CN116012807A

CN116012807A - Automatic driving assisting method and device and automobile

Info

Publication number: CN116012807A
Application number: CN202211588336.5A
Authority: CN
Inventors: 俞献东
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-12-12
Filing date: 2022-12-12
Publication date: 2023-04-25

Abstract

The embodiment of the invention relates to the technical field of vehicle engineering, and discloses an automatic driving assisting method, an automatic driving assisting device and an automobile.

Description

Automatic driving assisting method and device and automobile

Technical Field

The embodiment of the invention relates to the technical field of vehicle engineering, in particular to an automatic driving assisting method and device and an automobile.

Background

With the development of scientific technology and the improvement of living standard, intelligent driving automobiles are gradually applied to the market, and related auxiliary technologies of intelligent driving are also mature and perfect. At present, intelligent driving system technology of intelligent automobiles has been developed to have functions of automatically planning paths and automatically detecting obstacles, the implementation of the functions depends on microwave radars, multifunctional image sensors and the like of the intelligent automobiles, and the automobiles can acquire environmental information through the radars and the image sensors, so that the conditions of the obstacles around the automobiles are judged according to the environmental information.

In the process of implementing the embodiments of the present invention, the inventors found that at least the following problems exist in the above related art: at present, when an automobile adopts a radar and an image sensor to collect environmental information, the automobile can cover a larger area around the automobile as much as possible, but the automobile is limited by the detection capability of the radar and the image sensor, and partial barriers can not be identified or are regarded as noise, so that the automobile can be driven with safety.

Disclosure of Invention

The embodiment of the application provides an automatic driving assisting method and device and an automobile.

The aim of the embodiment of the invention is realized by the following technical scheme:

in order to solve the above technical problem, in a first aspect, an embodiment of the present invention provides an automatic driving assisting method, which is applied to an automobile, where the automobile includes at least one specific wavelength transmitter and receiver, and the method includes: emitting a spot having a specific wavelength by the specific wavelength emitter; acquiring a light spot pattern through the specific wavelength receiver; and determining obstacle information in the surrounding space of the automobile according to the light spot pattern.

In some embodiments, the determining obstacle information in the space around the automobile according to the light spot pattern includes: acquiring the distortion condition of light spots in the light spot pattern; and determining the distance, the size, the outline and the category of the obstacle according to the distortion condition of the light spots in the light spot pattern.

In some embodiments, the method further comprises: acquiring at least two light spot patterns at different moments; and calculating the moving speed of the obstacle according to the twisted position of the same obstacle in the at least two light spot patterns and the shooting time of the at least two light spot patterns.

In some embodiments, before the light spot having a particular wavelength is emitted by the particular wavelength emitter, the method further comprises: acquiring a light spot picture formed by the light spot under the condition of no obstacle; the obtaining the distortion condition of the light spot in the light spot pattern includes: comparing the spot pattern with different places in the spot picture, and marking the different places as places where distortion occurs and obstacles exist.

In some embodiments, when the vehicle is equipped with only one specific wavelength transmitter and receiver, the specific wavelength transmitter and receiver is disposed on the roof of the vehicle, and the detection range of the specific wavelength transmitter and receiver may be 360 °, or when the vehicle is equipped with at least one specific wavelength transmitter and receiver, each specific wavelength transmitter and receiver is disposed on the roof or vehicle side of the vehicle, and the detection range of at least one specific wavelength transmitter and receiver is configured to be capable of covering all or part of the orientations around the vehicle.

In some embodiments, the spot pattern is a grid-like, stripe-like, or a pattern that is combined from a number of different shapes.

In order to solve the above technical problem, in a second aspect, an embodiment of the present invention provides an automatic driving assistance device, which is applied to an automobile, wherein the automobile includes at least one specific wavelength transmitter and receiver, and the device includes: an emission unit for emitting a spot having a specific wavelength through the specific wavelength emitter; a receiving unit for acquiring a light spot pattern through the specific wavelength receiver; and the determining unit is used for determining the obstacle information in the surrounding space of the automobile according to the light spot pattern.

In order to solve the technical problem, in a third aspect, an embodiment of the present invention provides an automobile, including a controller: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first or second aspect above.

In some embodiments, the automobile further comprises: a specific wavelength emitter for emitting a light spot having a specific wavelength; a specific wavelength receiver for acquiring a light spot pattern; the specific wavelength transmitter and the specific wavelength receiver are respectively connected with the controller.

In some embodiments, the specific wavelength spot is a spot having a single wavelength, the specific wavelength transmitter is a transmitting device capable of transmitting a spot having a single wavelength, and the specific wavelength receiver is comprised of an image sensor or filter assembly and an image sensor.

Compared with the prior art, the invention has the beneficial effects that: compared with the prior art, the embodiment of the invention provides an automatic driving assisting method, an automatic driving assisting device and an automobile.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements/modules and steps, and in which the figures do not include the true to scale unless expressly indicated by the contrary reference numerals.

Fig. 1 is a schematic diagram of an application environment of one of an automatic driving assistance method and a path planning method according to an embodiment of the present invention;

FIG. 2 (a) is an exemplary diagram of the vehicle roof of FIG. 1 provided with a particular wavelength transmitter and receiver and the particular wavelength transmitter and receiver transmitting a grid-like pattern of spots;

FIG. 2 (b) is an exemplary diagram of the vehicle roof of FIG. 1 provided with four wavelength-specific emitters and receivers and the wavelength-specific emitters and receivers emitting a grid-like pattern of spots;

FIG. 2 (c) is an exemplary diagram of the vehicle roof of FIG. 1 provided with a wavelength-specific emitter and receiver and the wavelength-specific emitter and receiver emitting other shaped spot patterns;

FIG. 2 (d) is an exemplary diagram of the vehicle roof of FIG. 1 provided with a particular wavelength transmitter and receiver and the particular wavelength transmitter and receiver emitting a striped pattern of light spots;

fig. 3 is a flow chart of an automatic driving assisting method according to a first embodiment of the invention;

FIG. 4 is a schematic flow chart of step S130 in the automatic driving assisting method shown in FIG. 3;

FIG. 5 is a flowchart of another driving auto-assist method according to a first embodiment of the present invention;

FIG. 6 is a schematic diagram of another sub-flow of step S130 in the auto-assist driving method shown in FIG. 3;

fig. 7 is a schematic structural diagram of an automatic driving assisting device according to a second embodiment of the present invention;

fig. 8 is a schematic diagram of a hardware structure of an automobile according to a third embodiment of the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It should be noted that, if not conflicting, the various features of the embodiments of the present invention may be combined with each other, which are all within the protection scope of the present application. In addition, while functional block division is performed in a device diagram and logical order is shown in a flowchart, in some cases, the steps shown or described may be performed differently than block division in a device, or order in a flowchart. Moreover, the words "first," "second," and the like as used herein do not limit the data and order of execution, but merely distinguish between identical or similar items that have substantially the same function and effect. The terms "front", "back", "left", "right" and the like are used in this specification for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.

In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

In order to solve the problem that a part of obstacles around an automobile are filtered as noise in the process of scanning the obstacles around the automobile by the current image sensor and the radar, the embodiment of the invention provides an automatic driving assisting method and device and the automobile.

Fig. 1 is a schematic diagram of an application environment of an automatic driving assistance method and a path planning method according to an embodiment of the present invention, where the application environment includes: an automobile 10, the automobile 10 is provided with a specific wavelength transmitter and receiver 11.

The automobile 10 is preferably an intelligent automobile, and may be a new energy automobile, an unmanned automobile, etc., and may be specifically selected according to actual needs. Fig. 1 shows a top view of the motor vehicle 10.

The emitters in the specific wavelength emitters and receivers 11 are devices capable of emitting light spots with specific wavelengths, the receivers in the specific wavelength emitters and receivers 11 are devices capable of acquiring light spot patterns, and the emitters and the receivers can be arranged in the same device and the same shell, and fig. 1 shows an example of being arranged on the same object. In other embodiments, the transmitter and the receiver may not be disposed in a device or a housing, and are not limited to being disposed in a place, and may be disposed according to actual needs. Specifically, the specific wavelength light spot is a light spot with a single wavelength, the specific wavelength transmitter is a transmitting device capable of transmitting the light spot with the single wavelength, and the specific wavelength receiver is composed of an image sensor or a filtering component and an image sensor.

The number of the specific wavelength transmitters and receivers 11 may be one or more, and fig. 1 shows only one example of arrangement, and an example of arrangement on the roof of a vehicle, and the model, number and position of the specific wavelength transmitters and receivers 11 may be set according to actual needs in practical applications. Specifically, when the automobile 10 is equipped with only one specific wavelength transmitter and receiver 11, the specific wavelength transmitter and receiver 11 may be disposed on the roof of the automobile 10, and the detection range of the specific wavelength transmitter and receiver 11 may be 360 °, or when the automobile 10 is equipped with at least one specific wavelength transmitter and receiver 11, each specific wavelength transmitter and receiver 11 may be disposed on the roof or the vehicle side of the automobile 10, and the detection range of at least one specific wavelength transmitter and receiver 11 may be configured to cover all or part of the azimuth around the automobile 10.

It should be noted that the detection range of the specific wavelength transmitter and receiver 11 may be 360 °, or other detection ranges less than 360 °, for example, may be 350 °, or may cover only the front 120 ° and the rear 120 °, and may be specifically adjusted according to actual needs, which is not limited by the embodiments of the present invention.

Referring to fig. 2, which shows several arrangement numbers, positions, and shapes of spot patterns of specific wavelength transmitters and receivers 11 on the automobile 10, wherein points of the automobile roof represent the specific wavelength transmitters and receivers 11, fig. 2 (a) shows an example in which one specific wavelength transmitter and receiver 11 is arranged on the automobile 10 roof and the specific wavelength transmitter and receiver 11 emits a grid-like spot pattern; fig. 2 (b) shows an example in which four specific wavelength transmitters and receivers 11 are provided on the roof of the automobile 10 and the specific wavelength transmitters and receivers 11 emit a grid-like spot pattern; fig. 2 (c) shows an example in which one specific wavelength transmitter and receiver 11 is provided on the roof of the automobile 10 and the specific wavelength transmitter and receiver 11 emits a spot pattern of another shape, and in fig. 2 (c), the spot pattern of another shape after enlarging the area a also shows two examples A1 and A2, A1 being an example of a spot pattern of another shape like a polygon, A2 being an example of a spot pattern of another shape like a triangle within a polygon; fig. 2 (d) shows an example in which the roof of the automobile 10 is provided with one specific wavelength transmitter and receiver 11 and the specific wavelength transmitter and receiver 11 emits a stripe-like spot pattern, and in fig. 2 (d), it can be seen that after the area a is enlarged, the stripes of the spot pattern are interleaved to form a grid-like spot pattern similar to that formed by a plurality of diamonds. In practical applications, the number of the specific wavelength emitters and receivers 11, the positions of the specific wavelength emitters and receivers on the automobile 10, and the shape of the emitted light spot pattern may be set according to practical needs, for example, a fixed image with other shapes may be used, which is not limited by fig. 2.

In particular, embodiments of the present invention are further described below with reference to the accompanying drawings.

Example 1

An embodiment of the present invention provides an automatic driving assisting method, which is applied to an automobile, the automobile includes at least one specific wavelength transmitter and receiver, the automobile may be the automobile 10 described in the application scenario and fig. 1 and fig. 2, please refer to fig. 3, which illustrates a flow of the automatic driving assisting method provided by the embodiment of the present invention, the method includes, but is not limited to, the following steps:

step S110: emitting a spot having a specific wavelength by the specific wavelength emitter;

the light spot with the specific wavelength is a light spot with a single wavelength, and the light spot with the specific wavelength can be emitted through the application scene shown in fig. 2. Specifically, when the light spot is a laser light spot, the specific wavelength emitter is a laser emitter. For example, when the specific wavelength is infrared light with a single wavelength, the specific wavelength emitter is an infrared emitter, and at this time, a grid-shaped infrared light spot is emitted by the infrared emitter; or, emitting a striped infrared light spot by the infrared emitter; alternatively, other shapes of infrared light spots are emitted by the infrared emitter. Furthermore, the image data can be acquired by combining an image sensor mounted on the automobile, and the obstacle avoidance function is further improved by acquiring radio wave data through a radar mounted on the automobile.

Step S120: acquiring a light spot pattern through the specific wavelength receiver;

wherein the light spot pattern is a fixed pattern in a grid shape, a stripe shape or other grid shapes. After or while continuously transmitting the light spot with the specific wavelength through the specific wavelength transmitter, the light spot pattern is acquired through a specific wavelength receiver which is mounted on the automobile and shown in an application scene, so as to further determine other obstacles which are not detected by the image sensor and/or the radar.

For example, when the specific wavelength is infrared single wavelength light, the specific wavelength emitter is an infrared emitter, and at this time, after grid-shaped infrared light spots are emitted by the infrared emitter, an infrared light spot image is shot by an infrared image sensor; or after the infrared emitter emits the striped infrared light spots, the infrared image sensor shoots an infrared light spot image; alternatively, after the infrared light spot of other shape is emitted by the infrared emitter, an infrared light spot image is photographed by the infrared image sensor.

Step S130: and determining obstacle information in the surrounding space of the automobile according to the light spot pattern.

After the light spot pattern is obtained, the obstacle information can be screened out and marked, specifically, please refer to fig. 4, which shows a sub-flowchart of step S130 in the method shown in fig. 3, wherein the determining the obstacle information in the surrounding space of the automobile according to the light spot pattern includes:

step S131: acquiring the distortion condition of light spots in the light spot pattern;

specifically, for the distortion situation of the light spot, the light spot image under the condition of no obstacle can be calculated through the information simulation of the light spot transmitted in advance, and then the light spot image is compared with the light spot image to obtain the distortion situation of the light spot, specifically, please refer to fig. 5, which shows a flow of another automatic driving assisting method provided by the embodiment of the present invention, before the light spot with a specific wavelength is transmitted through the specific wavelength transmitter, the method further includes:

step S110a: acquiring a light spot picture formed by the light spot under the condition of no obstacle;

further, the obtaining the distortion of the light spot in the light spot pattern includes:

step S131a: comparing the spot pattern with different places in the spot picture, and marking the different places as places where distortion occurs and obstacles exist.

Specifically, after the spot image without the obstacle is generated, the spot image is compared with the received spot pattern image, objects such as the obstacle exist in different places, and the distance, the size and other information of the obstacle can be determined through the spot pattern.

Step S132: and determining the distance, the size, the outline and the category of the obstacle according to the distortion condition of the light spots in the light spot pattern.

Specifically, first, the outline of the obstacle can be determined by the shape of the spot pattern twist, then, the distance between the obstacle and the automobile is determined by the place of the spot pattern twist, and further, the size of the obstacle is calculated in combination of the outline and the distance. Further, a three-dimensional model of the space around the automobile can be built, so that the three-dimensional model is better used for marking the obstacles around the automobile, information of the obstacles is recorded into the three-dimensional model in combination with position information, for example, a space coordinate system can be built by taking the automobile as a round point, and the position information of an object can be determined through the numerical value of the coordinate point.

Further, the type of the obstacle may be determined, for example, by comparing the contour of the obstacle with a possible obstacle in the current running environment stored in the database, and if the contour and the size of the obstacle can be matched with the information stored in the database at the current distance, the type of the obstacle may be determined by the type stored in the database. For example, when the specific wavelength receiver is an image sensor, the obstacle can be identified as a person through a face recognition algorithm or as a living thing through a motion recognition algorithm, and for the living thing, the obstacle can be tracked in a focus way due to movement, and/or the size range of the obstacle is enlarged, so that the situation that an automobile cannot avoid the obstacle in time after the movement of the living thing is avoided. For another example, it may be determined whether the obstacle is a living being such as a human or animal by infrared thermal imaging or the like.

Further, referring to fig. 6, another sub-flowchart of step S130 in the method shown in fig. 3 is shown, and the method further includes:

step S133: acquiring at least two light spot patterns at different moments;

step S134: and calculating the moving speed of the obstacle according to the twisted position of the same obstacle in the at least two light spot patterns and the shooting time of the at least two light spot patterns.

Specifically, the moving speed of the obstacle can be determined by combining the twisted positions of the same obstacle with the spot patterns at different moments, specifically, the contour of the obstacle can be determined, then the contour of the obstacle can be marked, and the twisted positions of the obstacle in the spot patterns acquired at different moments are monitored, so that the moving speed of the obstacle can be calculated according to the distance between the front position and the rear position and the time of image acquisition.

Example two

An embodiment of the present invention provides an automatic driving assisting apparatus, which is applied to an automobile, the automobile includes at least one specific wavelength transmitter and receiver, the automobile may be the automobile 10 described in the application scenario and fig. 1 and fig. 2, please refer to fig. 7, which illustrates a structure of the automatic driving assisting apparatus provided by the embodiment of the present invention, and the automatic driving assisting apparatus 100 includes: a transmitting unit 110, a receiving unit 120, a determining unit 130.

The emitting unit 110 is configured to emit a light spot having a specific wavelength through the specific wavelength emitter; the receiving unit 120 is configured to obtain a light spot pattern through the specific wavelength receiver; the determining unit 130 is configured to determine obstacle information in the surrounding space of the automobile according to the light spot pattern.

In some embodiments, the determining unit 130 is further configured to obtain a distortion condition of the light spot in the light spot pattern; and determining the distance, the size, the outline and the category of the obstacle according to the distortion condition of the light spots in the light spot pattern.

In some embodiments, the determining unit 130 is further configured to obtain at least two spot patterns at different moments in time; and calculating the moving speed of the obstacle according to the twisted position of the same obstacle in the at least two light spot patterns and the shooting time of the at least two light spot patterns.

In some embodiments, the transmitting unit 110 is further configured to obtain a spot image formed by the spot in the case of no obstacle; the determining unit 130 is further configured to compare the spot pattern with different places in the spot picture, and mark the different places as places where distortion occurs and obstacles exist.

Example III

The embodiment of the invention also provides an automobile, please refer to fig. 8, which shows a hardware structure of the automobile capable of executing the automatic auxiliary driving method shown in fig. 3 to 5.

The automobile 10 includes: a specific wavelength transmitter and receiver 11, wherein the specific wavelength transmitter 11a is configured to transmit a spot having a specific wavelength; the specific wavelength receiver 11b is used to acquire the spot pattern.

Specifically, the automobile 10 may be the automobile 10 shown in fig. 1, and the specific wavelength transmitter and receiver 11 may also be the specific wavelength transmitter and receiver 11 shown in fig. 1, and the specific application scenario, fig. 1 and fig. 2 will not be described in detail herein.

The automobile 10 further includes: a controller 10a connected to the specific wavelength transmitter and receiver 11, respectively. The controller 10a includes at least one processor 12; and a memory 13 communicatively coupled to the at least one processor 12, one processor 12 being illustrated in fig. 8. The memory 13 stores instructions executable by the at least one processor 12 to enable the at least one processor 12 to perform the auto-assist driving method described above with reference to fig. 3-5. The processor 12 and the memory 13 may be connected by a bus or otherwise, for example in fig. 8.

The memory 13 is a non-volatile computer readable storage medium, and may be used to store a non-volatile software program, a non-volatile computer executable program, and modules, such as program instructions/modules corresponding to the auto-assist driving method in the embodiment of the present application, for example, each of the modules shown in fig. 7. The processor 12 executes various functional applications of the server and data processing by running nonvolatile software programs, instructions and modules stored in the memory 13, i.e., implements the auto-assist driving method of the above-described method embodiment.

The memory 13 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the automatic auxiliary driving apparatus, or the like. In addition, the memory 13 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 13 may optionally include memory remotely located relative to processor 12, which may be connected to the autopilot device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 13 and when executed by the one or more processors 12 perform the auto-assist driving method in any of the method embodiments described above, for example, performing the method steps of fig. 3-5 described above, implementing the functions of the modules and units in fig. 7.

The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may be found in the methods provided in the embodiments of the present application.

Embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer-executable instructions which are executed by one or more processors, e.g., perform the method steps of fig. 3-5 described above, implementing the functions of the modules in fig. 7.

Embodiments of the present application also provide a computer program product, including a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions, which when executed by a computer, cause the computer to perform the method of automatically assisting driving in any of the method embodiments described above, for example, performing the method steps described above in fig. 3 to 5, to implement the functions of the modules in fig. 7.

The embodiment of the invention provides an automatic driving assisting method, an automatic driving assisting device and an automobile.

It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Those skilled in the art will appreciate that all or part of the processes implementing the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the program may include processes of the embodiments of the methods described above when executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in details for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. An automated driving assistance method for an automobile, the automobile including at least one wavelength specific transmitter and receiver, the method comprising:

emitting a spot having a specific wavelength by the specific wavelength emitter;

acquiring a light spot pattern through the specific wavelength receiver;

and determining obstacle information in the surrounding space of the automobile according to the light spot pattern.

2. The method of automatically assisted driving according to claim 1, wherein,

the determining obstacle information in the surrounding space of the automobile according to the light spot pattern comprises the following steps:

acquiring the distortion condition of light spots in the light spot pattern;

and determining the distance, the size, the outline and the category of the obstacle according to the distortion condition of the light spots in the light spot pattern.

3. The automatic driving assist method according to claim 2, characterized in that the method further comprises:

acquiring at least two light spot patterns at different moments;

and calculating the moving speed of the obstacle according to the twisted position of the same obstacle in the at least two light spot patterns and the shooting time of the at least two light spot patterns.

4. The automatic driving assist method as claimed in claim 2, wherein,

before the spot of light having a particular wavelength is emitted by the particular wavelength emitter, the method further comprises:

acquiring a light spot picture formed by the light spot under the condition of no obstacle;

the obtaining the distortion condition of the light spot in the light spot pattern includes:

comparing the spot pattern with different places in the spot picture, and marking the different places as places where distortion occurs and obstacles exist.

5. The method of automatically assisted driving according to claim 1, wherein,

when the automobile is only provided with one specific wavelength transmitter and receiver, the specific wavelength transmitter and receiver are arranged on the roof of the automobile, the detection range of the specific wavelength transmitter and receiver can be 360 degrees,

or,

when the automobile is provided with at least one specific wavelength transmitter and receiver, each specific wavelength transmitter and receiver is arranged on the roof or the side of the automobile, and the detection range of the at least one specific wavelength transmitter and receiver is configured to cover all or part of the azimuth around the automobile.

6. The method of automatically assisted driving according to claim 1, wherein,

the light spot pattern is a grid-like, stripe-like or pattern combined by a plurality of different shapes.

7. An automatic pilot device for use in an automobile, said automobile including at least one wavelength specific transmitter and receiver, said device comprising:

an emission unit for emitting a spot having a specific wavelength through the specific wavelength emitter;

a receiving unit for acquiring a light spot pattern through the specific wavelength receiver;

and the determining unit is used for determining the obstacle information in the surrounding space of the automobile according to the light spot pattern.

8. An automobile comprising a controller, the controller comprising:

at least one processor; the method comprises the steps of,

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

9. The automobile of claim 8, further comprising:

a specific wavelength emitter for emitting a light spot having a specific wavelength;

a specific wavelength receiver for acquiring a light spot pattern;

the specific wavelength transmitter and the specific wavelength receiver are respectively connected with the controller.

10. The automobile according to claim 9, wherein,

the spot of a specific wavelength is a spot having a single wavelength,

the specific wavelength transmitter is a transmitting device capable of transmitting a light spot having a single wavelength,

the specific wavelength receiver is composed of an image sensor or a filter assembly and an image sensor.