display device and head up display method - Google Patents

Abstract

A head up display device (300) and a head up display method (1100), which are applicable to more driving environments and facilitate the improvement of the driving safety. The head up display device (300) comprises: an invisible light detection unit (310) used for detecting a target object; a position calculation unit (320) used for calculating the position of the target object on the basis of signals acquired by the invisible light detection unit (310); an image generation unit (330) used for processing the signals acquired by the invisible light detection unit (310) to generate a real image of the target object; and an imaging unit (340) used for forming a virtual image of the target object on the basis of the real image of the target object and the position of the target object.

Description

Head-up display device and head-up display method

This application claims the priority of a Chinese patent application filed with the State Intellectual Property Office of China, the application number is 202010274609.3, and the title of the invention is "head-up display device and head-up display method" on April 9, 2020, the entire content of which is incorporated herein by reference Applying.

Technical field

This application relates to the field of communications, and in particular to a head-up display device and a head-up display method.

Background technique

The head-up display (HUD) is to project vehicle parameters, navigation and other information out of the windshield in front of the driver, so that the driver can see the speed, navigation, etc. without lowering his head or turning his head. The driving information can reduce the occurrence of accidents.

The current HUD application scenarios only consider natural vision objects. In scenes with limited natural vision and low visibility, such as dim weather, rainy weather, foggy weather, etc., the driver may not be able to see the environment outside the windshield. Increase the risk of driving. Therefore, how to improve driving safety has become an urgent technical problem to be solved.

Summary of the invention

The present application provides a head-up display device and a head-up display method, which can be applied to more driving environments and help improve driving safety.

In a first aspect, a head-up display device is provided, including: an invisible light detection unit for detecting a target object; a position calculation unit for calculating the position of the target object based on a signal collected by the invisible light detection unit; The image generation unit is used to process the signals collected by the invisible light detection unit to generate a real image of the target object; the imaging unit is used to form a real image of the target object based on the real image of the target object and the position of the target object Virtual image.

In the head-up display device of the embodiment of the present application, an object that is invisible to natural vision is detected by an invisible light detection unit, and then the position of the target object is calculated by a position calculation unit. The image generating unit generates a real image of the target object, and the imaging unit forms the image of the target object. The virtual image, in a scene with limited natural vision and low visibility, can still project the virtual image of the object in front of the vehicle in front of the windshield, which is convenient for the driver to view, adjust the driving direction and speed in time, and can be applied to more driving environments. Conducive to improving driving safety.

It should be understood that the image generated by the aforementioned image generating unit is a real image, and the image generated by the imaging unit is a virtual image. Since the invisible light detection unit may detect the contour of the object more clearly, but the details of the object are not reflected very clearly, the final virtual image formed by the imaging unit may be the contour of the target object, or a logo, or just display a color frame This embodiment of the application does not limit this.

With reference to the first aspect, in some implementations of the first aspect, the invisible light detection unit includes at least one of the following: an infrared camera, a microwave radar, a lidar, or a light detector with an invisible light filter.

With reference to the first aspect, in some implementations of the first aspect, the position calculation unit may be a processor, a chip, or a chip system, such as a system on chip (SoC).

With reference to the first aspect, in some implementations of the first aspect, the image generating unit may be a display screen, for example, a liquid crystal display (LCD), a light emitting diode (LED) display screen, The organic light emitting diode (OLED) display screen may also be a projection device and a light screen, where the light screen is used to receive the projection screen, and may be a diffuser or the like, which is not limited in the embodiment of the present application.

With reference to the first aspect, in some implementations of the first aspect, the imaging unit may be a curved mirror, or the imaging unit may be composed of at least one curved mirror and/or at least one lens.

With reference to the first aspect, in some implementations of the first aspect, the device further includes: a visible light detection unit configured to detect the target object, the target object being an object visible in natural vision; the position calculation unit is specifically configured to: The signal collected by the invisible light detection unit is processed to calculate the first position of the target object; the signal collected by the visible light detection unit is processed to calculate the second position of the target object; according to the first position And the second position to calculate the position of the target object.

The objects that can be detected by the visible light detection unit are a subset of the objects that can be detected by the invisible light detection unit. That is, objects that can be detected by the visible light detection unit can be detected by the invisible light detection unit, but conversely, objects that can be detected by the invisible light detection unit may not be detected by the visible light detection unit, depending on the current visibility.

Compared with the visible light detection unit, the invisible light detection unit may detect the contour of the object more clearly, but the details of the object are not reflected very clearly. Therefore, for a scene with good visibility, that is, the target object that can be detected by both the visible light detection unit and the invisible light detection unit, the embodiment of the present application combines the position information of the target object detected by the visible light detection unit and the position information detected by the invisible light detection unit. The position information of the target object, thereby obtaining a position closer to the actual target object, and improving the calculation accuracy of the position of the target object.

With reference to the first aspect, in some implementations of the first aspect, the above-mentioned visible light detection unit may include at least one of the following: a camera, a video camera, a driving recorder, a mobile phone that can take pictures, and the like.

With reference to the first aspect, in some implementations of the first aspect, the coordinates of the first position of the target object are (x ₁ , y ₁ , z ₁ ), and the coordinates of the second position of the target object are (x ₂ , Y ₂ , z ₂ ), then the coordinates of the target object's position are (x, y, z), and the (x, y, z) is equal to (x ₁ , y ₁ , z ₁ ), or (x ₂ , y ₂ , z ₁ ), or (a ₁ x ₁ +a ₂ x ₂ , b ₁ y ₁ +b ₂ y ₂ , c ₁ z ₁ +c ₂ z ₂ ), where the x direction is the horizontal ground and the windshield The parallel direction, the y direction is the direction perpendicular to the ground, the z direction is the driving direction of the vehicle, and a ₁ , a ₂ , b ₁ , b ₂ , c ₁ , and c ₂ are all preset parameters.

It should be understood that in this application, the origin of the coordinate system of the position coordinates may be a preset position, for example, the center position of the head-up display device, the center position of the windshield glass, the lower left corner of the windshield glass, the lower right corner of the windshield glass, etc. Etc., the embodiment of the present application does not limit this.

The vehicle of the present application can be, for example, a vehicle, an airplane, a ship, and the like.

In combination with the first aspect, in some implementations of the first aspect, the coordinates of the target object's position are (x, y, z), where the x direction is the direction parallel to the horizontal ground and the windshield, and the y direction is vertical The direction of the ground, and the z direction is the driving direction of the vehicle. The imaging unit is specifically used to form a virtual image of the target object at (x, y, z'), and z'is determined according to the distance of the imaging unit.

With reference to the first aspect, in some implementations of the first aspect, the target object includes a first target object and a second target object, and the coordinates of the position of the first target object are (x ⁽¹⁾ , y ⁽¹⁾ , Z ⁽¹⁾ ), the coordinates of the position of the second target object are (x ⁽²⁾ , y ⁽²⁾ , z ⁽²⁾ ), and the imaging unit is specifically used to: in (x ⁽¹⁾ , y ^{( 1)} A virtual image of the first target object is formed at z'), and a virtual image of the second target object is formed at (x ⁽²⁾ , y ⁽²⁾ , z').

Since most imaging systems can only image one object surface, the distance between the virtual image of the first target object and the windshield is the same as the distance between the virtual image of the second target object and the windshield, and both are z'.

With reference to the first aspect, in some implementations of the first aspect, the target object includes a first target object and a second target object, the image generation unit includes a first image generation unit and a second image generation unit, and the second image generation unit The relative position between an image generating unit and the imaging unit is different from the relative position between the second image generating unit and the imaging unit; wherein, the first image generating unit is used to: A real image; the second image generating unit is used to: generate a real image of the second target object.

In the embodiment of the present application, the head-up display device includes an imaging unit and two image generating units with different relative positions to the imaging unit, which respectively generate real images of two target objects, so as to obtain real images of two different object planes. The unit images the real images of two different object planes, and can obtain two virtual images with different distances from the windshield. In this way, imaging different objects at different positions on the z-axis is more conducive for the driver to recognize the distance between the target object and the vehicle, and improve the display accuracy of the head-up display device, thereby improving driving safety.

Exemplarily, the coordinates of the position of the first target object are (x ⁽¹⁾ , y ⁽¹⁾ , z ⁽¹⁾ ), and the coordinates of the position of the second target object are (x ⁽²⁾ , y ⁽²⁾ , z ⁽²⁾ ), through the solution of the embodiment of the present application, the coordinates of the position of the virtual image of the first target object imaged by the head-up display device are (x ⁽¹⁾ , y ⁽¹⁾ , z ⁽¹¹⁾ ), and the second The coordinates of the position of the virtual image of the target object are (x ⁽²⁾ , y ⁽²⁾ , z ⁽²²⁾ ). z ^{(11) is} not equal to z ⁽²²⁾ , z ⁽¹¹⁾ may be equal to z ⁽¹⁾ , or other values, z ⁽²²⁾ may be equal to z ⁽²⁾ , or other values, depending on the above two The distance between each image generating unit and the imaging unit, and the distance between the imaging units, are not limited in the embodiment of the present application.

With reference to the first aspect, in some implementations of the first aspect, the target object includes a first target object and a second target object, and the imaging unit includes a first imaging unit and a second imaging unit; wherein, the first imaging unit The unit is configured to: adjust the distance of the first imaging unit based on the position of the first target object, and form a virtual image of the first target object at the position of the first target object based on the real image of the first target object; The second imaging unit is configured to: adjust the distance of the second imaging unit based on the position of the second target object, and form the second target at the position of the second target object based on the real image of the second target object The virtual image of the object.

In the embodiment of the present application, the head-up display device may include an image generation unit and two imaging units (the first imaging unit and the second imaging unit) whose distance can be adjusted, although one image generation unit generates the first imaging unit on the same object plane A real image of a target object and a real image of a second target object, but the first imaging unit can adjust the distance of the first imaging unit based on the position of the first target object, thereby imaging at the position of the first target object, and the second imaging unit can The distance of the second imaging unit is adjusted based on the position of the second target object, thereby imaging at the position of the second target object. If the value of the z-axis of the first target object is different from the value of the z-axis of the second target object, two virtual images with different distances from the windshield can be obtained. In this way, imaging different objects at different positions on the z-axis is more conducive for the driver to recognize the distance between the target object and the vehicle, and improve the display accuracy of the head-up display device, thereby improving driving safety.

Exemplarily, the coordinates of the position of the first target object are (x ⁽¹⁾ , y ⁽¹⁾ , z ⁽¹⁾ ), and the coordinates of the position of the second target object are (x ⁽²⁾ , y ⁽²⁾ , z ⁽²⁾ ), through the solution of the embodiment of the present application, the coordinates of the position of the virtual image of the first target object imaged by the head-up display device are (x ⁽¹⁾ , y ⁽¹⁾ , z ⁽¹⁾ ), and the second The coordinates of the position of the virtual image of the target object are (x ⁽²⁾ , y ⁽²⁾ , z ⁽²⁾ ). The embodiment of the present application allows a certain error in the imaging position of the head-up display device, that is, within a certain range, the actual imaging position of the head-up display device is approximately equal to the position of the target object.

With reference to the first aspect, in some implementations of the first aspect, the image generation unit is further used for: generating a marked real image near the real image of the target object; the imaging unit is also used for: based on the marked real image and the The position of the target object forms the virtual image of the mark. Optionally, the above-mentioned label may be a colored frame for identifying objects that are invisible to natural vision, so as to attract the driver's attention.

Optionally, when the number of target objects is two or more, the image generating unit may generate a marked real image near the real image of each target object, and the imaging unit may form a marked real image for each target object. Virtual image. In the embodiment of the present application, the head-up display device may form multiple marks for multiple target objects, and there is a one-to-one correspondence between the multiple target objects and the multiple marks, thereby attracting the driver's attention. In other words, the number of labels can be equal to the number of target objects.

With reference to the first aspect, in some implementation manners of the first aspect, the device further includes: an optical reflection unit configured to display a virtual image of the target object. The optical reflection unit may be a piece of semi-transmissive and semi-reflective glass. Illustratively, the optical reflection unit may be a windshield glass, an independent semi-projection and semi-reflective glass, or an independent reflector, which is not limited in the embodiment of the present application.

In a second aspect, another head-up display device is provided, including: a visible light detection unit for detecting a first target object and a second target object, the first target object and the second target object are objects that are visible in natural vision; The position calculation unit is configured to calculate the position of the first target object and the position of the second target object based on the signal collected by the visible light detection unit; the first image generation unit is configured to collect the signal collected by the visible light detection unit The signal of the first target object is processed to generate a real image of the first target object; the second image generating unit is used to process the signal collected by the visible light detection unit to generate a real image of the second target object; the imaging unit is used to generate a real image of the second target object based on The real image of the first target object and the position of the first target object form a virtual image of the first target object, and based on the real image of the second target object and the position of the second target object, a virtual image of the second target object is formed ; Wherein, the relative position between the first image generating unit and the imaging unit and the relative position between the second image generating unit and the imaging unit are not the same.

With reference to the second aspect, in some implementations of the second aspect, the imaging unit includes a first imaging unit and a second imaging unit; wherein, the first imaging unit is configured to: adjust the The distance of the first imaging unit is based on the real image of the first target object, and the virtual image of the first target object is formed at the position of the first target object; the second imaging unit is used for: based on the second target object Adjust the distance of the second imaging unit at the position of, and form a virtual image of the second target object at the position of the second target object based on the real image of the second target object.

In a third aspect, a head-up display method is provided, which includes: detecting a target object through an invisible light detection unit; calculating the position of the target object based on the signal collected by the invisible light detection unit; The received signal is processed to generate a real image of the target object; based on the real image of the target object and the position of the target object, a virtual image of the target object is formed.

With reference to the third aspect, in some implementations of the third aspect, the method further includes: detecting the target object by a visible light detection unit, where the target object is an object that is visible in natural vision; Calculating the position of the target object includes: processing the signal collected by the invisible light detection unit to calculate the first position of the target object; processing the signal collected by the visible light detection unit to calculate the The second position of the target object; according to the first position and the second position, the position of the target object is calculated.

With reference to the third aspect, in some implementations of the third aspect, the coordinates of the first position of the target object are (x ₁ , y ₁ , z ₁ ), and the coordinates of the second position of the target object are (x ₂ , Y ₂ , z ₂ ), then the coordinates of the target object's position are (x, y, z), and the (x, y, z) is equal to (x ₁ , y ₁ , z ₁ ), or (x ₂ , y ₂ , z ₁ ), or (a ₁ x ₁ +a ₂ x ₂ , b ₁ y ₁ +b ₂ y ₂ , c ₁ z ₁ +c ₂ z ₂ ), where the x direction is the horizontal ground and the windshield The parallel direction, the y direction is the direction perpendicular to the ground, the z direction is the driving direction of the vehicle, and a ₁ , a ₂ , b ₁ , b ₂ , c ₁ , and c ₂ are all preset parameters.

With reference to the third aspect, in some implementations of the third aspect, the coordinates of the position of the target object are (x, y, z), where the x direction is the direction parallel to the horizontal ground and the windshield, and the y direction is vertical The direction of the ground, and the z direction is the driving direction of the vehicle. The virtual image of the target object is formed based on the real image of the target object and the position of the target object, including: based on the real image of the target object, in (x, y, z ') forms a virtual image of the target object, and z'is determined according to the distance of the imaging unit.

With reference to the third aspect, in some implementations of the third aspect, the target object includes a first target object and a second target object, and the coordinates of the position of the first target object are (x ⁽¹⁾ , y ⁽¹⁾ , Z ⁽¹⁾ ), the coordinates of the position of the second target object are (x ⁽²⁾ , y ⁽²⁾ , z ⁽²⁾ ), which is based on the real image of the target object and the position of the target object to form the The virtual image of the target object includes: ^{forming a virtual image of the first target object at (x (1)} , y ⁽¹⁾ , z') based on the real image of the first target object; based on the real image of the second target object, A virtual image of the second target object is formed at (x ⁽²⁾ , y ^{(2), z').}

With reference to the third aspect, in some implementation manners of the third aspect, the target object includes a first target object and a second target object, and the signal collected by the invisible light detection unit is processed to generate an image of the target object. The real image includes: processing the signal collected by the invisible light detection unit to generate the real image of the first target object and the real image of the second target object on different planes; the real image based on the target object and the real image The position of the target object to form a virtual image of the target object includes: forming a virtual image of the first target object based on the real image of the first target object and the position of the first target object, and forming a virtual image of the first target object based on the real image of the second target object and the position of the first target object. The position of the second target object forms a virtual image of the second target object.

With reference to the third aspect, in some implementations of the third aspect, the target object includes a first target object and a second target object, and a virtual image of the target object is formed based on the real image of the target object and the position of the target object , Including: forming a virtual image of the first target object at the position of the first target object based on the real image of the first target object; forming a virtual image of the first target object based on the real image of the second target object at the position of the second target object, A virtual image of the second target object is formed.

With reference to the third aspect, in some implementations of the third aspect, the method further includes: generating a marked real image near the real image of the target object; forming the marked virtual image based on the marked real image and the position of the target object .

Description of the drawings

Figure 1 shows a schematic plan view of a head-up display scene.

FIG. 2 shows a schematic diagram of a perspective view of a vehicle with a head-up display scene.

FIG. 3 shows a schematic structural diagram of a head-up display device according to an embodiment of the present application.

FIG. 4 shows a schematic diagram of the field of view detected by the invisible light detection unit of the embodiment of the present application.

FIG. 5 shows a schematic diagram of the field of view detected by the visible light detection unit of the embodiment of the present application.

Fig. 6 shows a top view of the windshield based on the embodiment of the present application.

Fig. 7 shows a side view of the windshield based on the embodiment of the present application.

FIG. 8 shows a schematic diagram of an imaging principle according to an embodiment of the present application.

FIG. 9 shows a schematic diagram of another imaging principle according to an embodiment of the present application.

FIG. 10 shows a schematic diagram of another imaging principle according to an embodiment of the present application.

FIG. 11 shows a schematic flowchart of a head-up display method according to an embodiment of the present application.

Detailed ways

The technical solution of the present application will be described below in conjunction with the accompanying drawings.

Figure 1 shows a schematic plan view of a head-up display scene. The head-up display device can be installed near the windshield. In front of the driver or the front passenger, in addition to the windshield, there are objects A and B (for example, vehicles driving in front, pedestrians passing by, etc.). The head-up display device can use the windshield or glass near the windshield, mirrors, etc. (collectively referred to as the optical reflecting unit in this application) to image information such as the driving speed, the driving direction, the virtual image of the object A and the virtual image of the object B on the windshield. In addition, it is convenient for the driver to see these driving information without bowing his head or turning his head. This application will be described later by taking the optical reflection unit as a windshield glass as an example.

FIG. 2 shows a schematic diagram of the perspective of the vehicle in the above scene, that is, FIG. 2 is a picture observed by the driver sitting in the vehicle. As shown in Figure 2, in the current scene, the driving speed is 110km/h, the driving direction is left turn, and the objects in front of the vehicle include object A and object B. Optionally, the head-up display device may image the driving speed at a distance close to the windshield glass, and image the driving direction at a distance far away from the windshield glass.

For current vehicles, in scenes with limited natural vision and low visibility, for example, dark, rainy, foggy, etc., the driver may not be able to see the environment outside the windshield. Due to the low visibility, the current head-up display The device is also unable to image objects in front of the vehicle, which increases the risk of driving. In view of this, the present application provides a head-up display device and a head-up display method, which can be applied to more driving environments and help improve driving safety.

Before introducing the head-up display device and the head-up display method provided by the embodiments of the present application, the following points are described first.

First, in the embodiments shown below, the names of various units, such as the invisible light detection unit, the visible light detection unit, the position calculation unit, the image generation unit, the imaging unit, etc., are all illustrative examples given for convenience of description. This application should not constitute any limitation. This application does not exclude the possibility of defining other units or modules that can achieve the same or similar functions in existing or future solutions.

Second, in the embodiments shown below, the first, second, and various numerical numbers are only for easy distinction for description, and are not used to limit the scope of the embodiments of the present application. For example, distinguish different positions, distinguish different target objects, distinguish different imaging units, and so on.

Third, "at least one" refers to one or more, and "multiple" refers to two or more. "And/or" describes the association relationship of the associated objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A alone exists, A and B exist at the same time, and B exists alone, where A, B can be singular or plural. The character "/" generally indicates that the associated objects before and after are in an "or" relationship. "The following at least one item (a)" or similar expressions refers to any combination of these items, including any combination of a single item (a) or a plurality of items (a). For example, at least one of a, b, and c can mean: a, or b, or c, or a and b, or a and c, or b and c, or a, b and c, where a, b, c can be single or multiple.

The head-up display device and the head-up display method provided by the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the technical solution of the present application can be applied to vehicles, and can also be applied to other vehicles such as airplanes and ships, which is not limited in the embodiments of the present application. In this application, vehicles, airplanes, ships, etc. are collectively referred to as means of transportation, and the following description takes vehicles as an example.

FIG. 3 shows a schematic structural diagram of a head-up display device 300 according to an embodiment of the present application. The head-up display device 300 may include: an invisible light detection unit 310, a position calculation unit 320, an image generation unit 330, and an imaging unit 340.

Among them, the invisible light detection unit 310 is used to detect the target object; the position calculation unit 320 is used to calculate the position of the target object based on the signal collected by the invisible light detection unit 310; the image generation unit 330 is used to detect the invisible light The signal collected by the unit 310 is processed to generate a real image of the target object; the imaging unit 340 is used to form a virtual image of the target object based on the real image of the target object and the position of the target object.

It should be understood that the image generated by the image generating unit 330 is a real image, and the image generated by the imaging unit 340 is a virtual image. Since the invisible light detection unit 310 may detect the contour of the object more clearly, but the details of the object are not reflected very clearly, the virtual image finally formed by the imaging unit 340 may be the contour of the target object, or a logo, or only display one. The color box is not limited in this embodiment of the application.

In the head-up display device of the embodiment of the present application, an object that is invisible to natural vision is detected by an invisible light detection unit, and then the position of the target object is calculated by a position calculation unit. The image generating unit generates a real image of the target object, and the imaging unit forms the image of the target object. The virtual image, in a scene with limited natural vision and low visibility, can still project the virtual image of the object in front of the vehicle in front of the windshield, which is convenient for the driver to view, adjust the driving direction and speed in time, and can be applied to more driving environments. Conducive to improving driving safety.

The head-up display device 300 shown in FIG. 3 may be installed in or outside the vehicle, which is not limited in the embodiment of the present application. Each unit may be installed in a vehicle or a parking space as a whole, or may be installed in different positions of the vehicle as independent equipment, which is not limited in the embodiment of the present application. Exemplarily, the invisible light detection unit 310 may be installed outside the vehicle, and the position calculation unit 320, the image generation unit 330, and the imaging unit 340 may be installed inside the vehicle; or, the invisible light detection unit 310, the position calculation unit 320, and the image Both the generating unit 330 and the imaging unit 340 are installed in the vehicle. In addition, the target object in the embodiment of the present application may be one or more objects in front of the vehicle.

Specifically, the above-mentioned invisible light detection unit 310 may collect invisible light signals outside the vehicle, or actively emit electromagnetic waves or light waves and detect corresponding reflection/scattering signals, thereby collecting signals of target objects in front of the vehicle. Optionally, the invisible light detection unit 310 may include at least one of the following: an infrared camera, a microwave radar, a lidar, or a light detector with an invisible light filter, etc.

In the scene shown in FIG. 4, the head-up display device 300 described above is installed in a vehicle, which includes an invisible light detection unit 310. The field of view detected by the invisible light detection unit 310 is shown in FIG. 4. According to the type, specification and environment of the invisible light detection unit 310, all objects within a certain range from the driving vehicle can be detected. In FIG. 4, A, B, C, D, E, and F can all be detected, and a clearer virtual image is imaged by the imaging unit 340.

The position calculation unit 320 may be a processor, a chip, or a chip system, such as a system on chip (system on chip, SoC).

The above-mentioned image generating unit 330 may be a display screen, for example, a liquid crystal display (LCD), a light emitting diode (LED) display, an organic light emitting diode (OLED) display, etc. It may be a projection device and a light screen, where the light screen is used to receive the projection screen, and may be a diffuser, etc., which is not limited in the embodiment of the present application.

The imaging unit 340 may be a curved mirror, or the imaging unit 340 may be composed of at least one curved mirror and/or at least one lens.

As an optional embodiment, as shown in FIG. 3, the above-mentioned device may further include a visible light detection unit 350. The visible light detection unit 350 is used to detect a target object, which is a natural visually visible object; the position calculation unit 320 is specifically used to: process the signal collected by the invisible light detection unit 310 to calculate the first position of the target object ; Process the signal collected by the visible light detection unit 350 to calculate the second position of the target object; calculate the position of the target object according to the first position and the second position.

The visible light detection unit 350 can collect natural visually visible objects outside the vehicle. Optionally, the visible light detection unit 350 may include at least one of the following: a camera, a video camera, a driving recorder, a mobile phone that can take pictures, and the like.

The visual field detected by the visible light detection unit 350 is shown in FIG. 5. In a scene with limited visibility, objects (pedestrians or objects) close to the visible light detection device 350 (or the driver or vehicle) will be detected, for example, A and B in Fig. 5; while the distance to the visible light Objects farther from the detection device 350 may be obscured or even not detected, for example, for C and D in Fig. 5; for objects further away from the visible light detection device 350, for example, E in Fig. 5 And F, the visible light detection unit 350 may not be able to detect it.

It should be understood that the above "detected" and "undetected" respectively refer to: the visible light detection device collects visible light signals and performs certain signal processing, and the recovered objects in the field of view "can be identified" and "cannot be identified" ".

It can be seen in combination with FIG. 4 and FIG. 5 that the objects that can be detected by the visible light detection unit 350 are a subset of the objects that can be detected by the invisible light detection unit 310. That is, the visible light detection unit 350 can detect objects that can be detected by the invisible light detection unit 310, but conversely, the visible light detection unit 350 may not be able to detect objects that the invisible light detection unit 310 can detect, depending on the current situation. Visibility. Therefore, a possible implementation is that the position calculation unit 320 may determine the position of the target object as the position calculated by processing the signal collected by the invisible light detection unit 310.

Compared with the visible light detection unit 350, the invisible light detection unit 310 may detect the contour of the object more clearly, but the details of the object are not reflected very clearly. Therefore, for a scene with good visibility, that is, the target object that can be detected by both the visible light detection unit 350 and the invisible light detection unit 310, the embodiment of the present application combines the position information of the target object detected by the visible light detection unit 350 and the invisible light detection unit The position information of the target object detected by 310 can obtain a position closer to the actual target object, and improve the calculation accuracy of the position of the target object.

The position of the target object may be calculated by the position calculation unit 320. In the embodiment of the present application, the position calculation unit 320 may determine two positions (including the first position and the second position) for at least one identical object, and compare the two positions for one of the at least one identical object, Finally, a most likely location is determined. Specifically, what the invisible light detection unit 310 detects is the first position of the target object, and what the visible light detection unit 350 detects is the second position of the target object, and the position calculation unit 320 can be based on the first position and the second position. To get the location of the target object. The position calculation unit 320 may determine the position of the target object in a variety of ways, which is not limited in the embodiment of the present application.

Exemplarily, the position of the target object can be represented by the coordinate system shown in FIG. 6 and FIG. 7. It should be understood that in this application, the origin of the coordinate system of the position coordinates may be a preset position, for example, the center position of the head-up display device, the center position of the windshield glass, the lower left corner of the windshield glass, the lower right corner of the windshield glass, etc. Etc., the embodiment of the present application does not limit this. Figure 6 is a top view, and Figure 7 is a side view, where the x direction is the direction parallel to the horizontal ground and the windshield, the y direction is the direction perpendicular to the ground, and the z direction is the direction of the vehicle. Taking object A as an example, the position of object A The coordinates of is (x _A , y _A , z _A ).

Combined with the aforementioned coordinate system, the coordinates of the first position of the target object detected by the invisible light detection unit 310 are (x ₁ , y ₁ , z ₁ ), and the coordinates of the second position of the target object detected by the visible light detection unit 350 Is (x ₂ , y ₂ , z ₂ ). In a possible implementation, if the position detected by the invisible light detection unit 310 is more accurate after research and calibration, then the position calculation unit 320 can determine that the coordinates (x, y, z) of the target object's position are equal to (x ₁ , y ₁ , z ₁ ). In another possible implementation, if after research and calibration, _{the positions of x 2} and y ₂ detected by the visible light detection unit 350 are more accurate, and the invisible light detection unit 310 can detect three-dimensional information (such as radars). If _{the position of z 1} is more accurate, the position calculation unit 320 can determine that the coordinates (x, y, z) of the position of the target object are equal to (x ₂ , y ₂ , z ₁ ). In another possible implementation manner, after research and calibration, the position calculation unit 320 can determine that the position of the target object represents the coordinates (x, y, z) of the position of the target object equal to (a ₁ x ₁ + a ₂ x ₂ , b ₁ y ₁ + b ₂ y ₂ , c ₁ z ₁ + c ₂ z ₂ ), where a ₁ , a ₂ , b ₁ , b ₂ , c ₁ , and c ₂ are all preset parameters.

The aforementioned imaging unit 340 forms a virtual image of the target object based on the real image of the target object and the position of the target object, which may include a variety of possible situations. The imaging unit 340 can image the virtual image of the target object at the position of the target object. However, based on the position of the target object, the virtual image of the target object may be imaged at other positions, which will be described in detail below.

In combination with the foregoing coordinate system, optionally, the imaging unit 340 is specifically configured to form a virtual image of the target object at (x, y, z'), and z'is determined according to the distance of the imaging unit 340. The distance between the imaging units can be understood as the distance from the virtual image to the curved mirror (which may be a mirror). If the imaging unit 340 is composed of multiple curved mirrors, the distance of the imaging unit 340 can be understood as the distance from the virtual image to the main curved mirror of the multiple curved mirrors of the imaging unit 340. The distance between the virtual image of the target object and the windshield is z'.

Optionally, the above-mentioned target object includes a first target object and a second target object, and the coordinates of the position of the first target object are (x ⁽¹⁾ , y ⁽¹⁾ , z ⁽¹⁾ ), and the second target object The coordinates of the position of is (x ⁽²⁾ , y ⁽²⁾ , z ⁽²⁾ ), and the imaging unit 340 is specifically used to: form the first target object ^{at (x (1)} , y ^{(1), z')} The virtual image of the second target object is formed ^{at (x (2)} , y ^{(2), z').}

In other words, since most imaging systems can only image one object surface, the distance between the virtual image of the first target object and the windshield is the same as the distance between the virtual image of the second target object and the windshield. z'.

FIG. 8 shows a schematic diagram of an imaging principle according to an embodiment of the present application. Figure 8 uses an image generation unit and an imaging unit (Figure 8 shows a free-form surface mirror). In this embodiment, the image generating unit is composed of a projection device and a light screen. The image generating unit generates a real image of the first target object and a real image of the second target object on the light screen. The imaging unit can perform imaging based on the above principle to form a virtual image of the first target object and a virtual image of the second target object on the same plane.

This embodiment only takes the first target object and the second target object as an example for description. It should be understood that the above-mentioned first target object and the second target object can be replaced with multiple target objects. For multiple target objects, since the image generation unit The real images of the multiple target objects are generated on a light screen, and the virtual images of the multiple target objects formed by the imaging unit are on the same plane, that is, the distances between the multiple target objects and the windshield are all the same.

In order to make the distance between multiple target objects and the windshield be different, as far as possible to image the virtual image of the target object at the actual position of the target object, this application can obtain the difference between the windshield and the windshield in the following ways. A virtual image of multiple target objects at a distance. For ease of understanding, the following only takes the first target object and the second target object as examples for description.

In a first possible implementation manner, the aforementioned target object includes a first target object and a second target object, the image generation unit 330 includes a first image generation unit and a second image generation unit, and the first image generation unit and the imaging unit The relative position between 340 is different from the relative position between the second image generating unit and the imaging unit 340; wherein, the first image generating unit is used for: generating a real image of the first target object; the second image generating unit is used for : Produce a real image of the second target object.

In the embodiment of the present application, the head-up display device 300 includes an imaging unit and two image generating units with different relative positions to the imaging unit 340, which respectively generate real images of two target objects, thereby being able to obtain real images of two different object planes. The imaging unit 340 images the real images of two different object planes respectively, and can obtain two virtual images with different distances from the windshield glass. In this way, imaging different objects at different positions on the z-axis is more conducive for the driver to recognize the distance between the target object and the vehicle, and improve the display accuracy of the head-up display device, thereby improving driving safety.

FIG. 9 shows a schematic diagram of an imaging principle according to an embodiment of the present application. Fig. 9 includes a first image generating unit, a second image generating unit, and an imaging unit. In this embodiment, both the first image generating unit and the second image generating unit are composed of a projection device and a light screen. The light screen of the first image generating unit is farther from the imaging unit, and the light screen of the second image generating unit is closer to the imaging unit. Therefore, the real image of the first target object generated by the first image generating unit is also farther from the imaging unit. The real image of the second target object generated by the second image generation unit is relatively close to the imaging unit. In this case, the imaging unit respectively images the real image of the first target object and the real image of the second target object, and the virtual image of the first target object The distance from the windshield glass is farther, and the virtual image of the second target object is closer to the windshield glass.

Exemplarily, as described above, the coordinates of the position of the first target object are (x ⁽¹⁾ , y ⁽¹⁾ , z ⁽¹⁾ ), and the coordinates of the position of the second target object are (x ⁽²⁾ , y ⁽²⁾ , z ⁽²⁾ ), through the solution of the embodiment of the present application, the coordinates of the position of the virtual image of the first target object imaged by the head-up display device 300 are (x ⁽¹⁾ , y ⁽¹⁾ , z ^{(11) )} ), the coordinates of the position of the virtual image of the second target object are (x ⁽²⁾ , y ⁽²⁾ , z ⁽²²⁾ ). z ^{(11) is} not equal to z ⁽²²⁾ , z ⁽¹¹⁾ may be equal to z ⁽¹⁾ , or it may be equal to other values, z ⁽²²⁾ may be equal to z ⁽²⁾ , or it may be equal to other values, depending on the above two The distance between each image generating unit and the imaging unit, and the distance between the imaging units, are not limited in the embodiment of the present application.

It should be understood that FIG. 9 only shows an embodiment in which two target objects can generate images through two image generating units respectively. In another scenario, the head-up display device may include the above two image generating units. If the number is greater than 2, the head-up display device can divide the target object into two categories according to the position of each target object calculated by the position calculation unit 320. One type of target object can correspond to one image generation unit, and the other type of target object can correspond to another. An image generation unit. Optionally, the target objects can be classified according to the value of the z-axis. For example, suppose there are six objects A, B, C, D, E, and F in front of the vehicle, where A, B, and C are closer to the windshield. The z value is small, D, E, F are farther from the windshield, and the z value is large, then A, B, and C can be divided into one type of target object. The first image generation unit generates images, and D, E, F is divided into another type of target object, and the image is generated by the second image generating unit. Optionally, the target object can be classified based on a preset threshold. For example, in the above example, the z value of A, B, C, and D is less than (or equal to) the preset threshold, and can be classified into the first category The target object generates an image through the first image generation unit, and the z value of E and F is greater than (or equal to) a preset threshold value, and can be classified into a second type of target object, and the image is generated by the second image generation unit.

It should also be understood that the head-up display device 300 may include a larger number of image generation units, which is not limited in the embodiment of the present application. Optionally, if the number of image generation units is greater than or equal to the number of target objects, one image generation unit can correspond to one target object, so as to image multiple target objects at different positions on the z-axis as much as possible; If the number is less than the number of target objects, the target objects can be classified according to the above method, and the number of target object types is less than or equal to the number of image generating units.

In a second possible implementation manner, the foregoing target object includes a first target object and a second target object, and the foregoing imaging unit 340 includes a first imaging unit and a second imaging unit; wherein, the first imaging unit is configured to: The position of a target object adjusts the distance of the first imaging unit, and based on the real image of the first target object, a virtual image of the first target object is formed at the position of the first target object; the second imaging unit is used to: based on the second target The position of the object adjusts the distance of the second imaging unit, and based on the real image of the second target object, a virtual image of the second target object is formed at the position of the second target object.

In the embodiment of the present application, the head-up display device may include an image generation unit and two imaging units (the first imaging unit and the second imaging unit) whose distance can be adjusted, although one image generation unit generates the first imaging unit on the same object plane A real image of a target object and a real image of a second target object, but the first imaging unit can adjust the distance of the first imaging unit based on the position of the first target object, thereby imaging at the position of the first target object, and the second imaging unit can The distance of the second imaging unit is adjusted based on the position of the second target object, thereby imaging at the position of the second target object. If the value of the z-axis of the first target object is different from the value of the z-axis of the second target object, two virtual images with different distances from the windshield can be obtained. In this way, imaging different objects at different positions on the z-axis is more conducive for the driver to recognize the distance between the target object and the vehicle, and improve the display accuracy of the head-up display device, thereby improving driving safety.

FIG. 10 shows a schematic diagram of an imaging principle according to an embodiment of the present application. Fig. 10 includes an image generating unit, a first imaging unit, and a second imaging unit. In this embodiment, the image generating unit is composed of a projection device and a light screen. The image generation unit can generate the real image of the first target object and the real image of the second target object located on the same object plane. For the virtual image of the target object, the second imaging unit adjusts the distance in combination with the position of the second target object, and images the virtual image of the second target object at the position of the second target object.

Exemplarily, as described above, the coordinates of the position of the first target object are (x ⁽¹⁾ , y ⁽¹⁾ , z ⁽¹⁾ ), and the coordinates of the position of the second target object are (x ⁽²⁾ , y ⁽²⁾ , z ⁽²⁾ ), through the solution of the embodiment of the present application, the coordinates of the position of the virtual image of the first target object imaged by the head-up display device 300 are (x ⁽¹⁾ , y ⁽¹⁾ , z ^{(1) )} ), the coordinates of the position of the virtual image of the second target object are (x ⁽²⁾ , y ⁽²⁾ , z ⁽²⁾ ). The embodiment of the present application allows a certain error in the imaging position of the head-up display device, that is, within a certain range, the actual imaging position of the head-up display device is approximately equal to the position of the target object.

It should be understood that FIG. 10 only shows an embodiment in which two target objects can be imaged by two imaging units respectively. In another scenario, the head-up display device may include the above two imaging units, but the number of target objects is greater than 2. , The head-up display device can divide the target object into two categories according to the position of each target object calculated by the position calculation unit 320. One type of target object can correspond to one imaging unit, and the other type of target object can correspond to another imaging unit. Optionally, the target objects can be classified according to the value of the z-axis. For example, suppose there are six objects A, B, C, D, E, and F in front of the vehicle, where A, B, and C are closer to the windshield. The z value is small, D, E, F are far from the windshield glass, and the z value is large, then A, B, C can be divided into one type of target object, and the first imaging unit is imaged to divide D, E, F It is another type of target, which is imaged by the second imaging unit. Optionally, the target object can be classified based on a preset threshold. For example, in the above example, the z value of A, B, C, and D is less than (or equal to) the preset threshold, and can be classified into the first category The target object is imaged by the first imaging unit, and the z values of E and F are greater than (or equal to) a preset threshold value, and can be classified as a second type of target object, and imaged by the second imaging unit.

It should also be understood that the head-up display device 300 may include a larger number of imaging units, which is not limited in the embodiment of the present application. Optionally, if the number of imaging units is greater than or equal to the number of target objects, one imaging unit can correspond to one target object, so as to image multiple target objects at different positions on the z-axis as much as possible; if the number of imaging units is smaller than the target object The number of objects can be classified according to the above method, and the number of target object types is less than or equal to the number of imaging units.

In a third possible implementation manner, the above-mentioned target object includes a first target object and a second target object, the image generation unit 330 includes a first image generation unit and a second image generation unit, and the first image generation unit and the imaging unit The relative position between 340 and the relative position between the second image generating unit and the imaging unit 340 are different; the above-mentioned imaging unit 340 includes a first imaging unit and a second imaging unit; wherein, the first image generating unit is used for: Generate a real image of the first target object; the second image generation unit is used to generate a real image of the second target object; the first imaging unit is used to: adjust the distance of the first imaging unit based on the position of the first target object, and based on the first The real image of the target object forms a virtual image of the first target object at the position of the first target object; the second imaging unit is used to adjust the distance of the second imaging unit based on the position of the second target object, and based on the second target object The real image of the second target object forms a virtual image of the second target object at the position of the second target object.

In the embodiment of the present application, the head-up display device may include two image generating units (a first image generating unit and a second image generating unit) and two imaging units (a first imaging unit and a second imaging unit) whose distance can be adjusted. If the value of the z-axis of the first target object is different from the value of the z-axis of the second target object, through this embodiment, two virtual images with different distances from the windshield can be obtained. In this way, imaging different objects at different positions on the z-axis is more conducive for the driver to recognize the distance between the target object and the vehicle, and improve the display accuracy of the head-up display device, thereby improving driving safety. For the specific imaging principle, please refer to the description of FIG. 9 and FIG. 10, which will not be repeated here.

It should be understood that the head-up display device of the embodiment of the present application may further include a larger number of image generating units and a larger number of imaging units, so as to achieve more accurate imaging, which is not limited in the embodiment of the present application.

As an optional embodiment, the above-mentioned image generating unit 330 is further used for: generating a marked real image near the real image of the target object; the above-mentioned imaging unit 340 is also used for: forming a marked virtual image based on the marked real image and the position of the target object . Optionally, the above-mentioned label may be a colored frame for identifying objects that are invisible to natural vision, so as to attract the driver's attention.

Optionally, when the number of target objects is two or more, the image generating unit may generate a marked real image near the real image of each target object, and the imaging unit may form a marked real image for each target object. Virtual image. In the embodiment of the present application, the head-up display device may form multiple marks for multiple target objects, and there is a one-to-one correspondence between the multiple target objects and the multiple marks, thereby attracting the driver's attention. In other words, the number of labels can be equal to the number of target objects.

Exemplarily, the above-mentioned target object includes a first target object and a second target object, and the image generation unit is further configured to: generate a real image of the first mark near the real image of the first target object, and near the real image of the second target object Generate a real image of the second mark; the imaging unit is further used for: forming a virtual image of the first mark based on the real image of the first mark and the position of the first target object, based on the real image of the second mark and the second target The position of the object forms the virtual image of the second mark.

As an optional embodiment, the aforementioned head-up display device 300 further includes: an optical reflection unit for displaying a virtual image of the target object. The optical reflection unit may be a piece of semi-transmissive and semi-reflective glass. Illustratively, the optical reflection unit may be a windshield glass, an independent semi-projection and semi-reflective glass, or an independent reflector, which is not limited in the embodiment of the present application.

This application also provides another head-up display device. The head-up display device includes: a visible light detection unit for detecting a first target object and a second target object, where the first target object and the second target object are objects that are visible by natural vision; a position calculation unit for detecting the first target object and the second target object The signal collected by the detection unit calculates the position of the first target object and the position of the second target object; the first image generation unit is used to process the signal collected by the visible light detection unit to generate the first A real image of the target object; a second image generating unit for processing the signals collected by the visible light detection unit to generate a real image of the second target object; an imaging unit for generating a real image of the second target object based on the real image of the first target object and the The position of the first target object forms a virtual image of the first target object, and based on the real image of the second target object and the position of the second target object, a virtual image of the second target object is formed; wherein, the first image generating unit The relative position with the imaging unit is different from the relative position between the second image generating unit and the imaging unit.

As an optional embodiment, the imaging unit includes a first imaging unit and a second imaging unit; wherein, the first imaging unit is configured to: adjust the distance of the first imaging unit based on the position of the first target object, and Based on the real image of the first target object, form a virtual image of the first target object at the position of the first target object; the second imaging unit is configured to: adjust the second imaging unit based on the position of the second target object Based on the real image of the second target object, a virtual image of the second target object is formed at the position of the second target object.

For details of the device, please refer to the above-mentioned embodiment, which will not be repeated here.

The head-up display device according to the embodiment of the present application is described in detail above with reference to FIGS. 1 to 10, and the head-up display method according to the embodiment of the present application will be described in detail below with reference to FIG. 11.

FIG. 11 shows a schematic flowchart of a heads-up display method 1100 provided by an embodiment of the present application. The method includes:

S1110: Detect the target object through the invisible light detection unit;

S1120: Calculate the position of the target object based on the signal collected by the invisible light detection unit;

S1130, processing the signal collected by the invisible light detection unit to generate a real image of the target object;

S1140: Form a virtual image of the target object based on the real image of the target object and the position of the target object.

In the head-up display device of the embodiment of the present application, an object that is invisible to natural vision is detected by an invisible light detection unit, and then the position of the target object is calculated by a position calculation unit. The image generating unit generates a real image of the target object, and the imaging unit forms the image of the target object. The virtual image, in a scene with limited natural vision and low visibility, can still project the virtual image of the object in front of the vehicle in front of the windshield, which is convenient for the driver to view, adjust the driving direction and speed in time, and can be applied to more driving environments. Conducive to improving driving safety.

Optionally, the method further includes: detecting the target object by a visible light detection unit, and the target object is an object visible in natural vision; and calculating the position of the target object based on the signal collected by the invisible light detection unit includes: The signal collected by the invisible light detection unit is processed to calculate the first position of the target object; the signal collected by the visible light detection unit is processed to calculate the second position of the target object; according to the first position And the second position to calculate the position of the target object.

Optionally, the coordinates of the first position of the target object are (x ₁ , y ₁ , z ₁ ), and the coordinates of the second position of the target object are (x ₂ , y ₂ , z ₂ ), then the target object The coordinates of the position of is (x, y, z), the (x, y, z) is equal to (x ₁ , y ₁ , z ₁ ), or (x ₂ , y ₂ , z ₁ ), or (a ₁ x ₁ +a ₂ x ₂ , b ₁ y ₁ +b ₂ y ₂ , c ₁ z ₁ +c ₂ z ₂ ), where the x direction is the direction parallel to the horizontal ground and the windshield glass, and the y direction is the direction perpendicular to the ground. The z direction is the direction in which the vehicle is traveling, and a ₁ , a ₂ , b ₁ , b ₂ , c ₁ , and c ₂ are all preset parameters.

Optionally, the coordinates of the position of the target object are (x, y, z), where the x direction is the direction parallel to the horizontal ground and the windshield glass, the y direction is the direction perpendicular to the ground, and the z direction is the vehicle driving direction. Based on the real image of the target object and the position of the target object, forming the virtual image of the target object includes: forming the virtual image of the target object at (x, y, z') based on the real image of the target object, and z'is based on The distance of the imaging unit is determined.

Optionally, the target object includes a first target object and a second target object, and the coordinates of the position of the first target object are (x ⁽¹⁾ , y ⁽¹⁾ , z ⁽¹⁾ ), and the second target object The coordinates of the position of is (x ⁽²⁾ , y ⁽²⁾ , z ⁽²⁾ ), the virtual image of the target object is formed based on the real image of the target object and the position of the target object, including: based on the first target The real image of the object, ^{forming a virtual image of the first target object at (x (1)} , y ⁽¹⁾ , z'); based on the real image of the second target object, in (x ⁽²⁾ , y ⁽²⁾ , z') forms a virtual image of the second target object.

Optionally, the target object includes a first target object and a second target object, and processing the signal collected by the invisible light detection unit to generate a real image of the target object includes: collecting the invisible light detection unit The received signal is processed to generate the real image of the first target object and the real image of the second target object on different planes; the virtual image of the target object is formed based on the real image of the target object and the position of the target object, It includes: forming a virtual image of the first target object based on the real image of the first target object and the position of the first target object, and forming the second target based on the real image of the second target object and the position of the second target object The virtual image of the object.

Optionally, the target object includes a first target object and a second target object, and forming a virtual image of the target object based on the real image of the target object and the position of the target object includes: based on the real image of the first target object, At the position of the first target object, a virtual image of the first target object is formed; based on the real image of the second target object, at the position of the second target object, a virtual image of the second target object is formed.

Optionally, the method further includes: generating a marked real image near the real image of the target object; and forming the marked virtual image based on the marked real image and the position of the target object.

It should be understood that the method 1100 may be specifically executed by the head-up display device 300 in the foregoing embodiment. For related content, refer to the foregoing description of the head-up display device 300. To avoid repetition, details are not described herein again.

A person of ordinary skill in the art may realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, device, and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections may be indirect couplings or communication connections between devices or units through some interfaces, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.

If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disks or optical disks and other media that can store program codes. .

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application. Should be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims (20)

1. A head-up display device, characterized in that it comprises:

   Invisible light detection unit for detecting target objects;

   A position calculation unit, configured to calculate the position of the target object based on the signal collected by the invisible light detection unit;

   An image generation unit, configured to process the signal collected by the invisible light detection unit to generate a real image of the target object;

   The imaging unit is configured to form a virtual image of the target object based on the real image of the target object and the position of the target object.
2. The device according to claim 1, wherein the device further comprises:

   The visible light detection unit is used to detect the target object, and the target object is an object that is visible in natural vision;

   The position calculation unit is specifically used for:

   Processing the signal collected by the invisible light detection unit to calculate the first position of the target object;

   Processing the signal collected by the visible light detection unit to calculate the second position of the target object;

   According to the first position and the second position, the position of the target object is calculated.
3. The device according to claim 2, wherein the coordinates of the first position of the target object are (x1, y1, z1), and the coordinates of the second position of the target object are (x2, y2, z2) , The coordinates of the position of the target object are (x, y, z), and the (x, y, z) is equal to (x1, y1, z1), or (x2, y2, z1), or (a1x1+a2x2 , B1y1+b2y2, c1z1+c2z2), where the x direction is the direction parallel to the horizontal ground and the windshield glass, the y direction is the direction perpendicular to the ground, and the z direction is the driving direction of the vehicle, a1, a2, b1, b2, c1 , C2 are preset parameters.
4. The device according to any one of claims 1 to 3, wherein the coordinates of the position of the target object are (x, y, z), wherein the x direction is the direction parallel to the horizontal ground and the windshield glass, The y direction is the direction perpendicular to the ground, and the z direction is the driving direction of the vehicle, and the imaging unit is specifically used for:

   A virtual image of the target object is formed at (x, y, z'), and z'is determined according to the distance of the imaging unit.
5. The device according to claim 4, wherein the target object comprises a first target object and a second target object, and the coordinates of the position of the first target object are (x(1), y(1), z(1)), the coordinates of the position of the second target object are (x(2), y(2), z(2)), and the imaging unit is specifically configured to:

   A virtual image of the first target object is formed at (x(1), y(1), z'), and a virtual image of the second target object is formed at (x(2), y(2), z') Virtual image.
6. The device according to any one of claims 1 to 3, wherein the target object includes a first target object and a second target object, and the image generating unit includes a first image generating unit and a second image generating unit. Unit, and the relative position between the first image generating unit and the imaging unit is different from the relative position between the second image generating unit and the imaging unit;

   Wherein, the first image generating unit is used to: generate a real image of the first target object;

   The second image generating unit is used to generate a real image of the second target object.
7. The device according to any one of claims 1 to 3 and 6, wherein the target object includes a first target object and a second target object, and the imaging unit includes a first imaging unit and a second imaging unit ；

   Wherein, the first imaging unit is used for:

   Adjust the distance of the first imaging unit based on the position of the first target object, and form a virtual image of the first target object at the position of the first target object based on the real image of the first target object ；

   The second imaging unit is used for:

   Adjust the distance of the second imaging unit based on the position of the second target object, and form a virtual image of the second target object at the position of the second target object based on the real image of the second target object .
8. The device according to any one of claims 1 to 7, wherein the image generating unit is further configured to:

   Generating a marked real image near the real image of the target object;

   The imaging unit is also used for:

   Based on the marked real image and the position of the target object, the marked virtual image is formed.
9. The device according to any one of claims 1 to 8, wherein the invisible light detection unit comprises at least one of the following:

   Infrared camera, microwave radar, lidar, or light detector with invisible light filter.
10. The device according to any one of claims 1 to 9, wherein the device further comprises:

    The optical reflection unit is used to display the virtual image of the target object.
11. A head-up display device, characterized in that it comprises:

    The visible light detection unit is configured to detect a first target object and a second target object, and the first target object and the second target object are objects that are visible in natural vision;

    A position calculation unit, configured to calculate the position of the first target object and the position of the second target object based on the signal collected by the visible light detection unit;

    A first image generating unit, configured to process the signal collected by the visible light detection unit to generate a real image of the first target object;

    A second image generating unit, configured to process the signal collected by the visible light detection unit to generate a real image of the second target object;

    An imaging unit for forming a virtual image of the first target object based on the real image of the first target object and the position of the first target object, based on the real image of the second target object and the second target object , Forming a virtual image of the second target object;

    Wherein, the relative position between the first image generating unit and the imaging unit is different from the relative position between the second image generating unit and the imaging unit.
12. The device according to claim 11, wherein the imaging unit comprises a first imaging unit and a second imaging unit;

    Wherein, the first imaging unit is used for:

    Adjust the distance of the first imaging unit based on the position of the first target object, and form a virtual image of the first target object at the position of the first target object based on the real image of the first target object ；

    The second imaging unit is used for:

    Adjust the distance of the second imaging unit based on the position of the second target object, and form a virtual image of the second target object at the position of the second target object based on the real image of the second target object .
13. A head-up display method, characterized in that it comprises:

    Detect the target object through the invisible light detection unit;

    Calculating the position of the target object based on the signal collected by the invisible light detection unit;

    Processing the signal collected by the invisible light detection unit to generate a real image of the target object;

    Based on the real image of the target object and the position of the target object, a virtual image of the target object is formed.
14. The method according to claim 13, wherein the method further comprises:

    Detecting the target object by a visible light detection unit, where the target object is an object visible in natural vision;

    The calculating the position of the target object based on the signal collected by the invisible light detection unit includes:

    Processing the signal collected by the invisible light detection unit to calculate the first position of the target object;

    Processing the signal collected by the visible light detection unit to calculate the second position of the target object;

    According to the first position and the second position, the position of the target object is calculated.
15. The method according to claim 14, wherein the coordinates of the first position of the target object are (x1, y1, z1), and the coordinates of the second position of the target object are (x2, y2, z2) , The coordinates of the position of the target object are (x, y, z), and the (x, y, z) is equal to (x1, y1, z1), or (x2, y2, z1), or (a1x1+ a2x2, b1y1+b2y2, c1z1+c2z2), where the x direction is the direction parallel to the horizontal ground and the windshield glass, the y direction is the direction perpendicular to the ground, and the z direction is the driving direction of the vehicle, a1, a2, b1, b2, c1 and c2 are all preset parameters.
16. The method according to any one of claims 13 to 15, wherein the coordinates of the position of the target object are (x, y, z), wherein the x direction is the direction parallel to the horizontal ground and the windshield glass, The y direction is the direction perpendicular to the ground, and the z direction is the driving direction of the vehicle. The forming of the virtual image of the target object based on the real image of the target object and the position of the target object includes:

    Based on the real image of the target object, a virtual image of the target object is formed at (x, y, z'), and z'is determined according to the distance of the imaging unit.
17. The method according to claim 16, wherein the target object includes a first target object and a second target object, and the coordinates of the position of the first target object are (x(1), y(1), z(1)), the coordinates of the position of the second target object are (x(2), y(2), z(2)), which is based on the real image of the target object and the position of the target object , Forming a virtual image of the target object, including:

    Based on the real image of the first target object, form a virtual image of the first target object at (x(1), y(1), z');

    Based on the real image of the second target object, a virtual image of the second target object is formed at (x(2), y(2), z').
18. The method according to any one of claims 13 to 15, wherein the target object includes a first target object and a second target object, and the signal collected by the invisible light detection unit is processed To generate a real image of the target object, including:

    Processing the signal collected by the invisible light detection unit to generate a real image of the first target object and a real image of the second target object on different planes;

    The forming a virtual image of the target object based on the real image of the target object and the position of the target object includes:

    Based on the real image of the first target object and the position of the first target object, form the virtual image of the first target object, and form the virtual image of the first target object based on the real image of the second target object and the position of the second target object. State the virtual image of the second target object.
19. The method according to any one of claims 13 to 15, 18, wherein the target object includes a first target object and a second target object, and the target object is based on a real image of the target object and the target object The position of to form a virtual image of the target object, including:

    Forming a virtual image of the first target object at the position of the first target object based on the real image of the first target object;

    Based on the real image of the second target object, a virtual image of the second target object is formed at the position of the second target object.
20. The method according to any one of claims 13 to 19, wherein the method further comprises:

    Generating a marked real image near the real image of the target object;

    Based on the marked real image and the position of the target object, the marked virtual image is formed.

Images