CN115339384A - Vehicle driving assistance system, method, storage medium, and vehicle - Google Patents

Vehicle driving assistance system, method, storage medium, and vehicle Download PDF

Info

Publication number
CN115339384A
CN115339384A CN202210991686.XA CN202210991686A CN115339384A CN 115339384 A CN115339384 A CN 115339384A CN 202210991686 A CN202210991686 A CN 202210991686A CN 115339384 A CN115339384 A CN 115339384A
Authority
CN
China
Prior art keywords
camera
light
vehicle
light spot
spots
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210991686.XA
Other languages
Chinese (zh)
Inventor
萨希吉-苏莱曼
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huizhou Desay SV Intelligent Transport Technology Research Institute Co Ltd
Original Assignee
Huizhou Desay SV Intelligent Transport Technology Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huizhou Desay SV Intelligent Transport Technology Research Institute Co Ltd filed Critical Huizhou Desay SV Intelligent Transport Technology Research Institute Co Ltd
Priority to CN202210991686.XA priority Critical patent/CN115339384A/en
Publication of CN115339384A publication Critical patent/CN115339384A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/24Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a vehicle driving assistance system, a vehicle driving assistance method, a storage medium, and a vehicle. The vehicle driving assistance system includes a camera, a light source, and a processor. Wherein the light source is configured to project at least two spots into a field of view of the camera. The processor is used for controlling the camera and the light source and calculating the distance between a target object in the field of view of the camera and the vehicle according to the positions of the at least two light points in the picture, the parameters of the light source for emitting the at least two light points and the parameters of the camera when the picture with the at least two light points sent by the camera is received. The vehicle driving auxiliary system can calculate the distance between the target object and the vehicle by only one camera matched with the light source capable of emitting at least two light spots, so as to further assist the vehicle driving, and has the advantages of low cost, simple picture recognition and algorithm and higher efficiency.

Description

Vehicle driving assistance system, method, storage medium, and vehicle
Technical Field
The present invention relates to a vehicle driving assist system and a vehicle driving assist method, and particularly to a vehicle driving assist system, a vehicle driving assist method, a storage medium, and a vehicle.
Background
At present, almost all vehicles are provided with vehicle driving auxiliary systems, so that functions of lane keeping assistance, automatic parking assistance, brake assistance, backing assistance and the like can be realized, and the vehicle driving auxiliary systems of high-end vehicles can assist semi-automatic or automatic driving of the vehicles. Among the various functions of the vehicle driving assist system, a camera/a video camera is required to implement the functions of object detection, such as lane line detection, front vehicle detection, rear obstacle detection, pedestrian detection, etc. After the target is detected, the distance between the vehicle and the target generally needs to be detected, and even the surface profile of the target needs to be detected. The existing scheme for detecting the target distance through a camera is to detect the distance between a vehicle and a target (between the camera and the target) through the cooperation of two or more cameras. The scheme needs to arrange two or more than two cameras at the front part or the rear part of the vehicle, has higher cost and is not easy to popularize.
Disclosure of Invention
The invention aims to provide a vehicle driving assisting system and method and a storage medium, wherein the vehicle driving assisting system and method can realize target object distance detection to assist driving by only one camera, and a vehicle using the vehicle driving assisting system and method.
A vehicle driving assistance system includes a camera, a light source, and a processor. Wherein the light source is configured to project at least two spots into a field of view of the camera. The processor is used for controlling the camera and the light source and calculating the distance between a target object in the field of view of the camera and the vehicle according to the positions of the at least two light points in the picture, the parameters of the light source for emitting the at least two light points and the parameters of the camera when the picture with the at least two light points sent by the camera is received.
In one embodiment, the camera is fixed on or near an interior rear view mirror of the vehicle; the light sources are fixed on two sides of the camera or the light sources and the camera are integrally formed, or fixed on two side ends of the inside rear-view mirror or near the inside rear-view mirror or on the surface of a vehicle instrument desk.
In one embodiment, the camera is fixed to the rear of the vehicle and the light source is fixed to one or both sides of the camera.
In one embodiment, the light source comprises two light spot emitting devices; the two light spot emitting devices are respectively and symmetrically arranged at two sides of the camera and form an isosceles triangle with the camera or are positioned on the same straight line with the camera; in the initial state, the intersection point of the light rays emitted by the two light spot emitting devices is positioned on the optical axis of the camera.
In one embodiment, the light source comprises two light spot emitting devices; each light spot emission device comprises a light spot emission source, a fixing piece for fixing the light spot emission source and a driving device for driving the fixing piece to rotate or driving the light spot emission source to rotate on the fixing piece, and the driving device is connected with the processor and is controlled by the processor.
In one embodiment, the light source comprises two light spot emitting devices; each light spot emission device comprises a plurality of light spot emission sources and a fixing piece for fixing the plurality of light spot emission sources; the processor is further configured to control the plurality of spot emission sources to emit spots at predetermined logic to cause the spots to appear at different locations within the field of view of the camera.
In one embodiment, the light source comprises a light spot emitting device; the light spot emission device comprises a plurality of light spot emission sources, a fixing piece for fixing the light spot emission sources and a driving device for driving the fixing piece to rotate, and the driving device is connected with the processor and is controlled by the processor; the processor is also used for controlling the plurality of light spot emission sources to emit light spots in a preset logic manner so that the light spots appear at different positions in the visual field of the camera, and simultaneously, the processor can also control the driving device to drive the fixing piece or the plurality of light spot emission sources to move so as to enlarge the appearing range of the light spots.
A vehicle driving assist method comprising the steps of:
s10, controlling a light source to project at least two light spots into the visual field of the camera;
s12, receiving a picture shot by the camera;
s14, analyzing the picture, and identifying the positions of the at least two light spots in the picture;
s16, calculating the distance between a target object in the camera view and the vehicle according to the positions of at least two light spots in the picture, the parameters of the at least two light spots emitted by the light source and the parameters of the camera; and
and S18, assisting the vehicle driving according to the distance between the target object and the vehicle.
As one embodiment, the driving assistance method for vehicle further includes the steps of:
s20, controlling the light source to change the positions of at least two light spots projected to the visual field range of the camera;
s22, receiving a picture shot by the camera;
s24, analyzing the picture received in the step S22, and identifying parameters of the at least two light spots in the picture;
s26, calculating the outline of the target object in the camera view according to the parameters of the at least two light spots obtained in the step S24, the parameters of the at least two light spots emitted by the light source in the step S20 and the parameters of the camera; and
and S28, assisting vehicle driving according to the contour of the target object.
As an embodiment, in step S20, the method of changing the positions of the at least two light points projected into the field of view of the camera is one of the following methods: 1) Driving the light source to rotate; 2) The light source comprises a plurality of light spot emission sources and a fixing piece for fixing the light spot emission sources, and the light spot emission sources are controlled to emit light spots in preset logic so that the light spots appear at different positions in the visual field range of the camera; 3) And driving the light source to move.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method as set forth above.
A vehicle is equipped with the above-described driving assistance system for vehicle, which executes the above-described driving assistance method for vehicle in operation.
The vehicle driving auxiliary system can calculate the distance between the target object and the vehicle by only one camera matched with the light source capable of emitting at least two light spots, so as to further assist the vehicle driving, and has the advantages of low cost, simple picture recognition and algorithm and higher efficiency.
Drawings
Fig. 1 is a schematic diagram of detection of a target object distance in the vehicle driving assistance system according to the first embodiment.
Fig. 2 is a schematic view of a light source structure of the driving assistance system for vehicle according to the first embodiment.
Fig. 3 is a schematic diagram of detection of a contour of an object in the vehicle driving assistance system according to the first embodiment.
Fig. 4 is a schematic view of the vehicle driving assistance system and the light source according to the second embodiment.
Detailed Description
The driving assistance system, method, and vehicle according to the present invention will be described in further detail with reference to the following embodiments and the accompanying drawings.
The vehicle of the present invention is equipped with a vehicle driving assist system that is innovative in performing distance detection and contour detection on a target object using a single camera and a light source. As shown in fig. 1 and 2, in the first embodiment, the vehicle driving assistance system for implementing the function includes a camera 10, two light spot emitting devices 12 and 13, and a processor 14. The camera 10 and the light spot emitting devices 12 and 13 are integrated into a whole, the effective camera module (including the lens, the lens motor and the imaging module) of the camera 10 is located in the middle of the camera, the light spot emitting devices 12 and 13 are symmetrically arranged at two ends of the camera, and form an isosceles triangle with the effective camera module of the camera or are located on the same straight line with the effective camera module. In the initial state, the intersection of the light rays emitted by the two light spot emitting devices 12, 13 is located on the optical axis of the camera 10, and the light spot emitting devices 12, 13 are arranged to project light spots only into the field of view of the camera 10. The processor 14 is electrically connected with the camera 10 and the light spot emitting devices 12 and 13, and is used for controlling the camera 10 and the light spot emitting devices 12 and 13, and calculating the distance between the target object in the camera view and the vehicle according to the positions of the two light spots in the picture, the parameters of the two light spots emitted by the light spot emitting devices 12 and 13 and the parameters of the camera 10 when receiving the picture with the two light spots sent by the camera 10. It will be appreciated that the processor 14 is provided with a memory for archiving the various parameters of the spot emitting device and the camera, and also stores a driving assistance program.
In this embodiment, the light spot emitting devices 12 and 13 may be light source devices such as laser emitters that can emit narrow beams or parallel beams with good directivity. The integrated camera 10 and the light spot emitting devices 12 and 13 may be disposed on or at one side of the interior mirror or near the interior mirror of the vehicle, or may be disposed on the surface of the instrument panel of the vehicle for identifying and measuring the distance of the target object in front of the vehicle. When the vehicle also needs to recognize and measure an obstacle behind the vehicle, the camera 10 and the light spot emission devices 12 and 13 may be disposed at the rear of the vehicle. When the vehicle also needs to recognize and measure the distance of obstacles on both sides of the vehicle, the integrated camera 10 and the light spot emitting devices 12 and 13 may be disposed on the side of the vehicle, for example, on the left and right rear-view mirrors or built in the holes on the side walls of the vehicle.
Each spot emission device 12/13 includes a spot emission source 121, a fixing member 122 for fixing the spot emission source 121, and a driving device 123 for driving the fixing member 122 to rotate. The driving device 123 is connected to the processor 14 and is controlled by the processor 14. In this embodiment, the fixing member 122 is an approximately semicircular plate, the light spot emitting source 121 is fixed on the fixing member 122, the driving device 123 is a mechanical driving type driving device or an electronic driving device, which is a motor in this embodiment, an output shaft of the motor is connected to the bottom of the fixing member 122, and the motor drives the fixing member 122 to rotate when rotating, so as to drive the light spot emitting source 121 to rotate, so that the two emitted light spots are projected to move within the field of view of the camera.
The light spot emitting devices 12 and 13 of the present invention are arranged to project two light spots on the vehicle or the pedestrian when the vehicle or the pedestrian is present within a predetermined distance in front of the vehicle.
In this embodiment, the processor executes the vehicle driving support program to implement the vehicle driving support method, and includes the following steps.
S10, controlling the light spot emitting devices 12 and 13 to project two light spots into the visual field of the camera 10. The spot emitting devices 12, 13 are now in the initial position.
And S12, receiving the picture shot by the camera 10.
And S14, analyzing the picture obtained in the step S12, and identifying the positions of the two light spots in the picture.
Specifically, when there is no object (for example, a vehicle or a pedestrian) within a preset distance in front of the vehicle, the light spot may not be identified in the picture, or the parameters of the identified light spot do not meet the requirements, for example, the brightness value or the gray value of the light spot is lower than a preset value, it is determined that there is no object within the preset distance, and steps S10 to S14 are repeatedly performed. When the light spots meeting the requirements are identified in the picture, the position parameters of the two light spots are determined. Alternatively, the on and off states of the light source may be alternated to obtain images of the light source in two states, and the images in the two states are compared. If the difference is large, judging that a target exists and the light spot irradiates on the target, otherwise, judging that no target object exists.
And S16, calculating the distance between the target object and the vehicle in the camera view according to the positions of the two light spots obtained in the step S14, the parameters of the two light spots emitted by the light spot emitting devices 12 and 13 and the parameters of the camera 10.
Specifically, referring to fig. 1, when an object appears in front of the vehicle (in front of the camera) within a preset distance, the light spot emitting devices 12, 13 project two light spots D, C on the surface of the object, and an intersection point of the optical axis of the camera 10 and the surface of the object is defined as F. At this time, the distance between the point E and the point F, that is, the distance between the camera and the target object can be calculated by using a geometric rule according to the mounting positions (marked as a and B in fig. 1) of the light spot emitting devices 12 and 13, the mounting position (marked as E in fig. 1) of the camera 10, the included angle between the light beams emitted by the light spot emitting devices 12 and 13 and the optical axis, and the distance between the light spots D and C, and the distance between the vehicle and the target object can be obtained.
And S18, assisting the vehicle driving according to the distance between the target object and the vehicle obtained in the step S16, for example, decelerating, and giving a reminder to the driver.
After the distance between the vehicle and the target object is determined, the contour of the target object can be further determined by controlling the movement of the two light spots. According to actual requirements, the present embodiment determines only the contour of the target object in the vehicle width direction. The spot is thus moved substantially horizontally away from the optical axis of the camera.
S20, the fixing members 122 of the light spot emitting devices 12 and 13 are controlled to rotate, so as to change the positions of the two light spots projected by the light spot emitting source 121 to the visual field of the camera 10.
S22, a picture taken by the camera 10 after the light spot is moved is received.
And S24, analyzing the picture received in the step S22, and identifying the parameters of the two light spots in the picture.
And S26, calculating the outline of the target object in the camera view according to the parameters of the two light spots obtained in the step S24, the parameters of the two light spots emitted by the light spot emitting devices 12 and 13 in the step S20 (namely the change of the light beam emission angle) and the parameters of the camera.
Specifically, when any one of the light spots moves to one side of the target object, the parameters of the light spot in the obtained picture may not meet the requirements immediately (for example, the brightness value of the light spot is lower than a preset value), or the brightness value/gray level significantly decreases, and the position of the previous light spot is determined to be the boundary of the target object, so that the contour of the target object can be obtained. This principle can be seen with reference to fig. 3, when a plurality of light spots are projected on a rabbit, the light spots projected on the surface of the rabbit are disappeared or ignored, and the light spots projected on the surface of the rabbit appear at different positions due to the unevenness of the surface of the rabbit, thereby obtaining the contour of the rabbit.
And S28, assisting the vehicle driving according to the contour of the target object obtained in the step S26, for example, when the front is judged to be a heavy vehicle, increasing the distance through deceleration, and when the front is judged to be a motorcycle or a bicycle, decelerating and reminding the driver.
While in the first embodiment described above the camera 10 and the light-emitting means 12, 13 (i.e. the light source) are integrated, it will be understood that in other embodiments the camera and the two light-emitting means can be divided into three separate bodies, each of which is fixed in a predetermined position on the vehicle, for example, the camera is fixed to the support of the vehicle interior rear-view mirror, preferably to a non-rotatable part of the support of the vehicle interior rear-view mirror, or to the front windscreen of the vehicle (close to the interior rear-view mirror or to the instrument desk), or to the surface of the instrument desk. The two light-spot emitting devices can be fixed on the front windshield of the vehicle or the surface of the instrument desk of the vehicle. Of course, the light source can also be fixed on both sides of the camera by fixing pieces. So, camera and two light spot emission device's mounted position are predetermined, and when using to same motorcycle type, the distance between camera and the light source, the relation between light spot emission angle and the optical axis are the same, easy popularization.
In another modification, the camera can be fixed on the inside rear-view mirror of the vehicle, the two light-spot emission devices can be fixed at two side ends of the inside rear-view mirror, when the inside rear-view mirror is adjusted in angle, the camera and the light-spot emission devices are synchronously adjusted, the visual field range of the camera is changed, but the interaction parameters of the camera and the light-spot emission devices are not changed, the implementation of the vehicle driving assistance method is not influenced, and the scheme is easy to implement and popularize.
In other embodiments, the fixed positions of the camera and the two light spot emitting devices may not be fixed (non-preset), and when the vehicle driving assistance method is applied, the mutual position relationship between the camera and the two light spot emitting devices and the angular relationship between the light spot emitting direction and the optical axis direction need to be calibrated first.
In the first embodiment, the light spot emitting devices 12 and 13 are disposed on two sides of the camera 10 substantially symmetrically, it can be understood that in other embodiments, two light spot emitting devices may be disposed on two sides of the camera, but are not symmetrical, and even two light spot emitting devices may be disposed on one side of the camera, so long as the geometric relationship between the three is determined, the vehicle driving assistance method can be implemented.
In the first embodiment, the driving device 123 drives the fixing element 122 to rotate, so as to drive the light spot emission source 121 to move. It is understood that in other embodiments, the fixing member may be stationary, and the driving device is connected to the light spot emission source through a hole on the fixing member, and the driving device directly drives the light spot emission source to rotate.
In other embodiments, the fixing member 122 may be replaced by other fixing structures, and may be a three-dimensional bracket, or a circular truncated cone or a frustum of a cone, so long as the purpose of fixing the light spot emitting device or rotatably connecting the light spot emitting device is achieved.
In other embodiments, the fixing member 122 can be eliminated, and the light spot emitting device is directly connected to and fixed to the driving device. For example, the surface of the instrument desk is provided with a through hole, the light spot emitting device extends out of the instrument desk, and the driving device is positioned in the instrument desk.
In other embodiments, the light spot emitting device can use a universal driving device to drive the light spot emitting source to move on a spherical surface, so that the moving range of the light spot can cover the field of view of the camera, and the outline of the target object can be better identified.
In the vehicle driving assistance method according to the first embodiment, the driving device 123 drives the light spot emission source 121 to move substantially horizontally, so as to determine the profile of the target object in the width direction (horizontal direction) of the vehicle body. It will be appreciated that in other embodiments, the drive means may also move the two spot emitting sources substantially vertically to determine the profile of the target object in the vertical direction. In other embodiments, the driving device can drive one of the light spot emission sources to move in the horizontal direction and drive the other light spot emission source to move in the vertical direction, so as to determine the profile of the target object in the horizontal and vertical directions. In this case, two motors may be required to drive the light-emitting source to move respectively, or one motor may be used to realize driving forces in two directions in cooperation with a transmission device such as a rack/transmission wheel.
As shown in fig. 4, a light spot emitting device 16 is adopted in the vehicle driving support system according to the second embodiment of the present invention. In the second embodiment, the driving assistance system for vehicle mainly includes a camera, two light spot emitting devices 16 and a processor. The second embodiment is different from the first embodiment and the modifications thereof mainly in that: the structure of the light spot emitting device 16 and the light spot emitting devices 12 and 13 is different. Each spot emission device 16 includes a plurality of spot emission sources 161 and a fixing member 162 for fixing the plurality of spot emission sources 161. The fixing member 162 is a substantially semicircular plate, and the plurality of light spot emission sources 161 are radially fixed to the fixing member 162 and may be provided in one or more layers. In operation, the processor controls the plurality of light spot emitting sources 161 to emit light spots at predetermined logic positions such that the light spots appear at different locations within the field of view of the camera, and when a target object appears within a predetermined distance in front of the vehicle, the current light spot may appear at a predetermined position on the surface of the target object to calculate the distance between the vehicle/camera and the target object. These spots can then be positionally varied to thereby calculate the profile of the target object. The preset logic may be that at least two light spot emission sources are sequentially driven from left to right, from right to left, or from the center to both sides to project at least two light spots in turn.
In terms of the driving method, the second embodiment replaces the driving device 123 in the first embodiment with a plurality of light spot emission devices 16. The vehicle driving assistance method according to the second embodiment is similar to the vehicle driving assistance method according to the first embodiment, and is not described again.
It is understood that in the second variant, the fixing member may be a sphere, a hemisphere or a spherical table, and a plurality of holes extending in the radial direction may be formed in the fixing member, and each light-spot emission source is inserted into one of the holes. Therefore, in the identification of the outline of the target object, the horizontal direction and the vertical direction of the target object can be simultaneously identified, even the outline of 360 degrees can be identified, and the effect is equivalent to that a universal driving device is adopted to drive the light spot emission source to move on the spherical surface.
In a modification of the second embodiment, one light spot emission device may be used instead of the two light spot emission devices 16 of the second embodiment. In this embodiment, the light spot emitting device may include a plurality of light spot emitting sources, a fixing member for fixing the plurality of light spot emitting sources, and a driving device for driving the fixing member to rotate. The driving device is connected with the processor and is controlled by the processor. The processor can control the plurality of light spot emission sources to emit light spots in preset logic so that at least two light spots appear at different positions of the target object to calculate the distance between the vehicle/camera and the target object. The processor can also control the driving device to drive the fixing piece or the plurality of light spot emission sources to move, so that the range of the light spots is enlarged, and the profile of the target object is calculated.
In conclusion, the vehicle driving auxiliary system can calculate the distance between the target object and the vehicle by only one camera matched with the light source capable of emitting at least two light spots, so as to assist the vehicle driving, and has the advantages of low cost, simple picture recognition and algorithm and higher efficiency.
In the description of the present invention, it is to be understood that terms such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, which indicate orientations or positional relationships, are used based on the orientations or positional relationships shown in the drawings only for the convenience of describing the present invention and for the simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
While the invention has been described in conjunction with the specific embodiments set forth above, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, it is intended to embrace all such alternatives, modifications, and variations that fall within the spirit and scope of the appended claims.

Claims (11)

1. A vehicle driving assist system characterized by comprising:
a camera;
a light source for projecting at least two spots of light into a field of view of the camera;
and the processor is used for controlling the camera and the light source and calculating the distance between the target object and the vehicle in the field of view of the camera according to the positions of the at least two light points in the picture, the parameters of the light source for emitting the at least two light points and the parameters of the camera when the picture with the at least two light points sent by the camera is received.
2. The vehicle driving assist system recited in claim 1, wherein the camera and the light source are fixed in one of: (1) The camera is fixed on or near an interior rear view mirror of the vehicle; the light sources are fixed on two sides of the camera or the light sources and the camera are integrally formed, or fixed at two side ends of the inside rear-view mirror or near the inside rear-view mirror or on the surface of a vehicle instrument desk; (2) The camera is fixed at the tail of the vehicle, and the light source is fixed at one side or two sides of the camera.
3. The vehicular drive assist system according to claim 1, characterized in that the light source includes two light spot emitting devices; the two light spot emitting devices are respectively symmetrically arranged at two sides of the camera and form an isosceles triangle with the camera or are positioned on the same straight line with the camera; in an initial state, the intersection point of the light rays emitted by the two light spot emitting devices is positioned on the optical axis of the camera.
4. The vehicular drive assist system according to claim 1, characterized in that the light source includes two light spot emitting devices; each light spot emission device comprises a light spot emission source, a fixing piece for fixing the light spot emission source and a driving device for driving the fixing piece to rotate or driving the light spot emission source to rotate on the fixing piece, and the driving device is connected with the processor and is controlled by the processor.
5. The vehicular drive assist system according to claim 1, characterized in that the light source includes two light spot emitting devices; each light spot emission device comprises a plurality of light spot emission sources and a fixing piece for fixing the plurality of light spot emission sources; the processor is further configured to control the plurality of spot emission sources to emit spots at predetermined logic to cause the spots to appear at different locations within the field of view of the camera.
6. The vehicular drive assist system according to claim 1, wherein the light source includes a light spot emitting device; the light spot emission device comprises a plurality of light spot emission sources, a fixing piece for fixing the light spot emission sources and a driving device for driving the fixing piece to rotate, and the driving device is connected with the processor and is controlled by the processor; the processor is also used for controlling the plurality of light spot emission sources to emit light spots in a preset logic manner so that the light spots appear at different positions in the visual field of the camera, and simultaneously, the processor can also control the driving device to drive the fixing piece or the plurality of light spot emission sources to move so as to enlarge the appearing range of the light spots.
7. A vehicle driving assist method characterized by comprising the steps of:
s10, controlling a light source to project at least two light spots into the visual field of the camera;
s12, receiving a picture shot by the camera;
s14, analyzing the picture, and identifying the positions of the at least two light spots in the picture;
s16, calculating the distance between a target object in the camera view and the vehicle according to the positions of at least two light spots in the picture, the parameters of the at least two light spots emitted by the light source and the parameters of the camera; and
and S18, assisting the vehicle driving according to the distance between the target object and the vehicle.
8. The vehicular drive assist method according to claim 7, characterized by further comprising the step of:
s20, controlling the light source to change the positions of at least two light spots projected to the visual field range of the camera;
s22, receiving a picture shot by the camera;
s24, analyzing the picture received in the step S22, and identifying parameters of the at least two light spots in the picture;
s26, calculating the outline of the target object in the camera view according to the parameters of the at least two light spots obtained in the step S24, the parameters of the at least two light spots emitted by the light source in the step S20 and the parameters of the camera; and
and S28, assisting vehicle driving according to the contour of the target object.
9. The vehicle driving assist method according to claim 8, wherein the method of changing the positions of the at least two light points projected into the field of view of the camera in step S20 is one of:
1) Driving the light source to rotate; 2) The light source comprises a plurality of light spot emission sources and a fixing piece for fixing the light spot emission sources, and the light spot emission sources are controlled to emit light spots in preset logic so that the light spots appear at different positions in the visual field range of the camera; 3) And driving the light source to move.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 7 to 9.
11. A vehicle, characterized by being loaded with the vehicular drive assist system according to claim 1, which in operation executes the vehicular drive assist method according to claim 7.
CN202210991686.XA 2022-08-18 2022-08-18 Vehicle driving assistance system, method, storage medium, and vehicle Pending CN115339384A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210991686.XA CN115339384A (en) 2022-08-18 2022-08-18 Vehicle driving assistance system, method, storage medium, and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210991686.XA CN115339384A (en) 2022-08-18 2022-08-18 Vehicle driving assistance system, method, storage medium, and vehicle

Publications (1)

Publication Number Publication Date
CN115339384A true CN115339384A (en) 2022-11-15

Family

ID=83951367

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210991686.XA Pending CN115339384A (en) 2022-08-18 2022-08-18 Vehicle driving assistance system, method, storage medium, and vehicle

Country Status (1)

Country Link
CN (1) CN115339384A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024165997A1 (en) * 2023-02-09 2024-08-15 Gentex Corporation Mirror rotation calibration

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003002138A (en) * 2001-06-19 2003-01-08 Toshiba Corp Method and device for on-vehicle rear monitoring
US20080048887A1 (en) * 2006-08-24 2008-02-28 Takata Corporation Vehicle occupant detection system
US20170307759A1 (en) * 2016-04-26 2017-10-26 Cepton Technologies, Inc. Multi-Range Three-Dimensional Imaging Systems
US20190253696A1 (en) * 2018-02-14 2019-08-15 Ability Opto-Electronics Technology Co. Ltd. Obstacle warning apparatus for vehicle
CN110673150A (en) * 2018-07-02 2020-01-10 宏碁股份有限公司 Three-dimensional sensing system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003002138A (en) * 2001-06-19 2003-01-08 Toshiba Corp Method and device for on-vehicle rear monitoring
US20080048887A1 (en) * 2006-08-24 2008-02-28 Takata Corporation Vehicle occupant detection system
US20170307759A1 (en) * 2016-04-26 2017-10-26 Cepton Technologies, Inc. Multi-Range Three-Dimensional Imaging Systems
US20190253696A1 (en) * 2018-02-14 2019-08-15 Ability Opto-Electronics Technology Co. Ltd. Obstacle warning apparatus for vehicle
CN110673150A (en) * 2018-07-02 2020-01-10 宏碁股份有限公司 Three-dimensional sensing system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024165997A1 (en) * 2023-02-09 2024-08-15 Gentex Corporation Mirror rotation calibration

Similar Documents

Publication Publication Date Title
CN102768808B (en) The apparatus and method of auxiliary driver
JP5310602B2 (en) Perimeter monitoring system for vehicles
US10386043B1 (en) Outer display lighting apparatus of vehicle
KR20180095660A (en) Lada scanning device on the car
KR20020015988A (en) Vehicle blind spot mirror
JP3905410B2 (en) Vehicle driving support device
US11892539B2 (en) Measurement device, measurement method, and non-transitory storage medium
US20240317132A1 (en) Automatic Light Alignment
CN115339384A (en) Vehicle driving assistance system, method, storage medium, and vehicle
CN112805180B (en) Method for controlling a module for projecting a pixelated light beam of a vehicle
US10857943B2 (en) Vehicle surroundings display device
EP2642750B1 (en) Imaging device and control system having the device
US11214197B2 (en) Vehicle surrounding area monitoring device, vehicle surrounding area monitoring method, vehicle, and storage medium storing program for the vehicle surrounding area monitoring device
US11100353B2 (en) Apparatus of controlling region of interest of image and method for controlling the same
EP0762140B1 (en) Position sensing system for vehicles
JP2008268088A (en) Support device for adjusting mounting angle of on-vehicle radar
US11557234B1 (en) Windshield zone dimming and augmented reality head up display
JP2007279958A (en) Apparatus for detecting outside mirror
EP3945300A1 (en) Adas calibration system for calibrating at least one headlamp of a vehicle
JP4664219B2 (en) Irradiation direction control device for vehicular lamp
CN115195600A (en) Control device, method for operating control device, and storage medium
JP2021077976A (en) On-vehicle display system
JP2020104545A (en) Device for detecting inclination in vehicle outside region
KR20120074822A (en) Parking assistant system for vehicle
JP2014100957A (en) Parking support device and control device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination