CN109291922B - Driving assistance system capable of automatically identifying small-sized obstacles and braking and control method - Google Patents

Driving assistance system capable of automatically identifying small-sized obstacles and braking and control method Download PDF

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Publication number
CN109291922B
CN109291922B CN201811155021.5A CN201811155021A CN109291922B CN 109291922 B CN109291922 B CN 109291922B CN 201811155021 A CN201811155021 A CN 201811155021A CN 109291922 B CN109291922 B CN 109291922B
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obstacle
vehicle
reflection
size
ground
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CN109291922A (en
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曹祥元
苟斌
舒本亮
贾晓龙
占传送
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

Abstract

The invention discloses a driving assistance system and a control method for automatically identifying small obstacles and braking. The projection unit is used for projecting a standard graph to the ground in front of the vehicle; the receiving unit is higher than the projecting unit and used for receiving a reflection pattern generated by the standard pattern on the ground in front of the vehicle or on an obstacle; and the control unit is used for judging whether an obstacle exists in front of the vehicle according to the standard graph and the reflection graph, determining the size of the obstacle and the position of the obstacle relative to the vehicle when the obstacle exists, and determining whether to control deceleration braking or steering avoidance of the vehicle according to the size of the obstacle. The driving auxiliary system of the invention judges the position of the obstacle relative to the vehicle and the height or depth of the obstacle by utilizing the deformation of the standard pattern on the relatively flat road surface on the road surface with the small obstacle, thereby controlling the deceleration braking or steering avoidance of the vehicle and effectively improving the driving safety and comfort.

Description

Driving assistance system capable of automatically identifying small-sized obstacles and braking and control method
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a driving assistance system and a control method for automatically identifying small obstacles and braking.
Background
Although the existing vehicle low-speed anti-collision system can realize automatic deceleration, the existing vehicle low-speed anti-collision system can only identify large objects such as vehicles, pedestrians and the like, and can not identify obstacles with the height of about 10cm and can not identify road pits. On some national provinces or other non-closed paved roads, some barriers such as broken holes or stones are usually generated, under the condition that the speed of the vehicle is high or the lighting condition is poor, a driver is difficult to recognize in advance and decelerate in time, and when the vehicle passes through the small barriers at high speed, the vehicle can be damaged to a certain extent due to serious jolt of passengers.
Disclosure of Invention
The present invention is directed to solve the above-mentioned drawbacks of the background art, and provides a driving assistance system and a control method for automatically recognizing a small obstacle and braking.
The technical scheme adopted by the invention is as follows: a driving assistance system for automatically recognizing a small obstacle and braking includes
The projection unit is arranged at the front end of the vehicle and used for projecting the standard graph to the ground in front of the vehicle;
the receiving unit is arranged at the front end of the vehicle, the height of the receiving unit from the ground is higher than that of the projecting unit from the ground, and the receiving unit is used for receiving a reflection pattern generated by the standard pattern on the ground in front of the vehicle or on an obstacle and sending the reflection pattern to the control unit;
and the control unit is used for judging whether an obstacle exists in front of the vehicle according to the standard graph and the reflection graph, determining the size of the obstacle and the position of the obstacle relative to the vehicle when the obstacle exists, and determining whether to control deceleration braking or steering avoidance of the vehicle according to the size of the obstacle.
Further, the method for judging whether the obstacle exists in front of the vehicle comprises the following steps: and comparing the reflection pattern with the standard pattern, and determining that an obstacle exists in front of the vehicle when a certain area in the reflection pattern is equivalent to the same corresponding area in the standard pattern and is deformed.
Further, the method for determining the position of the obstacle relative to the vehicle is as follows: the method comprises the steps of taking the center of a standard graph as an origin, placing the standard graph, a reflection graph and a contour of the front end of a vehicle in the same coordinate system, taking a point which is farthest away from the origin in a deformation area on the reflection graph as the position of an obstacle, defining the position of the obstacle as a first coordinate, defining the position of the center of the front end of the vehicle as a second coordinate, and determining the position of the obstacle relative to the vehicle through a geometric principle according to the positions of the first coordinate and the second coordinate in the coordinate system.
Further, the method for determining the size of the obstacle is as follows: calculating a plurality of local position sizes c on the obstacle by the following formula, comparing the absolute values of the plurality of local position sizes, taking the maximum value as the size of the obstacle,
c＝a*[tan(γ-α)/tan(γ-β)-1]/[1-a*tan(γ-α)/b*tan(γ-β)]，
wherein a is the height of the projection unit from the ground, b is the height of the receiving unit from the ground, c is the local position size of the obstacle, α is the included angle between the optical axis of the receiving unit and the reflection line corresponding to each intersection point in the reflection pattern on the road surface with the obstacle, β is the included angle between the optical axis of the receiving unit and the reflection line corresponding to each intersection point in the reflection pattern on the flat road surface, γ is the included angle between the optical axis of the receiving unit and the vertical direction, and is the included angle between the incident line corresponding to each intersection point in the standard pattern and the vertical direction.
Further, when the size of the obstacle is larger than or equal to the set value, the vehicle is controlled to decelerate and brake or to turn and avoid according to the position of the obstacle relative to the vehicle, and when the size of the obstacle is smaller than the set value, the vehicle is controlled to normally run.
Furthermore, the obstacle is an object or a road pit protruding from the ground, and the size of the obstacle is the height of the object or the depth of the road pit.
Further, the height difference between the projection unit and the receiving unit from the ground is 0.5-1.5 m.
Further, the projection unit and the receiving unit are located on the same vertical plane.
Further, the standard graph is a grid-shaped graph.
Further, the receiving unit is a camera.
A driving auxiliary control method for automatically identifying small obstacles and braking comprises the following steps: the method comprises the steps of projecting a standard graph to the ground in front of a vehicle, receiving a reflection graph generated by the standard graph on the ground in front of the vehicle or an obstacle, judging whether the obstacle exists in front of the vehicle or not according to the standard graph and the reflection graph, determining the size of the obstacle and the position of the obstacle relative to the vehicle when the obstacle exists, and determining whether to control deceleration braking or steering avoidance of the vehicle according to the size of the obstacle.
Further, the method for judging whether the obstacle exists in front of the vehicle comprises the following steps: and comparing the reflection pattern with the standard pattern, and determining that an obstacle exists in front of the vehicle when a certain area in the reflection pattern is equivalent to the same corresponding area in the standard pattern and is deformed.
Further, the method for determining the position of the obstacle relative to the vehicle is as follows: the method comprises the steps of taking the center of a standard graph as an origin, placing the standard graph, a reflection graph and a contour of the front end of a vehicle in the same coordinate system, taking a point which is farthest away from the origin in a deformation area on the reflection graph as the position of an obstacle, defining the position of the obstacle as a first coordinate, defining the position of the center of the front end of the vehicle as a second coordinate, and determining the position of the obstacle relative to the vehicle through a geometric principle according to the positions of the first coordinate and the second coordinate in the coordinate system.
Further, the method for determining the size of the obstacle is as follows: calculating a plurality of local position sizes c on the obstacle by the following formula, comparing the absolute values of the plurality of local position sizes, taking the maximum value as the size of the obstacle,
c＝a*[tan(γ-α)/tan(γ-β)-1]/[1-a*tan(γ-α)/b*tan(γ-β)]，
wherein a is the height of the projection unit from the ground, b is the height of the receiving unit from the ground, c is the local position size of the obstacle, α is the included angle between the optical axis of the receiving unit and the reflection line corresponding to each intersection point in the reflection pattern on the road surface with the obstacle, β is the included angle between the optical axis of the receiving unit and the reflection line corresponding to each intersection point in the reflection pattern on the flat road surface, γ is the included angle between the optical axis of the receiving unit and the vertical direction, and is the included angle between the incident line corresponding to each intersection point in the standard pattern and the vertical direction.
Further, when the size of the obstacle is larger than or equal to the set value, the vehicle is controlled to decelerate and brake or to turn and avoid according to the position of the obstacle relative to the vehicle, and when the size of the obstacle is smaller than the set value, the vehicle is controlled to normally run.
The driving auxiliary system of the invention judges the position of the obstacle relative to the vehicle and the height or depth of the obstacle by utilizing the deformation of the standard pattern on the relatively flat road surface on the road surface with the small obstacle, thereby controlling the vehicle to decelerate, brake or turn and avoid, achieving the purpose of avoiding potential safety hazard when passing through the obstacle at high speed, and effectively improving the driving safety and comfort.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
FIG. 2 is a schematic diagram of a standard graph.
Fig. 3 is a schematic diagram of the obstacle sizing principle of the present invention.
Fig. 4 is a schematic diagram of a reflection pattern.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in FIG. 1, the driving assistance system of the present invention for automatically recognizing a small obstacle and braking includes
The projection unit 2 is installed at the front end of the vehicle 1, may be a laser, and is used for projecting the standard pattern 4 to the ground in front of the vehicle, and the standard pattern 4 may be a rectangular grid pattern, as shown in fig. 2, or may be another pattern.
The receiving unit 3 is arranged at the front end of the vehicle 1 and can be a camera, the height from the receiving unit 3 to the ground is higher than that from the projecting unit 2 to the ground, and a certain angle difference between the emitted light and the reflected light can be ensured by staggering certain positions on the height; the receiving unit 3 is used for receiving a reflection pattern 5 generated by the standard pattern 4 on the ground or an obstacle in front of the vehicle and sending the reflection pattern to the control unit; the projection unit and the receiving unit are positioned on the same vertical plane, the height difference between the projection unit and the receiving unit and the ground is 0.5-1.5m, and the specific height is determined according to the height of the vehicle.
And the control unit (not shown in the figure) is a vehicle body control system in the vehicle and is used for judging whether an obstacle exists in front of the vehicle or not according to the standard graph and the reflection graph, determining the size of the obstacle and the position of the obstacle relative to the vehicle when the obstacle exists, determining whether to control the vehicle to decelerate, brake or steer and avoid according to the size of the obstacle, controlling the vehicle to decelerate, brake or steer and avoid according to the position of the obstacle relative to the vehicle when the size of the obstacle is larger than or equal to a set value, and controlling the vehicle to normally run when the size of the obstacle is smaller than the set value. The obstacle can be an object or a road pit protruding from the ground, and the size of the obstacle is the height of the object or the depth of the road pit.
The invention also provides a control method of the driving assistance system for automatically identifying the small-sized obstacle and braking, which comprises the following steps: the control unit judges whether an obstacle exists in front of the vehicle or not according to the standard graph and the reflection graph, determines the size of the obstacle and the position of the obstacle relative to the vehicle when the obstacle exists, determines whether to control deceleration braking or steering avoidance of the vehicle according to the size of the obstacle, controls deceleration braking of the vehicle or controls steering avoidance of the vehicle according to the position of the obstacle relative to the vehicle when the size of the obstacle is larger than or equal to a set value, and controls normal running of the vehicle when the size of the obstacle is smaller than the set value.
In the above solution, since there is a certain angle difference between the included angle between the optical axis of the receiving unit and the reflection line on the road surface with the obstacle and the optical axis of the receiving unit and the reflection line on the flat road surface, and a certain distance is correspondingly generated on the picture shot by the receiving unit, this may cause the picture shot by the receiving unit on the road surface with the obstacle to be deformed relative to the standard pattern, and a larger deformation indicates a larger road pit or a larger stone, so the method for determining whether there is the obstacle in front of the vehicle is as follows: and comparing the reflection pattern with the standard pattern, and determining that an obstacle exists in front of the vehicle when a certain area in the reflection pattern is equivalent to the same corresponding area in the standard pattern and is deformed. As shown in fig. 4, which is a schematic view of a typical reflection pattern captured on a road surface having a cylindrical road pit, the distorted region of the depression is curved toward the front of the vehicle.
In the above solution, the method for determining the position of the obstacle relative to the vehicle includes: the method comprises the steps of taking the center of a standard graph as an origin, placing the standard graph, a reflection graph and the outline of the front end of a vehicle in the same coordinate system, taking a point, farthest from the origin, in an area 11 where deformation is generated on the reflection graph as the position of an obstacle, defining the position of the obstacle as a first coordinate, defining the position of the center of the front end of the vehicle as a second coordinate, and determining the position of the obstacle relative to the vehicle through a geometric principle according to the positions of the first coordinate and the second coordinate in the coordinate system.
In the above scheme, as shown in fig. 3, the method for determining the size of the obstacle includes: calculating a plurality of local position sizes c on the obstacle by the following formula, comparing the absolute values of the plurality of local position sizes, taking the maximum value as the size of the obstacle,
c＝a*[tan(γ-α)/tan(γ-β)-1]/[1-a*tan(γ-α)/b*tan(γ-β)]，
wherein a is the height of the projection unit 2 from the ground, b is the height of the receiving unit 3 from the ground, c is the local position size of the obstacle 10, α is the included angle between the optical axis 9 of the receiving unit and the reflection line 8 corresponding to each intersection point in the reflection pattern on the road surface where the obstacle exists, β is the included angle between the optical axis 9 of the receiving unit and the reflection line 7 corresponding to each intersection point in the reflection pattern on the flat road surface, γ is the included angle between the optical axis of the receiving unit and the vertical direction, and is the included angle between the incident line 6 corresponding to each intersection point in the standard pattern and the vertical direction.
Those not described in detail in this specification are within the skill of the art.

Claims (11)

1. A driving assistance system that automatically recognizes a small obstacle and brakes, characterized in that: comprises that
The projection unit is arranged at the front end of the vehicle and used for projecting the standard graph to the ground in front of the vehicle;
the receiving unit is arranged at the front end of the vehicle, the height of the receiving unit from the ground is higher than that of the projecting unit from the ground, and the receiving unit is used for receiving a reflection pattern generated by the standard pattern on the ground in front of the vehicle or on an obstacle and sending the reflection pattern to the control unit;
the control unit is used for judging whether an obstacle exists in front of the vehicle according to the standard graph and the reflection graph, determining the size of the obstacle and the position of the obstacle relative to the vehicle when the obstacle exists, and determining whether to control deceleration braking or steering avoidance of the vehicle according to the size of the obstacle;
the method for determining the size of the obstacle comprises the following steps: calculating a plurality of local position sizes c on the obstacle by the following formula, comparing the absolute values of the plurality of local position sizes, taking the maximum value as the size of the obstacle,
c ═ a [ tan (γ - α)/tan (γ - β) -1]/[1-a × (γ - α)/b × (γ - β) ], where a is a height of the projection unit from the ground, b is a height of the reception unit from the ground, c is a local position size of the obstacle, α is an angle between an optical axis of the reception unit and a reflection line corresponding to each intersection point in the reflection pattern on the road surface where the obstacle is present, β is an angle between the optical axis of the reception unit and a reflection line corresponding to each intersection point in the reflection pattern on the flat road surface, γ is an angle between the optical axis of the reception unit and the vertical direction, and is an angle between an incident line corresponding to each intersection point in the standard pattern and the vertical direction.
2. The driving assistance system that automatically recognizes a small obstacle and brakes according to claim 1, characterized in that: the method for judging whether the obstacle exists in front of the vehicle comprises the following steps: and comparing the reflection pattern with the standard pattern, and determining that an obstacle exists in front of the vehicle when a certain area in the reflection pattern is equivalent to the same corresponding area in the standard pattern and is deformed.
3. The driving assistance system that automatically recognizes a small obstacle and brakes according to claim 1, characterized in that: the method for determining the position of the obstacle relative to the vehicle comprises the following steps: the method comprises the steps of taking the center of a standard graph as an origin, placing the standard graph, a reflection graph and a contour of the front end of a vehicle in the same coordinate system, taking a point which is farthest away from the origin in a deformation area on the reflection graph as the position of an obstacle, defining the position of the obstacle as a first coordinate, defining the position of the center of the front end of the vehicle as a second coordinate, and determining the position of the obstacle relative to the vehicle through a geometric principle according to the positions of the first coordinate and the second coordinate in the coordinate system.
4. The driving assistance system that automatically recognizes a small obstacle and brakes according to claim 1, characterized in that: when the size of the obstacle is larger than or equal to the set value, the vehicle is controlled to decelerate and brake or the vehicle is controlled to turn and avoid according to the position of the obstacle relative to the vehicle, and when the size of the obstacle is smaller than the set value, the vehicle is controlled to normally run.
5. The driving assistance system that automatically recognizes a small obstacle and brakes according to claim 1, characterized in that: the obstacle is an object or a road pit protruding out of the ground, and the size of the obstacle is the height of the object or the depth of the road pit.
6. The driving assistance system that automatically recognizes a small obstacle and brakes according to claim 1, characterized in that: the height difference between the projection unit and the receiving unit and the ground is 0.5-1.5 m.
7. The driving assistance system that automatically recognizes a small obstacle and brakes according to claim 1, characterized in that: the projection unit and the receiving unit are located on the same vertical plane.
8. A driving assistance control method for automatically recognizing a small obstacle and braking, characterized in that: projecting a standard pattern to the ground in front of the vehicle, receiving a reflection pattern generated by the standard pattern on the ground in front of the vehicle or an obstacle, judging whether the obstacle exists in front of the vehicle according to the standard pattern and the reflection pattern, determining the size of the obstacle and the position of the obstacle relative to the vehicle when the obstacle exists, and determining whether to control the vehicle to decelerate, brake or steer and avoid according to the size of the obstacle;
the method for determining the size of the obstacle comprises the following steps: calculating a plurality of local position sizes c on the obstacle by the following formula, comparing the absolute values of the plurality of local position sizes, taking the maximum value as the size of the obstacle,
c ═ a [ tan (γ - α)/tan (γ - β) -1]/[1-a × (γ - α)/b × (γ - β) ], where a is a height of the projection unit from the ground, b is a height of the reception unit from the ground, c is a local position size of the obstacle, α is an angle between an optical axis of the reception unit and a reflection line corresponding to each intersection point in the reflection pattern on the road surface where the obstacle is present, β is an angle between the optical axis of the reception unit and a reflection line corresponding to each intersection point in the reflection pattern on the flat road surface, γ is an angle between the optical axis of the reception unit and the vertical direction, and is an angle between an incident line corresponding to each intersection point in the standard pattern and the vertical direction.
9. The driving assistance control method according to claim 8, characterized in that: the method for judging whether the obstacle exists in front of the vehicle comprises the following steps: and comparing the reflection pattern with the standard pattern, and determining that an obstacle exists in front of the vehicle when a certain area in the reflection pattern is equivalent to the same corresponding area in the standard pattern and is deformed.
10. The driving assistance control method according to claim 8, characterized in that: the method for determining the position of the obstacle relative to the vehicle comprises the following steps: the method comprises the steps of taking the center of a standard graph as an origin, placing the standard graph, a reflection graph and a contour of the front end of a vehicle in the same coordinate system, taking a point which is farthest away from the origin in a deformation area on the reflection graph as the position of an obstacle, defining the position of the obstacle as a first coordinate, defining the position of the center of the front end of the vehicle as a second coordinate, and determining the position of the obstacle relative to the vehicle through a geometric principle according to the positions of the first coordinate and the second coordinate in the coordinate system.
11. The driving assistance control method according to claim 8, characterized in that: when the size of the obstacle is larger than or equal to the set value, the vehicle is controlled to decelerate and brake or the vehicle is controlled to turn and avoid according to the position of the obstacle relative to the vehicle, and when the size of the obstacle is smaller than the set value, the vehicle is controlled to normally run.
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