CN109094566A - Vehicle drive assist system and method - Google Patents
Vehicle drive assist system and method Download PDFInfo
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- CN109094566A CN109094566A CN201710474624.0A CN201710474624A CN109094566A CN 109094566 A CN109094566 A CN 109094566A CN 201710474624 A CN201710474624 A CN 201710474624A CN 109094566 A CN109094566 A CN 109094566A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention relates to vehicle drive assist systems and method.Vehicle drive assist system includes: photographic device, is configured to shoot the image in main vehicle periphery preset range；Analytical equipment is configured to the movement according to other vehicles in image analysis at preset time intervals in image；And decision maker, it is configured to determine whether the road surface that other vehicles are travelled is smooth according to the movement of other vehicles.Vehicle drive assisting method includes: the image in the main vehicle periphery preset range of shooting；According to the movement of other vehicles in image in image analysis at preset time intervals；Determine whether the road surface that other vehicles are travelled is smooth with according to the movement of other vehicles.
Description
Technical field
The present invention relates to vehicle drive field of auxiliary.More particularly it relates to vehicle drive assist system and method.
Background technique
Vehicle can generate when driving in uneven road surface and jolt or shake, this may cause damage vehicle, furthermore return vehicle
On driver and occupant bring uncomfortable ride experience.In order to solve this problem, in general, being equipped with uneven road surface on vehicle
Detection device and prewarning controller.Whether uneven road surface detection device is smooth for detecting road surface, and if detects road
Face out-of-flatness, then prewarning controller controls vehicle and prompts pavement roughness to driver.Pilot control vehicle deceleration as a result,
To pass slowly the road surface of out-of-flatness or manipulate Vehicular turn to avoid the road surface of out-of-flatness, to mitigate the damage of vehicle simultaneously
And comfortable ride experience is provided to driver and occupant.
However, the road surface of the main vehicle front can be blocked when traveling ahead of other vehicles in main vehicle.If the master
Other vehicles of vehicle distances are closer, when the uneven road surface detection device of the main vehicle detects the road surface crossed by other vehicles not
When smooth, which has had little time to be slowed down or turned to, to travel by uneven road surface.In addition, being used for road pavement
The uneven road surface detection device higher cost that is detected of planarization.
Summary of the invention
In order to solve the above technical problems, the invention proposes the planarizations for being able to detect vehicle periphery larger range road surface
And lower-cost vehicle drive assist system and method.
According to an aspect of the present invention, a kind of vehicle drive assist system is provided comprising: photographic device, by structure
It makes to shoot the image in main vehicle periphery preset range；Analytical equipment was configured to according to image analysis in the predetermined time
The movement of other vehicles in being spaced in image；And decision maker, it is configured to determine it according to the movement of other vehicles
Whether the road surface that his vehicle is travelled is smooth.
Preferred embodiment in accordance with the present invention, analytical equipment be configured to according to image analysis at preset time intervals in its
The vertical displacement of at least one specific part of his vehicle；And decision maker is configured to according at least one specific part
Whether vertical displacement is smooth to determine the road surface that other vehicles are travelled.
Preferred embodiment in accordance with the present invention, analytical equipment are configured to: according in interior image at preset time intervals
The specific part of other vehicles analyzes vertical displacement relative to the change in location of the static object of reference in image.
Preferred embodiment in accordance with the present invention, vehicle drive assist system further include detection device, are configured to detect
The movement of main vehicle；And compensation device, it is configured to compensate image based on the movement of main vehicle, wherein analysis dress
Set the height change for being configured to the specific part according to other vehicles in the interior image through overcompensation at preset time intervals
To analyze vertical displacement.
Preferred embodiment in accordance with the present invention, decision maker are configured to: if the vertical position of at least one specific part
The size of at least one of shifting is greater than threshold value, then determines the pavement roughness that other vehicles are travelled.
Preferred embodiment in accordance with the present invention, the specific part of other vehicles are at least one wheel of other vehicles.
Preferred embodiment in accordance with the present invention, static object of reference keep phase with road surface for the road surface in image or in image
To static object.
Preferred embodiment in accordance with the present invention, vehicle drive assist system further include prewarning controller, are configured to
If it is determined that pavement roughness then executes early warning control.
Preferred embodiment in accordance with the present invention, early warning control include controlling main vehicle to issue warning signal and/or control master
Vehicle executes auto-steering and/or automatic braking.
Preferred embodiment in accordance with the present invention, pre-warning signal include that vision pre-warning signal, sense of hearing pre-warning signal and tactile are pre-
At least one of alert signal.
According to another aspect of the present invention, a kind of vehicle is provided, which includes the above embodiment according to the present invention
The vehicle drive assist system.
According to another aspect of the present invention, a kind of vehicle drive assisting method is provided comprising following steps: shooting master
Image in vehicle periphery preset range；According to the movement of other vehicles in image in image analysis at preset time intervals；
Determine whether the road surface that other vehicles are travelled is smooth with according to the movement of other vehicles.
Preferred embodiment in accordance with the present invention, according at least one of other vehicles in image analysis at preset time intervals
The vertical displacement of specific part；And the road that other vehicles are travelled is determined according to the vertical displacement of at least one specific part
Whether face is smooth.
The step of preferred embodiment in accordance with the present invention, analysis vertical displacement includes: according to interior figure at preset time intervals
The specific part of other vehicles as in analyzes vertical displacement relative to the change in location of the static object of reference in image.
Preferred embodiment in accordance with the present invention, vehicle drive assisting method further include: the movement of the detection main vehicle；With
Movement based on the main vehicle compensates described image, wherein the step of analyzing vertical displacement includes according to predetermined
The height change of the specific part of other vehicles in time interval in the image through overcompensation analyzes vertical displacement.
Preferred embodiment in accordance with the present invention, if determining that the whether smooth step in road surface includes: at least one particular portion
The size of at least one of the vertical displacement divided is greater than threshold value, then determines the pavement roughness that other vehicles are travelled.
Preferred embodiment in accordance with the present invention, the specific part of other vehicles are at least one wheel of other vehicles.
Preferred embodiment in accordance with the present invention, static object of reference keep phase with road surface for the road surface in image or in image
To static object.
Preferred embodiment in accordance with the present invention, vehicle drive assisting method further include: if it is determined that pavement roughness is then held
Row early warning control.
Preferred embodiment in accordance with the present invention, early warning control include controlling main vehicle to issue warning signal and/or control master
Vehicle executes auto-steering and/or automatic braking.
Preferred embodiment in accordance with the present invention, pre-warning signal include that vision pre-warning signal, sense of hearing pre-warning signal and tactile are pre-
At least one of alert signal.
The vehicle drive assist system and method for embodiment according to the present invention are able to detect main vehicle periphery larger range
Road surface planarization and cost is relatively low.
Detailed description of the invention
Fig. 1 is the schematic diagram for showing the vehicle drive assist system of embodiment according to the present invention.
Fig. 2 is the schematic diagram for showing the main vehicle of embodiment according to the present invention and travelling on uneven road surface.
Fig. 3 is the schematic diagram for showing the main vehicle of embodiment according to the present invention and travelling on uneven road surface.
Fig. 4 A is the position for showing the left rear wheels of other vehicles of embodiment according to the present invention at the T1 moment relative to road surface
The schematic diagram set.
Fig. 4 B is the position for showing the left rear wheels of other vehicles of embodiment according to the present invention at the T2 moment relative to road surface
The schematic diagram set.
Fig. 5 A is to show the left rear wheels of other vehicles of embodiment according to the present invention in the schematic diagram of the height at T3 moment.
Fig. 5 B is to show the left rear wheels of other vehicles of embodiment according to the present invention in the schematic diagram of the height at T4 moment.
Fig. 6 is the flow chart for showing the vehicle drive assisting method of embodiment according to the present invention.
Specific embodiment
In order to keep the purpose of the present invention and technical effect clearer, implementation of the invention is described below with reference to accompanying drawings
Example.It will be appreciated, however, that the following detailed description is intended to illustrate the principle of invention, and the present invention is not limited to preferred real
Apply example.Protection scope of the present invention is defined by the appended claims.
The vehicle drive assist system of embodiment according to the present invention can be installed or be applied to vehicle, so as in vehicle row
Driving auxiliary is provided when sailing for driver or vehicle.Vehicle herein, which for example can be, uses internal combustion engine as the interior of driving source
Combustion engine automobile can be and use motor as the electric car of driving source or fuel cell car, is also possible to using internal combustion
The hybrid vehicle of machine and motor as driving source, or can be the automobile including other driving sources.
Fig. 1 is the schematic diagram for showing the vehicle drive assist system of embodiment according to the present invention.As shown in Figure 1, vehicle 1
Including vehicle drive assist system 100.Vehicle drive assist system 100 can and the other component of vehicle 1 be connected to each other and lead to
Letter.For brevity, the components such as well known power and manipulation device, transmission system are not shown in FIG. 1 in vehicle 1.
According to some embodiments of the present invention, vehicle drive assist system 100 includes photographic device 110, analytical equipment 120
With decision maker 130.Some embodiments according to the present invention, vehicle drive assist system further include detection device 140, compensation dress
Set 150 and prewarning controller 160.
Photographic device 110 is used to shoot the image in main vehicle periphery preset range.According to an embodiment of the invention, camera shooting
Device 110 may include one or more camera units, to shoot the image of the scene of main vehicle periphery respectively.Camera unit can
To be installed on vehicle any position for being convenient for shooting vehicle-periphery.For example, before camera unit may be mounted at vehicle
Portion, rear portion, side, top or above-mentioned items any combination.It is taken the photograph according to an embodiment of the invention, camera unit can be number
As unit.It can be visible image capturing unit, infrared photography unit or the two combination in camera unit each.
According to an embodiment of the invention, when main vehicle along predetermined direction when driving, photographic device 110 can be along main vehicle
Driving direction shoots image.For example, when main vehicle forwards when driving, photographic device 110 is along main vehicle front direction shooting figure
Picture.When main vehicle backing, photographic device 110 shoots image along the rear direction of main vehicle.When main vehicle turns to the left or to the right
Xiang Shi, photographic device 110 shoot image along the left direction of main vehicle or right direction.It should be appreciated that when vehicle is along predetermined party
To when driving, photographic device 110 can also shoot image along the one or more directions of other except the driving direction of main vehicle,
For example, photographic device 110 can shoot the image of the scene of main vehicle's surroundings.
Analytical equipment 120 is configured to the fortune according to other vehicles in the image analysis at preset time intervals in image
It is dynamic.Analytical equipment 120 can be with 110 wired or wireless communication of photographic device.
Herein, other vehicles may include motor vehicle and non-motor vehicle.Motor vehicle be with power device driving or
The wheeled vehicle of traction, for example, automobile, motorcycle, tractor etc..Non-motor vehicle is the wheeled vehicle driven with manpower or animal power
, for example, bicycle, tricycle, trolley, carriage etc..
According to an embodiment of the invention, other vehicles can be the vehicle of all movements in image or can be edge
The driving direction of main vehicle travels and the vehicle nearest from main vehicle.
When other vehicles on road surface when driving, due to pavement roughness, the motion state of other vehicles can change.
Fig. 2 and Fig. 3 is the schematic diagram for showing other vehicles 10 and travelling on uneven road surface.As shown in Fig. 2, having pit 20 on road.
During the left rear wheel of other vehicles 10 drives to pit minimum point from pit edge, the height of left rear wheel is reduced, and
Vehicle body is tilted to the left.As shown in figure 3, having strip lanyard 30 on road surface.Other vehicles 10 left rear wheel and off hind wheel from
During the minimum point of lanyard drives to highest point, two rear-wheels are increased, and vehicle body generation is leaned forward.120 energy of analytical equipment
The various movements of other vehicles are enough analyzed, for example, the moving up or down of the specific part (for example, wheel) of other vehicles,
The pitching movement of vehicle body or roll motion etc..The movement for other vehicles analyzed based on analytical equipment 120 can determine outlet
Whether face is smooth.
According to an embodiment of the invention, predetermined time interval can be the time interval being empirically derived or pass through
The time interval that machine learning algorithm is calculated.It for example, predetermined time interval can be 0.5 second, or can be other conjunctions
Suitable time interval.Predetermined time interval cannot be too small, to prevent by do not influence vehicle ride comfort level have compared with dolly dimple or
The pavement detection of protrusion is uneven road surface.Predetermined time interval cannot be too big, to prevent that vehicle ride comfort level will not be influenced
Gentle climb and fall pavement detection is uneven road surface, or prevent some out-of-flatness sections of leak detection etc..
According to an embodiment of the invention, analytical equipment 120 be configured to according to image analysis at preset time intervals in its
The vertical displacement of at least one specific part of his vehicle.According to an embodiment of the invention, the specific part of other vehicles is it
At least one wheel of his vehicle.According to an embodiment of the invention, specific part is capable of showing in the picture for other vehicles
Part.By taking four-wheel automobile as an example, when the automobile (that is, other vehicles) main right ahead when driving, due to the automobile
Two front wheels are blocked by two rear-wheels respectively, and the left rear wheel and off hind wheel of the automobile are only shown in image.In this case, specific part
For left rear wheel and off hind wheel, analytical equipment 120 analyzes the vertical displacement of two parts of left rear wheel and off hind wheel respectively.
In the above-described embodiments, describing specific part is at least one wheel.It will be appreciated, however, that specific part is simultaneously
Arbitrary portion that is without being limited thereto and being other vehicles shown in the picture.For example, specific part can be rearview mirror
Or rear vehicle lamp.
In the above-described embodiments, the part that specific part includes multiple same types of main vehicle is described.However, should
Understand, specific part also may include the part of multiple and different types of main vehicle.For example, specific part can for wheel, after
At least combination of the two in visor and rear vehicle lamp.
In one example, analytical equipment 120 is according to the particular portions of other vehicles in image at preset time intervals
Split-phase analyzes vertical displacement for the change in location of the static object of reference in image.
Herein, static object of reference refers to road or the object static relative to the road in image in image.Example
Such as, static object of reference is building, trees, street lamp, vehicle for being parked in roadside included in image etc..
It is illustrated by taking Fig. 4 A and Fig. 4 B as an example, Fig. 4 A and Fig. 4 B are the left rear wheels shown in other vehicles of T1 and T2 moment
40 schematic diagram relative to the position on road surface 50.Wherein, the T2 moment be after beginning to pass through predetermined time interval from the T1 moment when
It carves.In this example, the specific part of other vehicles is two rear-wheels of other vehicles, and static object of reference is the road in image
Face 50.In Figure 4 A, the left rear wheel 40 of other vehicles is in contact with road surface 50.In this case, the centre distance of left rear wheel 40
The distance on road surface 50 is D1.In figure 4b, there is the pit 60 of depth 0.1m on road, left rear wheel 40 is moved down into pit 60
At minimum point.In this case, the distance on the centre distance road surface 50 of left rear wheel 40 is D2.It can by comparing distance D1 and D2
Know, left rear wheel 40 is moved downwardly 0.1m (D2-D1) relative to road surface 50, therefore the size of the vertical displacement of left rear wheel is
0.1m。
Detection device 140 is able to detect the movement of main vehicle.Detection device 140 is mounted on main vehicle and may include
The vehicle speed sensor for detecting speed, detects the height sensor of height (for example, suspension at the acceleration transducer for detecting acceleration
Height sensor) and other suitable sensors, to obtain the exercise data of main vehicle.
Compensation device 150 can the movement based on main vehicle detected by detection device 140 to photographic device 110 shoot
Image compensate.If the movement of main vehicle changes, lead to the field shown in the image of the shooting of photographic device 110
Scape also changes.Therefore, it is necessary to the movements based on main vehicle to compensate to image.For example, working as main vehicle from pit 60
When edge is travelled to the minimum point of pit, detection device 140 detects that main vehicle moves down.In this case, due to camera shooting
Before scene in image captured by device 110 is moved down compared to main vehicle in image captured by photographic device 110
Scene also moves down, therefore the height of the specific part of other vehicles in the picture can increase.Therefore, it is necessary to the image into
Row compensation so that the scene shown in compensated image be such as main vehicle on smooth-riding surface 50 photographic device when driving
Scene in image taken by 110.
Analytical equipment 120 can be according to the particular portion of other vehicles in the interior image through overcompensation at preset time intervals
Point height change analyze vertical displacement.It is illustrated by taking Fig. 5 A and Fig. 5 B as an example, Fig. 5 A and Fig. 5 B are shown in T3 and T4
The schematic diagram of the height of the left rear wheel 40 of other vehicles of moment.Wherein, the T4 moment is between beginning to pass through the predetermined time from the T3 moment
At the time of rear.In this example, specific part is two rear-wheels of other vehicles.As shown in Figure 5A, the left rear wheel of other vehicles
40 are in contact with road surface 50.At the moment, the height of left rear wheel 40 is D3.In figure 5B, there are 0.1m's high on road surface 50
Protrusion 70, left rear wheel 40 are moved upwards up at the highest point of protrusion 70.At the moment, the height of left rear wheel 40 is D4.Pass through
Compare height D3 and D4 it is found that the height of left rear wheel 40 increases 0.1m (D4-D3), therefore the vertical displacement of left rear wheel 40 is
0.1m.It should be appreciated that example shown in the drawings is not only to facilitate explanation, represents true ratio.
Decision maker 130 is used to determine that other vehicles are travelled based on the movement of other interior vehicles at preset time intervals
Road surface it is whether smooth.According to an embodiment of the invention, decision maker 130 is used for based on other interior vehicles at preset time intervals
The vertical displacement of at least one specific part determine whether the road surface that other vehicles are travelled smooth.Specifically, determining
If the size that device 130 is configured at least one of vertical displacement of at least one specific part is greater than threshold value, sentence
The pavement roughness that other fixed vehicles are travelled；If the size of at least one of the vertical displacement of at least one specific part
Less than or equal to threshold value, then the evenness of road surface that other vehicles are travelled is determined.
In the above-described embodiments, it describes according to the vertical displacement of the specific part of other vehicles and determines other vehicle institutes
The whether smooth technical solution in the road surface of traveling.However, the present invention is not limited thereto.It can also be according to other classes of other vehicles
The movement of type determines whether road surface is smooth.For example, can be according to the specific part (example of other interior vehicles at preset time intervals
Such as, roof plane) angle change determine whether the road surface that other vehicles are travelled smooth.If angle change is greater than threshold
Value, then determine pavement roughness.
If it is determined that prewarning controller 160, which is configured to device 130, determines the pavement roughness that other vehicles are travelled,
Then execute early warning control.According to an embodiment of the invention, early warning control includes controlling main vehicle to issue warning signal, driven with prompt
The person of sailing pays attention to the road surface of out-of-flatness.Pre-warning signal may include vision pre-warning signal, sense of hearing pre-warning signal and tactile pre-warning signal
At least one of.
Specifically, prewarning controller 160 can control the Vehicular display device being mounted on main vehicle so that it shows
Image information, text information and its combination, to issue vision pre-warning signal to driver.In addition, prewarning controller 160 can
To control the light-emitting components such as the LED that is mounted on the instrument board of main vehicle so that its bright light or flashing, to be issued to driver
Vision pre-warning signal.Vehicular display device include head up display, Vehicular navigation system display, be mounted or connected to main vehicle
Any other display.Preferably, the vision pre-warning signal being shown on Vehicular display device includes showing not with being highlighted
The image of flat road surface.Prewarning controller 160 can also control the loudspeaker, buzzer, loudspeaker etc. being mounted on main vehicle and raise
Sound device system issues sense of hearing pre-warning signal.In addition, prewarning controller 160 can also control the vibration such as pilot set, steering wheel
It moves to issue tactile pre-warning signal to driver.
According to an embodiment of the invention, early warning control may include controlling main vehicle to execute automatic braking or auto-steering.
Whether road surface is determined with the uneven road surface detection device of the planarization by directly detecting road surface of the prior art
Smooth system is compared, other vehicles that the vehicle drive assist system of embodiment according to the present invention passes through the main vehicle periphery of detection
Movement it is whether smooth to determine road surface indirectly, therefore be able to detect the irregularities on the road surface covered by other vehicles,
So as to detect larger area road surface planarization.In addition, the vehicle drive of embodiment according to the present invention assists system
System is without expensive uneven road surface detection device, and cost is relatively low.
Fig. 6 is the flow chart for showing the vehicle drive assisting method of embodiment according to the present invention.Then, right referring to Fig. 6
The vehicle drive assisting method of embodiment according to the present invention is described.
In step S210, the image in main vehicle periphery preset range is shot.According to an embodiment of the invention, along main vehicle
Traveling direction shoot image.For example, when main vehicle forwards when driving, shoot image along main vehicle front direction.Work as master
When vehicle backing, the rear direction along main vehicle shoots image.When main vehicle turns to the left or to the right, along the left of main vehicle
Direction or right direction shoot image.Then, processing is carried out to step S220.
In step S220, according to the movement of other vehicles in image in image analysis at preset time intervals.According to
The embodiment of the present invention, according to the vertical position of at least one specific part of other vehicles in image analysis at preset time intervals
It moves.In one example, according to the specific part of other vehicles in interior image at preset time intervals relative in image
The change in location of static object of reference analyzes vertical displacement.Hereinbefore, the analysis method of the vertical displacement is carried out
Detailed description, therefore details are not described herein.Then, processing is carried out to step S230.
In step S230, determine whether the road surface that other vehicles are travelled is smooth according to the movement of other vehicles.Root
According to the embodiment of the present invention, determine that other vehicles are travelled according to the vertical displacement of at least one specific part of other vehicles
Road surface it is whether smooth.If the size of at least one of the vertical displacement of at least one specific part is greater than threshold value, sentence
The pavement roughness that other fixed vehicles are travelled.If the size of at least one of the vertical displacement of at least one specific part
Less than or equal to threshold value, then the evenness of road surface that other vehicles are travelled is determined.Then, processing is carried out to step S240.
In step S240, if it is decided that pavement roughness then executes early warning control.Early warning control may include control master
Vehicle issues warning signal.According to an embodiment of the invention, pre-warning signal includes vision pre-warning signal, sense of hearing pre-warning signal and touching
Feel at least one of pre-warning signal.Hereinbefore, to vision pre-warning signal, sense of hearing pre-warning signal and tactile pre-warning signal
It is described in detail, therefore details are not described herein.Early warning control may include control main vehicle execute auto-steering and/or from
Dynamic braking.
Additionally, vehicle drive assisting method further includes step S250 and step S260 (not shown).In step s 250,
Detect the movement of main vehicle.In step S260, the movement based on main vehicle compensates image.Step S250 can be in step
It executes before rapid S210, or is executed after step S210 and before step S220.Step S260 is held before step S220
Row.The step S220 of analysis vertical displacement may include: according to other in the image through overcompensation at preset time intervals
The height change of the specific part of vehicle analyzes vertical displacement.Hereinbefore, to detection method, image compensation method and
The analysis method of vertical displacement is described in detail, therefore details are not described herein.
Whether road surface is determined with the uneven road surface detection device of the planarization by directly detecting road surface of the prior art
Smooth method is compared, other vehicles that the vehicle drive assisting method of embodiment according to the present invention passes through the main vehicle periphery of detection
Movement it is whether smooth to determine road surface indirectly, therefore be able to detect the irregularities on the road surface covered by other vehicles,
So as to detect larger area road surface planarization.In addition, the vehicle drive auxiliary square of embodiment according to the present invention
Cost is relatively low for method.
While the invention has been described with reference to exemplary embodiments thereof, however, it is understood that the present invention is not limited to above-mentioned realities
The construction and method of example are applied, and further includes modification and alternative without departing from the scope of the present invention.The scope of the present invention
It is limited only by the claims.
Claims (21)
1. a kind of vehicle drive assist system comprising:
Photographic device is configured to shoot the image in main vehicle periphery preset range；
Analytical equipment is configured to analyze other vehicles at preset time intervals in described image according to described image
Movement；With
Decision maker, the road surface for being configured to determine that other described vehicles are travelled according to the movement of other vehicles are
It is no smooth.
2. vehicle drive assist system according to claim 1, wherein
The analytical equipment is configured to analyze in the predetermined time interval other described vehicles according to described image extremely
The vertical displacement of a few specific part；And
The decision maker be configured to be determined according to the vertical displacement of at least one specific part it is described other
Whether the road surface that vehicle is travelled is smooth.
3. vehicle drive assist system according to claim 2, wherein the analytical equipment is configured to:
According in the predetermined time interval in described image described in other vehicles specific part relative to described image
In the change in location of static object of reference analyze the vertical displacement.
4. vehicle drive assist system according to claim 2, further includes:
Detection device is configured to detect the movement of the main vehicle；With
Compensation device is configured to compensate described image based on the movement of the main vehicle, wherein
The analytical equipment is configured to other vehicles according in the image in the predetermined time interval through overcompensation
The height change of specific part analyze the vertical displacement.
5. vehicle drive assist system according to claim 2, wherein the decision maker is configured to:
If the size of at least one of the vertical displacement of at least one specific part is greater than the threshold value, institute is determined
State the pavement roughness that other vehicles are travelled.
6. vehicle drive assist system according to claim 2, wherein
The specific part of other vehicles is at least one wheel of other vehicles.
7. vehicle drive assist system according to claim 3, wherein
The static object of reference is the road surface or opposing stationary with road surface holding in described image in described image
Object.
8. vehicle drive assist system according to any one of claim 1 to 7, further includes:
Prewarning controller, if it is determined that being configured to the pavement roughness then executes early warning control.
9. vehicle drive assist system according to claim 8, wherein
The early warning control includes controlling the main vehicle to issue warning signal and/or control the main vehicle execution auto-steering
And/or automatic braking.
10. vehicle drive assist system according to claim 9, wherein
The pre-warning signal includes at least one of vision pre-warning signal, sense of hearing pre-warning signal and tactile pre-warning signal.
11. a kind of vehicle comprising vehicle drive assist system according to any one of claim 1 to 10.
12. a kind of vehicle drive assisting method comprising following steps:
Shoot the image in main vehicle periphery preset range；
According to the movement of other vehicles in described image in described image analysis at preset time intervals；With
Whether the road surface for determining that other described vehicles are travelled according to the movement of other vehicles is smooth.
13. vehicle drive assisting method according to claim 12, wherein
According to described image analysis in the predetermined time interval at least one specific part of other vehicles it is vertical
Displacement；And
Whether the road surface that other vehicles described in being determined according to the vertical displacement of at least one specific part are travelled
It is smooth.
14. vehicle drive assisting method according to claim 13, wherein the step of analyzing the vertical displacement include:
According in the predetermined time interval in described image described in other vehicles specific part relative to described image
In the change in location of static object of reference analyze the vertical displacement.
15. vehicle drive assisting method according to claim 13, further includes:
Detect the movement of the main vehicle；With
Movement based on the main vehicle compensates described image, wherein the step of analyzing the vertical displacement includes root
Divide according to the height change of the specific part of other vehicles described in the image in the predetermined time interval through overcompensation
Analyse the vertical displacement.
16. vehicle drive assisting method according to claim 13, wherein determine the whether smooth step packet in the road surface
It includes:
If the size of at least one of the vertical displacement of at least one specific part, other described vehicle institutes are determined
The pavement roughness of traveling.
17. vehicle drive assisting method according to claim 13, wherein
The specific part of other vehicles is at least one wheel of other vehicles.
18. vehicle drive assisting method according to claim 14, wherein
The static object of reference for the road surface in described image or keeps opposing stationary object with the road surface in described image
Body.
19. vehicle drive assisting method described in any one of 2 to 18 according to claim 1, further includes:
If it is determined that the pavement roughness then executes early warning control.
20. vehicle drive assisting method according to claim 19, wherein
The early warning control includes controlling the main vehicle to issue warning signal and/or control the main vehicle execution auto-steering
And/or automatic braking.
21. vehicle drive assisting method according to claim 20, wherein
The pre-warning signal includes at least one of vision pre-warning signal, sense of hearing pre-warning signal and tactile pre-warning signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710474624.0A CN109094566A (en) | 2017-06-21 | 2017-06-21 | Vehicle drive assist system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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