CN115593313A - Vehicle driving auxiliary system - Google Patents

Abstract

The present application relates to a vehicle driving assist system including: the electronic rearview mirror comprises an electronic rearview mirror camera, an ADAS sensing module, a display module and a control module, wherein the electronic rearview mirror camera, the ADAS sensing module and the display module are respectively connected with the control module; the electronic rearview mirror camera is used for acquiring a first image around the vehicle; the ADAS sensing module is used for acquiring environmental perception information around the vehicle; the control module is used for receiving the first image, processing the first image according with the image processing standard of the electronic rearview mirror to obtain a second image, and generating driving aid decision-making information according to the first image and the environmental perception information; and the display module is used for displaying the second image. By the aid of the vehicle driving auxiliary system, the number of cameras and controllers is reduced, the cost of the system is reduced, and the accuracy of ADAS control and the image transmission efficiency are improved.

Description

Vehicle driving auxiliary system

Technical Field

The present application relates to the field of vehicle driving assistance, and in particular, to a vehicle driving assistance system.

Background

In the related art, the electronic rearview mirror of the vehicle is an independent product system, which includes a camera, an outer bracket, a controller and a display, and since the regulations of the electronic rearview mirror are mandatory regulatory standards and the requirements for the number of pixels and frames of the electronic rearview mirror are high, the camera of the electronic rearview mirror is a separately installed high-standard camera, and in addition, the controller of the electronic rearview mirror is also an independently installed independent part, which causes an increase in the cost of the vehicle driving assistance system.

At present, no effective solution is provided for the problem of high cost of a vehicle driving assistance system in the related art.

Disclosure of Invention

The embodiment of the application provides a vehicle driving assisting system, which at least solves the problem that the vehicle driving assisting system in the related art is high in cost.

An embodiment of the present application provides a vehicle driving assistance system, including: the electronic rearview mirror comprises an electronic rearview mirror camera, an ADAS sensing module, a display module and a control module;

the electronic rearview mirror camera, the ADAS sensing module and the display module are respectively connected with the control module; wherein the content of the first and second substances,

the electronic rearview mirror camera is used for acquiring a first image around the vehicle;

the ADAS sensing module is used for acquiring environmental perception information around the vehicle;

the control module is used for receiving the first image, processing the first image according with the image processing standard of an electronic rearview mirror to obtain a second image, and generating driving aid decision-making information according to the first image and the environmental perception information;

and the display module is used for displaying the second image.

In some of these embodiments, the control module comprises: and the deserializer is used for receiving the first image collected by the electronic rearview mirror camera and decoding the first image.

In some of these embodiments, the control module further comprises: the electronic rearview mirror processing chip and the ADAS processing chip are respectively connected with the deserializer.

In some of these embodiments, the electronic rearview mirror processing chip is configured to: and when the resolution of the first image is greater than a first pixel threshold and the frame number is greater than a first frame number threshold, receiving the first image, and performing visual image algorithm processing on the first image to obtain the second image.

In some of these embodiments, the ADAS processing chip is configured to: and when the resolution of the first image is greater than a second pixel threshold and the frame number is greater than a second frame number threshold, receiving the first image, performing algorithm fusion on the first image and the environmental perception information, and generating the driving assistance decision information.

In some embodiments, the electronic rearview mirror processing chip and the ADAS processing chip communicate with each other via a data communication protocol; wherein, the first and the second end of the pipe are connected with each other,

the electronic rearview mirror processing chip can acquire environment perception information in the ADAS processing chip, obtain an alarm prompt corresponding to the environment perception information according to vehicle functions and user requirements, and send the alarm prompt to the display module;

the ADAS processing chip can monitor the electronic rearview mirror processing chip, and when the electronic rearview mirror processing chip is abnormal, the electronic rearview mirror processing chip is reset and alarms.

In some of these embodiments, the control module further comprises: a control chip connected to the deserializer, wherein the control chip is configured to receive the first image when the resolution of the first image is greater than a third pixel threshold and the frame number is greater than a third frame number threshold.

In some of these embodiments, the control chip includes: a first vision processing module configured to:

calling an electronic rearview mirror proprietary algorithm to perform algorithm processing on the first image to obtain a second image; calling a common algorithm to perform algorithm processing on the first image to obtain a first algorithm processing result; the special algorithm of the electronic rearview mirror conforms to the image processing standard of the electronic rearview mirror, and the common algorithm conforms to the image processing standard of the electronic rearview mirror and the ADAS.

In some of these embodiments, the control chip includes: a second vision processing module configured to:

and calling an ADAS special algorithm and the common algorithm, and carrying out algorithm processing on the first image to obtain a second algorithm processing result, wherein the ADAS special algorithm accords with an ADAS image processing standard.

In some of these embodiments, the first vision module is further configured to:

and the first vision module compares and analyzes the first algorithm processing result and the second algorithm processing result to obtain an analysis result, and transmits the analysis result to the second vision module through inter-core communication.

In some of these embodiments, the second vision module is further configured to:

and determining whether to generate driving assistance decision information or not according to the analysis result.

Compared with the related art, the vehicle driving auxiliary system provided by the embodiment of the application has the advantages that the electronic rearview mirror and the ADAS share the camera and the controller in a domain control mode, images around a vehicle are collected and processed, and the images are simultaneously used for image display of the electronic rearview mirror and decision information processing of the ADAS, so that the number of the cameras is reduced, the number of control chips is reduced, the image quality and the transmission efficiency are guaranteed, the beneficial effect of cost reduction is achieved, and the problem that the vehicle driving auxiliary system in the related art is high in cost is solved.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a hardware system block diagram of a discrete electronic rearview mirror in the related art;

FIG. 2 is a first schematic structural diagram of a driving assistance system for vehicle according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a driving assistance system for vehicle according to an embodiment of the present application;

FIG. 4 is a third schematic structural diagram of a driving assistance system for vehicle according to an embodiment of the present application;

FIG. 5 is a first flowchart illustrating operation of the driving assistance system for vehicle according to an embodiment of the present application;

fig. 6 is a flowchart of a second operation of the driving assistance system for vehicle according to the embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.

It is obvious that the drawings in the following description are only examples or embodiments of the present application, and that it is also possible for a person skilled in the art to apply the present application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.

Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of describing the invention (including a single reference) are to be construed in a non-limiting sense as indicating either the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The term "plurality" as referred to herein means two or more.

The CMS collects road information behind the vehicle through a camera, processes image information and transmits the image information to a display in real time to show the image information to a driver.

The ADAS is an advanced driving assistance system, the core function of the ADAS is environmental perception, a plurality of sensors installed on a vehicle are utilized to collect environmental data around the vehicle, and the environmental data is combined with map data to carry out system calculation, so that dangers possibly occurring are judged for a driver in advance, corresponding decisions are made, and the safety of a driving process is guaranteed.

Fig. 1 is a block diagram of a hardware system of a discrete electronic rearview mirror in the related art, since the legal standard requirement of the electronic rearview mirror is high, an independent camera 11 and a controller 12 are required to acquire and process an image, and finally the image is displayed on a display 13. This results in an increase in the number of cameras and controllers required for the vehicle, which increases the cost of the vehicle.

Fig. 2 is a schematic diagram of the overall hardware structure of the vehicle driving assistance system in an embodiment of the present application. As shown in fig. 2, the present embodiment provides a vehicle driving assistance system including an electronic rearview mirror camera 21, an ADAS sensing module 22, a control module 23, and a display module 24.

The respective configurations of the driving assistance system for vehicle will be specifically described below with reference to fig. 2:

the electronic rearview mirror camera 21 includes a left camera 211 and a right camera 212, and is configured to capture a first image around the vehicle, and transmit the captured first image to the control module 23 through a GMSL (gigabit multimedia serial link) for subsequent processing. In particular, the electronic rearview mirror camera 21 adopted by the application has pixels of 200W and the number of frames of more than 60 frames.

The ADAS sensing module 22 is configured to collect environmental awareness information around the vehicle, and transmit the collected environmental awareness signal to the control module 23 for subsequent processing through a CANFD (controller area network bus) or a GMSL. Wherein, ADAS sensing module 22 includes the vision camera, like look around camera, foresight camera, look sideways at the camera, look after camera etc. in addition, ADAS sensing module 22 still includes the distance perception radar of other visuals or frequency channels such as angle radar, lidar.

The control module 23 is configured to receive the first image, perform data processing on the first image according to an image processing standard of the electronic rearview mirror to obtain a second image, and generate driving assistance decision information according to the first image and the environmental awareness information obtained by the ADAS sensing module 22. I.e. the control module 23 is a controller common to the electronic rearview mirror and the ADAS. After receiving the first image, the control module processes the first image according to a visual image processing algorithm to obtain a second image, wherein the second image is a real-time image meeting the image processing standard of the electronic rearview mirror, and the control module 23 outputs the second image to the display module 24 in a video stream form after the processing is finished; meanwhile, the control module performs algorithm fusion on the first image and the environment perception information, performs corresponding decision processing according to the function configuration of the ADAS after fusion, and outputs the decision information to a corresponding human-computer interaction interface through GMSL (gigabit multimedia serial link) or LVDS (low voltage differential signaling) or to other controllers of the vehicle through CANFD. The control module 23 is connected to the vehicle at a constant 12V or 24V and supplies power to the electronic rearview mirror camera 21 through the GMSL.

The display module 24, which includes a left display 241 and a right display 242, is connected to the control module 23 through GMSL, receives the second image output by the control module 23, and displays a view required by the electronic rearview mirror regulations on the left display 241 and the right display 242.

The enable pin of the display module 24 is connected to the control module 23 via an I/O interface (input/output interface), and the display module 24 may control the display switch by the control module 23 when the vehicle driving assistance system is cold-started.

In summary, the embodiment of the application provides a vehicle driving assistance system, and the electronic rearview mirror and the ADAS share the camera, and the first image acquired by the camera is utilized, so that the use number of the camera is reduced, and the problem of high cost of the vehicle driving assistance system is solved. In addition, the electronic rearview mirror camera has certain quantification and standard requirements on image picture quality, so that the output image quality is high, and the accuracy of ADAS control is improved by adopting the first image for decision making. Moreover, the electronic rearview mirror and the ADAS share one processing chip to process the second image and the decision information, so that the using number of control chips is reduced, the cost is reduced, the processing capacity and the processing speed of the image are greatly improved due to the higher processing performance of the ADAS, the delay time of the image transmission to the display is reduced, and the image transmission and processing efficiency is improved.

Those skilled in the art will appreciate that the vehicle driving assistance system configuration shown in fig. 2 does not constitute a limitation of the camera, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.

As shown in fig. 2, on the basis of the above embodiments, in some embodiments, the control module 23 further includes a deserializer 231 for receiving the first image collected by the electronic rearview mirror camera and decoding the first image. Since the first image collected by the electronic rearview mirror camera 21 is sent to the control module after being serialized, the deserializer 231 is further required to decode the serialized first image, and after decoding, the deserializer 231 further divides the first image into pixels and frames so as to transmit the image in a targeted manner according to different requirements of the electronic rearview mirror and the ADAS.

As shown in fig. 3, on the basis of the above embodiments, in some embodiments, fig. 3 is a structural diagram of a manner in which the electronic rearview mirror and the ADAS share the controller according to the present application. In this manner, the control module 23 further includes an electronic rearview mirror processing chip 31 and an ADAS processing chip 32, wherein the deserializer 231 is configured as two outputs, and the electronic rearview mirror processing chip 31 and the ADAS processing chip 32 are respectively connected to the deserializer 231 and respectively receive and process the first image independently.

On the basis of the above embodiments, in some of them, the electronic rearview mirror processing chip 31 is configured to: and when the resolution of the first image is greater than the first pixel threshold and the frame number is greater than the first frame number threshold, receiving the first image, and performing visual image algorithm processing on the first image to obtain a second image.

Based on the above embodiments, in some of the embodiments, the ADAS processing chip 32 is configured to: and when the resolution of the first image is greater than the second pixel threshold and the frame number is greater than the second frame number threshold, receiving the first image, and performing algorithm fusion on the first image and the environmental perception information to generate driving assistance decision information.

Specifically, since the resolution and the frame number of the images required by the electronic rearview mirror and the ADAS are different, the deserializer 231 is required to divide the first image into pixels and frames, and transmit the first image with different pixels and frames to the electronic rearview mirror processing chip 31 and the ADAS processing chip 32. The resolution of the electronic rearview mirror processing chip 31 can be set according to the requirement, and the frame number requirement is more than 30 frames; the ADAS processing chip 32 requires 200W or more pixels in resolution and 60 frames or more in number. The setting can be carried out according to the requirement, and the frame number requirement is more than 30 frames. Namely, the first pixel threshold is 200W, and the first frame number threshold is 60 frames; the first pixel threshold is a set value according to requirements, and the first frame number threshold is 30 frames; the second pixel threshold is 200W and the second frame number threshold is 60 frames.

After receiving the first image meeting the requirement, the electronic rearview mirror processing chip 31 may further perform a visual image algorithm processing on the first image to obtain a second image.

After receiving the first image meeting the requirement, the ADAS processing chip 32 may further perform unmanned driving algorithm and visual processing on the first image, and perform algorithm fusion with the environmental perception information of the ADAS sensing module 22 to generate driving aid decision information.

On the basis of the above embodiments, in some of the embodiments, the electronic rearview mirror processing chip 31 and the ADAS processing chip 32 communicate with each other through a data communication protocol; wherein the content of the first and second substances,

the electronic rearview mirror processing chip 31 can acquire the environmental perception information in the ADAS processing chip 32, obtain an alarm prompt corresponding to the environmental perception information according to the vehicle function and the user requirement, and send the alarm prompt to the display module 24;

the ADAS processing chip 32 can monitor the electronic rearview mirror processing chip 31, and when the electronic rearview mirror processing chip 31 is abnormal, the electronic rearview mirror processing chip 31 is reset and an alarm is given.

Specifically, the electronic rearview mirror processing chip 31 and the ADAS processing chip 32 communicate with each other through more than 1-way SPI (serial peripheral interface) or I2C (bidirectional two-wire synchronous serial bus). The electronic rearview mirror processing chip 31 acquires the environmental perception information from the ADAS processing chip 32 or the ADAS sensing module 22 through the SPI or I2C, and displays a corresponding alarm prompt on the display module 24 according to the vehicle functional safety or the actual needs of the user. The ADAS processing chip 32 actively monitors the working states of the electronic rearview mirror camera 21 and the electronic rearview mirror processing chip 31 through the SPI or the I2C, and when functional safety problems or chip processing problems occur, the ADAS processing chip 32 can quickly reset the electronic rearview mirror camera 21 or the electronic rearview mirror processing chip 31 and give an alarm prompt to other controllers and modules of the vehicle.

On the basis of the above embodiments, in some of the embodiments, fig. 4 is a block diagram of another way of sharing a controller with the ADAS of the present application. In this way, the electronic rearview mirror processing function and the ADAS processing function are integrated into the same control chip 41, and the two functions are respectively distributed to different cores of the control chip 41, and the first image is processed at the same time. The control chip 41 is connected to the deserializer 231. The deserializer is configured to output one path, and transmit the decoded first image with the resolution greater than a third pixel threshold and the frame number greater than a third frame number threshold to the control chip 41, where the third pixel threshold is 200W and the third frame number threshold is 60 frames.

As shown in fig. 4, on the basis of the above embodiments, in some of the embodiments, the control chip 41 includes: a first vision processing module 411, wherein the first vision processing module 411 is configured to:

calling a proprietary algorithm of the electronic rearview mirror to perform algorithm processing on the first image to obtain a second image; calling a common algorithm to perform algorithm processing on the first image to obtain a first algorithm processing result; the special algorithm of the electronic rearview mirror conforms to the image processing standard of the electronic rearview mirror, and the common algorithm conforms to the image processing standard of the electronic rearview mirror and the ADAS.

Specifically, after receiving the first image output by the deserializer, the first visual processing module 411 invokes an electronic rearview mirror-specific algorithm to process the first image to obtain a second image. The electronic rearview mirror special algorithm meets the image processing standard of the electronic rearview mirror, and specifically comprises a point light source suppression algorithm, a ghost elimination algorithm, a dispersion algorithm, a glare elimination algorithm and the like. The first visual processing module occupies part of the kernel of the control chip for image processing, and the visual processing is carried out in the image quality processing kernel of the control chip. After the processing is completed, the first vision processing module 411 transmits the second image to the display module 24 for displaying through LVDS or MIPI (mobile industry processor interface) by inter-core communication when determining that the second image is a visual field in compliance with the regulations. Wherein the legal-compliant visual field output includes the following requirements: the vision has no stain, the vision target identification and positioning image result is correct, and the vision image quality meets the requirements in GB 15084.

In addition, the first vision module 411 may also invoke a common algorithm to perform algorithm processing on the first image, so as to obtain a first algorithm result. The common algorithm refers to an algorithm which can be called by all modules in the vehicle driving assistance system, and comprises a target recognition and perception algorithm, a visual matching positioning algorithm, a visual five-point detection algorithm, a visual online optical flow calibration algorithm and the like.

As shown in fig. 4, on the basis of the above embodiments, in some of the embodiments, the control chip 41 further includes: a second vision processing module 412, wherein the second vision processing module 412 is configured to:

and calling an ADAS special algorithm and a common algorithm, and carrying out algorithm processing on the first image to obtain a second algorithm processing result, wherein the ADAS special algorithm accords with an ADAS image processing standard.

Specifically, the second visual processing module 412 calls an ADAS proprietary algorithm and a common algorithm after receiving the first image output by the deserializer, and performs algorithm fusion processing on the first image in combination with the environment perception information. The ADAS proprietary algorithm comprises an environment perception algorithm, a rear-view perception algorithm, a multi-sensor fusion algorithm, a driver monitoring algorithm, a calling algorithm in an intelligent cabin and the like.

On the basis of the above embodiments, in some of them, the first vision processing module 411 is further configured to: the first vision module 411 performs a comparison analysis on the first algorithm processing result and the second algorithm processing result to obtain an analysis result, and transmits the analysis result to the second vision module 412 through inter-core communication.

The first vision module 411 performs a comparison analysis on the first algorithm processing result and the second algorithm processing result, and performs a quality judgment on the second algorithm processing result output by the second vision module 412 according to the first algorithm processing result.

On the basis of the above embodiments, in some of them, the second vision processing module 412 is further configured to: and determining whether to generate driving assistance decision information or not according to the analysis result.

After the first vision module 411 performs quality judgment on the second algorithm processing result output by the second vision module 412, if the quality meets the requirement, the first vision module performs inter-core communication with the second vision processing module 412, and the second vision processing module 412 generates decision information, where the decision information includes behavior decision, trajectory control, transverse and longitudinal control, driving function information, and the like. After the decision information is generated, the second vision processing module 412 communicates with other cores of the controller, including the vehicle communication information and the execution control core, to perform information exchange and decision control. When the quality of the second algorithm result is not satisfactory or abnormal, the first vision module 411 transmits alarm information to the display module 412, and the alarm information display includes target identification and distance perception alarm prompt, visual stain detection alarm prompt, visual optical flow online calibration execution and prompt and the like.

As shown in fig. 5, on the basis of the above embodiments, in a specific embodiment, fig. 5 is a flowchart of processing the first image by the electronic rearview mirror processing chip and the ADAS processing chip respectively and independently, and the flowchart includes the following steps:

s501, capturing and serially transmitting images of the electronic rearview mirror camera;

s502, decoding the deserializing chip and transmitting the image to the controller;

s503, the electronic rearview mirror processing chip of the controller performs image processing for the electronic rearview mirror, and the processed image is input to the display module to be displayed;

and S504, the ADAS processing chip of the controller processes the image for ADAS, makes a decision according to the image and sends the decision information to other modules for control.

As shown in fig. 6, on the basis of the above-mentioned embodiments, in a specific embodiment, fig. 6 is a flowchart of processing a first image by integrating the electronic rearview mirror processing function and the ADAS processing function on the same control chip, and the flowchart includes the following steps:

s601, capturing and serially transmitting images of the electronic rearview mirror camera;

s602, decoding the deserializing chip and transmitting the image to the controller;

s603, the controller comprises an electronic rearview mirror processing kernel (a first vision processing module), an ADAS processing kernel (a second vision processing module) and other kernels, the controller directly sends the first image to each kernel of the control chip after receiving the first image, the electronic rearview mirror processing kernel carries out image processing conforming to the standard of the electronic rearview mirror on the first image, meanwhile, quality monitoring is carried out on the image processed by the ADAS processing kernel, when the result of the ADAS processing kernel meets the requirement, next step of decision information generation is carried out, and after the decision information is generated, the decision information can be transmitted to other kernels for control through inter-kernel communication;

s604, displaying a second image processed by the electronic rearview mirror processing kernel;

and S605, the ADAS processes the decision information generated by the kernel to control the vehicle and prompt information on a display module.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (11)

1. A vehicle driving assist system characterized by comprising: the electronic rearview mirror comprises an electronic rearview mirror camera, an ADAS sensing module, a display module and a control module;

the electronic rearview mirror camera, the ADAS sensing module and the display module are respectively connected with the control module;

the electronic rearview mirror camera is used for acquiring a first image around the vehicle;

the ADAS sensing module is used for acquiring environmental perception information around the vehicle;

the control module is used for receiving the first image, performing image processing conforming to the processing standard of the electronic rearview mirror on the first image to obtain a second image, and generating driving aid decision-making information according to the first image and the environment perception information;

the display module is used for displaying the second image.

2. The vehicular drive assist system according to claim 1, characterized in that the control module includes: and the deserializer is used for receiving the first image acquired by the camera of the electronic rearview mirror and decoding the first image.

3. The vehicular drive assist system according to claim 2, characterized in that the control module further includes: the electronic rearview mirror processing chip and the ADAS processing chip are respectively connected with the deserializer.

4. The vehicular drive assist system according to claim 3, characterized in that the electronic rearview mirror processing chip is configured to: and when the resolution of the first image is greater than a first pixel threshold and the frame number is greater than a first frame number threshold, receiving the first image, and performing visual image algorithm processing on the first image to obtain the second image.

5. The vehicle driving assistance system of claim 3, wherein the ADAS processing chip is configured to: and when the resolution of the first image is greater than a second pixel threshold and the frame number is greater than a second frame number threshold, receiving the first image, performing algorithm fusion on the first image and the environmental perception information, and generating the driving assistance decision information.

6. The vehicle driving assistance system of claim 3, wherein the electronic rearview mirror processing chip and the ADAS processing chip communicate with each other via a data communication protocol; wherein, the first and the second end of the pipe are connected with each other,

the electronic rearview mirror processing chip can acquire environment perception information in the ADAS processing chip, obtain an alarm prompt corresponding to the environment perception information according to vehicle functions and user requirements, and send the alarm prompt to the display module;

the ADAS processing chip can monitor the electronic rearview mirror camera and the electronic rearview mirror processing chip, and when the electronic rearview mirror camera or the electronic rearview mirror processing chip is abnormal, the electronic rearview mirror camera or the electronic rearview mirror processing chip is reset and an alarm is given.

7. The vehicular drive assist system according to claim 2, characterized in that the control module further includes: a control chip connected to the deserializer, wherein the control chip is configured to receive the first image when the resolution of the first image is greater than a third pixel threshold and the frame number is greater than a third frame number threshold.

8. The vehicular drive assist system according to claim 7, characterized in that the control chip includes: a first vision processing module configured to:

calling an electronic rearview mirror proprietary algorithm to perform algorithm processing on the first image to obtain a second image; calling a common algorithm to perform algorithm processing on the first image to obtain a first algorithm processing result; the special algorithm of the electronic rearview mirror conforms to the image processing standard of the electronic rearview mirror, and the common algorithm conforms to the image processing standard of the electronic rearview mirror and the ADAS.

9. The vehicular drive assist system according to claim 8, characterized in that the control chip further includes: a second vision processing module configured to:

and calling an ADAS special algorithm and the common algorithm, and carrying out algorithm processing on the first image to obtain a second algorithm processing result, wherein the ADAS special algorithm accords with an ADAS image processing standard.

10. The vehicle driving assistance system of claim 9, wherein the first vision module is further configured to:

and the first vision module compares and analyzes the first algorithm processing result and the second algorithm processing result to obtain an analysis result, and transmits the analysis result to the second vision module through inter-core communication.

11. The vehicle driving assistance system of claim 10, wherein the second vision module is further configured to:

and determining whether to generate driving assistance decision information or not according to the analysis result.

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