DE102024203349A1 - Method for adjusting a position of a projection of a head-up display of a vehicle on a windscreen of the vehicle and system - Google Patents

Abstract

The invention relates to a method for adjusting a position of a projection (1) of a head-up display (2) of a vehicle (3) on a windscreen (4) of the vehicle (3), comprising the steps:
a) providing a travel trajectory (10) for the vehicle (3);
b) determining an expected float angle of the vehicle (3) and/or a roll angle of the vehicle (3) depending on the travel trajectory (10);
c) Adjusting the position of the projection (1) of the head-up display (2) onto the windshield depending on the specific expected sideslip angle and/or the specific expected roll angle.

Description

Aspects of the invention relate to a method for adjusting a position of a projection of a head-up display of a vehicle on a windshield of the vehicle and a system.

From the JP5805341B1 A device for dynamically controlling the position of HUD (Head-Up Display) information is known. This involves capturing external information.

A disadvantage of the known device is that capturing the external information can cause a time delay. This results in a delayed display shift.

The invention is based on the object of providing a method and a system to improve a position adjustment of a projection image.

The object is achieved by the subject matter of the independent claims. Advantageous developments of the invention are defined by the dependent claims, the following description, and the figures.

1. a) Bereitstellen einer Trajektorieninformation für das Fahrzeug;
2. b) Bestimmen eines zu erwartenden Schwimmwinkels des Fahrzeugs und/oder eines zu erwartenden Wankwinkels des Fahrzeugs und/oder einer zu erwartenden Verschiebung des Fahrzeugs zu einer Fahrspurmitte einer zu befahrenden Fahrspur abhängig von der Trajektorieninformation;
3. c) Anpassen der Position der Projektion des Head-up-Displays auf die Windschutzscheibe abhängig von dem bestimmten Schwimmwinkel und/oder des bestimmten Wankwinkels und/oder der bestimmten Verschiebung zur Fahrspurmitte.

One aspect of the invention relates to a method for adjusting the position of a projection of a head-up display (HUD) of a vehicle on a windshield of the vehicle. In particular, the method comprises the following steps:

1. a) providing trajectory information for the vehicle;
2. b) determining an expected sideslip angle of the vehicle and/or an expected roll angle of the vehicle and/or an expected displacement of the vehicle towards a lane center of a lane to be traveled depending on the trajectory information;
3. c) Adjusting the position of the head-up display projection on the windshield depending on the determined sideslip angle and/or the determined roll angle and/or the determined shift towards the lane center.

The projection is, in particular, a projection image. This process improves the adaptation of the projection image. In particular, the process enables predictive adaptation. The visibility of the information presented in the projection is improved. This is because the projection image is dynamically moved to a position suitable for perception, depending on the angle. This automatically and dynamically moves the position, which is always advantageous for the observer. This enables the positioning of the projection image, coupled to the observer's line of sight, which is particularly expected in reality.

The windshield can also be referred to as a windshield. The sideslip angle is an angle between a direction of movement of the vehicle, in particular at the center of gravity, and a longitudinal axis of the vehicle. The roll angle describes a rotation of the vehicle about the longitudinal axis. The trajectory information contains, in particular, information about a planned and/or expected driving trajectory of the vehicle. In particular, the trajectory information is the driving trajectory. Alternatively, the trajectory information contains more or less information than the driving trajectory. For example, the provided trajectory information relates to an area to be driven in the next 50 to 200 meters in front of the vehicle.

The expected sideslip angle and/or the expected roll angle and/or the expected shift towards the lane center is determined, for example, on the basis of simulations and/or using a trained machine learning algorithm. Alternatively or additionally, the determination in step b) is carried out, for example, by a path planning algorithm that estimates future driving behavior based on the current position of the vehicle and its dynamics. This estimate becomes more accurate, particularly with an increased degree of automation, since vehicle control is partially transferred from the driver to the vehicle. Adjusting the position means, in particular, that the projection is shifted and/or rotated within a display area. Distortion or enlargement or reduction of the projection image, in particular of its contents, is not intended.

In particular, the vehicle is driven at least partially autonomously. Especially with at least partially autonomous driving, unusual sideslip angles can arise for the driver. When monitoring the at least partially autonomous driving, the driver keeps an eye on the road and the information displayed on the HUD. At large sideslip angles, the road and the projection may diverge. The method adjusts, in particular shifts, the projection to reduce this divergence.

In one embodiment, a displacement parameter is used to adjust the position depending on the determined float angle and/or the specified roll angle. The shift parameter specifies a shift distance of the position and/or a rotation angle from an actual position to a target position of the projection. For example, the shift parameter specifies the shift distance per pixel of the image projection. This allows the projection to be adjusted very precisely as needed. Alternatively or additionally, the shift parameter specifies the shift distance and/or the rotation angle for the entire projection.

In one embodiment, the driving trajectory is provided as trajectory information. For example, the vehicle at least partially follows the provided driving trajectory when carrying out the method. In particular, the vehicle follows the provided trajectory with an autonomy level of 2 or 2+ or 3 or higher. In particular, the driver of the vehicle monitors the autonomous or at least partially autonomous driving. To monitor the driving, it is advantageous that the method enables the driver to keep an overlaid view of both the course of the road and information presented by the head-up display.

In one embodiment, steps b) and c) are repeated depending on the current and/or expected speed of the vehicle. For example, the slower the vehicle travels, the more frequently the position is adjusted. For example, the position is adjusted every two milliseconds and at most every 20 milliseconds.

This embodiment allows for smooth adjustment of the position, while still reducing computing power.

In one exemplary embodiment, such trajectory information is provided, by which the slip angle is adjusted by controlling a front axle of the vehicle and/or a rear axle of the vehicle. This adjustment can be referred to, for example, as a comfort drift with an increased slip angle. In particular, further process steps are carried out during or before the method is carried out, as disclosed, for example, in DE 2022 10 2021 30. This so-called comfort drift results in particularly large slip angles. In this case in particular, the method improves the adjustment of the projection position and, in particular, improves the driver's comfort when monitoring the vehicle.

In one embodiment, an expected pitch angle of the vehicle is determined depending on the provided trajectory information. The position of the projection is adjusted depending on the determined expected pitch angle. This increases the visibility of the head-up display and improves its adaptation to the driver's viewing angle. The pitch angle is, in particular, a rotation of the vehicle about a transverse axis of the vehicle. Such a rotation occurs, for example, when the vehicle drives over uneven surfaces. Alternatively or additionally, such a rotation occurs when the vehicle brakes and/or accelerates. For example, it is possible for information about braking or acceleration of the vehicle to be part of the trajectory information. If appropriate, it is possible for information about the unevenness of the road surface to be provided to the vehicle by a navigation device of the vehicle and/or from a map in a cloud, and this information is taken into account when determining the expected pitch angle.

For example, the position of the projection is adjusted depending on the expected pitch angle, shifting it downward toward the roadway if the front part of the vehicle shifts upward during travel according to the expected pitch angle. If the front part of the vehicle dips, the projection may be shifted upward from the driver's perspective. Thus, pitching movements of the vehicle are optically compensated by adjusting the projection.

In one embodiment, a mirror of the head-up display is controlled to adjust the position of the projection. The orientation of the mirror is adjusted. For example, the mirror is controlled depending on the specific displacement parameters. For example, the head-up display has an image generation unit and a dual-mirror system with a folding mirror and a magnifying mirror. This embodiment allows the projection to be adjusted easily and precisely. In particular, an adjustment of the image to be displayed is not necessary.

In one embodiment, to adjust the projection position, the projection is shifted horizontally depending on the sideslip angle. In a drift planned according to the trajectory information, which can also be referred to as a comfort drift, the vehicle drifts, for example, on a straight stretch of road when approaching curves. Adjusting the projection in the horizontal direction is advantageous in this case.

In particular, the procedure is used for non-rectilinear sections of the driving trajectory by Larger roll angles and/or sideslip angles occur, particularly when driving along non-rectilinear sections of the trajectory, compared to straight sections of the trajectory. Therefore, the method is particularly advantageous for non-rectilinear sections of the trajectory.

In one embodiment, in order to adjust the position of the projection in the non-rectilinear section of the travel trajectory, the projection is shifted horizontally in a direction of a curvature of the non-rectilinear section. If, for example, the vehicle travels along a curve that curves to the right, the projection is also shifted to the right in the direction of travel. If, for example, the vehicle travels along a curve that curves to the left along the travel trajectory, the projection is also shifted to the left in the direction of travel. If appropriate, the shift parameter is a constant with which the curvature of the travel trajectory can be converted into a shift distance. As a result, the projection is displayed overlapping with an area to be traveled through, if appropriate. In particular, the projection is not displayed overlapping with an oncoming lane.

This embodiment allows the position to be better adapted to the driver's viewing angle. This allows the driver to better monitor, for example, at least partially autonomous driving.

In one embodiment, the projection is shifted horizontally to adjust the position if the vehicle is traveling off-center in the lane in the width direction of a lane in which the vehicle is traveling.

Such a situation arises, for example, with a driver assistance system in which the driver is taught a target course that deviates from a reference course set by the assistance system. If, for example, the driver teaches a course to the left of the reference course, the position of the projection is shifted to the right. In particular, the projection is not necessarily positioned centrally and overlapping the roadway, but it is prevented from being displayed overlapping an area that is not to be driven through.

This embodiment further improves the adjustment of the projection position.

In one embodiment, the position of the projection is adjusted depending on the past and/or current and/or future expected head position of a vehicle driver. In particular, the head position is detected using an interior camera of the vehicle. This allows the position of the projection to be individually adjusted with respect to the driver and their head position.

It is possible to use a machine learning algorithm to link the previously recorded head positions with the previously determined driving trajectories. This makes it possible, for example, to use the past head positions to determine an expected future head position based on the determined and yet-to-be-traveled driving trajectory. This enables predictive adjustment of the projection position.

Alternatively or additionally, it is possible to adjust the projection position depending on the currently detected head position. This can reduce any deviation between the specific expected head position and the actual head position.

A further aspect of the invention relates to a system with a head-up display and with a determination unit. In particular, the system is configured to perform a method for adjusting a position of a projection of a head-up display of a vehicle on a windshield of the vehicle according to the aforementioned aspect of the invention or an exemplary embodiment thereof. In particular, the system executes the method. Advantages and exemplary embodiments of the method according to the first-mentioned aspect of the invention can be transferred to the system, and vice versa.

The invention also includes combinations of the features of the described embodiments.

• 1 eine beispielhafte Situation, in welcher ein Ausführungsbeispiel eines erfindungsgemäßen Verfahrens zur Anpassung einer Position einer Projektion eines Head-up-Displays eines Fahrzeugs auf einer Frontscheibe des Fahrzeugs ausgeführt wird;
• 2 einen schematischen Aufbau eines Ausführungsbeispiels des Head-up-Displays;
• 3 beispielhafte Positionen der Projektion, welche mittels eines weiteren Ausführungsbeispiels des erfindungsgemäßen Verfahrens angepasst wurden;
• 4 eine weitere beispielhafte Situation, in welcher ein weiteres Ausführungsbeispiel des erfindungsgemäßen Verfahrens ausgeführt wird;
• 5 weitere beispielhafte Positionen der Projektion, welche mittels eines weiteren Ausführungsbeispiels des erfindungsgemäßen Verfahrens angepasst wurden; und
• 6 eine weitere beispielhafte Situation, in welcher ein weiteres Ausführungsbeispiel des erfindungsgemäßen Verfahrens ausgeführt wird.

Exemplary embodiments of the invention are described below. Shown are:

• 1 an exemplary situation in which an embodiment of a method according to the invention for adjusting a position of a projection of a head-up display of a vehicle on a windshield of the vehicle is carried out;
• 2 a schematic structure of an embodiment of the head-up display;
• 3 exemplary positions of the projection, which were adjusted by means of a further embodiment of the method according to the invention;
• 4 a further exemplary situation in which a further embodiment of the method according to the invention is carried out;
• 5 further exemplary positions of the projection, which were adjusted by means of a further embodiment of the method according to the invention; and
• 6 a further exemplary situation in which a further embodiment of the method according to the invention is carried out.

The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiments can also be supplemented by further features of the invention already described.

In the figures, functionally identical elements are provided with the same reference numerals.

1 shows an exemplary situation in which an embodiment of a method for adjusting a position of a projection 1 of a head-up display 2 of a vehicle 3 on a windscreen 4 of the vehicle 3 is carried out.

In 2 A schematic structure of an embodiment of the head-up display 2 is shown. In particular, head-up displays with different structures are also possible. 2 In the schematic structure shown, the head-up display 2 has an image source 5. The image source 5 is configured, in particular, to emit an image, in particular in the form of light. The head-up display 2 has, for example, a folding mirror 7 and a magnifying mirror 6, and in particular a cover glass 8. For example, the light emitted by the image source 5 is reflected by the folding mirror 7 to the magnifying mirror 6 and from the magnifying mirror 6 through the cover glass 8 to the windshield 4. From the perspective of a driver 9, this creates, in particular, a virtual image, in particular the projection 1, from the perspective of the driver 9 behind the windshield 4.

For example, before and during the 1 The following steps are carried out in the situation shown. In particular, a driving trajectory 10 ( 4 ) of the vehicle 3 is provided as trajectory information. In particular, an expected sideslip angle of the vehicle 3 and/or a roll angle of the vehicle 3 is determined depending on the driving trajectory 10. In particular, the position of the projection 1 of the head-up display 2 on the windscreen 4 is adjusted depending on the determined expected sideslip angle and/or the determined expected roll angle. In particular, in the 1 In the situation shown, the step of adaptation is particularly important in 1 the rolling of the vehicle 3 can be detected. The vehicle 3 is rotated around its longitudinal axis 11 ( 4 ) is rotated. In particular, the projection 1 is adjusted within a display field 12.

In particular, 1 a future route, in particular the driving trajectory 10, is known in advance. If necessary, the vehicle 3 has a curve tilt sensor. This is used, for example, situationally depending on the future desired roll angle, in particular the expected roll angle, which is based on a future curvature of the driving trajectory 10. The projection 1 rolls accordingly, for example, due to the adjustment. By taking into account information from the curve tilt sensor, the projection 1 can be stabilized within the display field 12 if necessary, in particular with respect to a road surface and/or a horizon.

In 3 Example positions of the projection 1 are shown, which were adjusted using the method. For example, the projection 1 is rotated in the display field 12 in such a way that it compensates for a roll of the vehicle 3. For example, position a) is the one for 1 adjusted position.

In 4 a further exemplary situation is shown in which the method can be carried out. For example, the vehicle 3 plans the travel trajectory 10. On the basis of the planned travel trajectory 10, the vehicle 3, in particular a computing unit and/or an evaluation unit of the vehicle 3, determines an anticipated sideslip angle of the vehicle 3 relative to the longitudinal axis 11 of the vehicle 3. It can be expected that a field of vision 14 of a driver of the vehicle 3 is located along and around an area of the planned travel trajectory 10. By adapting the projection 1, it is located in particular in the field of vision 14 while the vehicle 3 follows the planned travel trajectory 10. This adaptation is particularly advantageous when cornering.

The 4 The driving trajectory 10 shown can, for example, be referred to as a jerk-minimized trajectory. When following the jerk-minimized trajectory, higher sideslip angles occur than with a standard trajectory when cornering, as a result of which the longitudinal axis 11 of the vehicle 3 may not behave analogously, in particular parallel, to the driving trajectory 10 or to a lane center 13. If the head-up display 2 or the displayed content, i.e. the projection 1, remains in a fixed position, this can lead to confusion, for example, if the projection 1 is not on a roadway to be traveled, in particular a lane, but outside it or does not match the driver's field of vision 14. Shifting the information to be displayed, in particular the projection 1, can provide improved visibility. For example, by precisely planning the driving trajectory 10 and the movements of the vehicle 3 to be performed during this process, the expected sideslip angle and, for example, information regarding the longitudinal axis 11 in relation to a reference line, i.e., for example, the driving trajectory 10, can be used to adapt the head-up display 2 to the current situation. This adaptation can be carried out, for example, based on a speed of the vehicle 3 or based on future expected conditions with the aid of a forecast, since movement planning, comprising, for example, the driving trajectory 10 and the movements to be performed by the vehicle 3, enables an estimation of future movement behavior of the vehicle 3, in particular with regard to rolling and the sideslip angle. This can, for example, prevent phase delays due to delayed adaptation, which are perceived as unpleasant.

4 shows, for example, an exemplary driving trajectory 10 for a comfort drift as well as a vehicle alignment in different steps a, b, c, d, e when traveling along the driving trajectory 10. In addition, for example, the lane center 13 as a reference, a lane 15 to be traveled by the vehicle 3, an oncoming lane 16 and non-drivable space 17 as well as the approximated field of view 14 are schematically shown, which varies depending on the driving situation a, b, c, d. It is particularly clear that a driver's viewing angle and accordingly the field of view 14 may not remain rigid. Information from the movement planning, in particular the sideslip angle, is preferably converted into a shift of the projection 1 within the display field 12. This can be done, for example, continuously and predictively based on a respective actual position of the vehicle 3 and/or via a temporal forecast.

5 shows further exemplary positions of projection 1, which were adjusted using the method. For example, the positions b and d in 5 the adjusted positions for the trajectory positions at time b and d in the 4 shown situation.

6 shows another exemplary situation in which the method is carried out. In particular, 6 four different situations a, b, c, d in which the procedure is executed. For example, in situation a in 6 the position of projection 1 as in a in 5 The same applies to situations b, c and d in 6 to the positions that are in 5 For example, vehicle 3 in situation a is driving in 6 along a planned driving trajectory 10, which runs along the lane center 13. In situations b and d in 6 vehicle 3 moves to the right in relation to the center of lane 13. Accordingly, in situations b and d in 6 the projection 1 within the display field 12 is shifted to the left as seen from the driver of the vehicle 3. In situation c in 6 The vehicle 3 travels along a travel trajectory 10, which is offset to the left relative to a lane center 13. Accordingly, the projection 1 is shifted to the right from the driver's perspective.

In particular, the 1 In the situation shown, the position of projection 1 is adjusted depending on the expected roll angle. 4 In the situation shown, the position of projection 1 is adjusted primarily depending on the expected sideslip angle. In the 6 In the situation shown, the position of the projection 1 is adjusted primarily depending on an offset of the vehicle 3 relative to the lane center 13.

List of reference symbols

1

projection

2

Head-up display

3

vehicle

4

windshield

5

Image source

6

Magnifying mirror

7

folding mirror

8

Cover glass

9

Driver's view

10

Driving trajectory

11

Longitudinal axis

12

Display field

13

Lane center

14

field of vision

15

lane

16

Oncoming lane

17

non-driveable space

QUOTES CONTAINED IN THE DESCRIPTION

This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• JP 5805341B1 [0002]

Claims (10)

A method for adjusting the position of a projection (1) of a head-up display (2) of a vehicle (3) on a windshield (4) of the vehicle (3), comprising the steps: a) providing trajectory information for the vehicle (3); b) determining an expected sideslip angle of the vehicle (3) and/or an expected roll angle of the vehicle (3) and/or an expected displacement of the vehicle (3) relative to a lane center (13) of a lane (15) to be traveled in depending on the trajectory information; c) adjusting the position of the projection (1) of the head-up display (2) on the windshield depending on the determined expected sideslip angle and/or the determined expected roll angle and/or the determined expected displacement relative to the lane center (13). Procedure according to Claim 1 , wherein a driving trajectory (10) is provided as trajectory information, wherein the vehicle (3) follows the provided driving trajectory (10) at least partially autonomously, in particular with an autonomy level 2 or 2+ or 3, when carrying out the method. Procedure according to Claim 1 or 2 , wherein steps b) and c) are repeated depending on a current and/or an expected speed of the vehicle (3). Method according to one of the preceding claims, wherein trajectory information is provided by which the sideslip angle is adjusted by controlling a front axle of the vehicle (3) and/or a rear axle of the vehicle (3). Method according to one of the preceding claims, wherein an expected pitch angle of the vehicle (3) is determined depending on the provided trajectory information and the position of the projection (1) is adjusted depending on the determined pitch angle. Method according to one of the preceding claims, wherein in order to adjust the position of the projection (1), a mirror of the head-up display (2) is controlled and an orientation of the mirror is adjusted. Method according to one of the preceding claims, wherein a travel trajectory (10) is provided as trajectory information, wherein in order to adapt the position of the projection (1) in a non-rectilinear section of the travel trajectory (10), the projection (1) is shifted horizontally in a direction of a curvature of the non-rectilinear section. Method according to one of the preceding claims, wherein if the vehicle (3) travels off-center in the lane (15) in the width direction of a lane (15) on which the vehicle (3) travels, the projection (1) is shifted horizontally in order to adapt the position depending on the shift to the lane center (13). Method according to one of the preceding claims, wherein the position is adjusted depending on a past and/or current and/or future expected head position of a driver of the vehicle (3). System with a head-up display (2) and with a determination unit, wherein the system is configured to carry out a method according to one of the preceding claims.