WO2019114030A1 - 一种融合导航与智能视觉的驾驶辅助系统及方法 - Google Patents

一种融合导航与智能视觉的驾驶辅助系统及方法 Download PDF

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WO2019114030A1
WO2019114030A1 PCT/CN2017/118471 CN2017118471W WO2019114030A1 WO 2019114030 A1 WO2019114030 A1 WO 2019114030A1 CN 2017118471 W CN2017118471 W CN 2017118471W WO 2019114030 A1 WO2019114030 A1 WO 2019114030A1
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module
information
navigation
intelligent
vehicle
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PCT/CN2017/118471
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English (en)
French (fr)
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卢金波
倪如金
王小刚
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惠州市德赛西威汽车电子股份有限公司
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Publication of WO2019114030A1 publication Critical patent/WO2019114030A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
    • G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness

Definitions

  • the invention relates to the field of vehicle-assisted driving, and in particular to a driving assistance system and method for vehicle navigation and intelligent vision.
  • the current intelligent vision module is limited to simple alarms, lack of guidance function, and the customer experience is not real enough; while car navigation lacks real-life images, its navigation guidance function is too single, and it is based on empirical data, often deviating from the actual scene.
  • the present invention provides a driving assistance system integrating navigation and intelligent vision, including an in-vehicle navigation module, an intelligent visual driving module and a fusion module, and the output of the in-vehicle navigation module and the output of the intelligent visual driving module are both Connected to the fusion module, the output of the fusion module is connected to the car navigation module and/or the intelligent visual driving module.
  • the intelligent visual driving module is further connected to the vehicle navigation module.
  • the invention also discloses a driving assistance method for merging navigation and intelligent vision.
  • the fusion module acquires the front navigation direction information of the vehicle navigation module, the real-time screen information of the intelligent visual driving module, and the current vehicle.
  • the speed and direction of the corner calculate the actual road curvature, and output the corresponding safety speed and / or safety warning information.
  • the invention also discloses a driving assistance method for merging navigation and intelligent vision.
  • the fusion module acquires the current speed limit information of the current section of the vehicle navigation module and the real-time speed limit information of the intelligent visual driving module. And the vehicle collision avoidance information of the intelligent visual driving module, and output speed warning information according to the historical speed limit information, the real-time speed limit information, and the front vehicle collision avoidance information.
  • the invention also discloses a driving assistance method for merging navigation and intelligent vision.
  • the fusion module acquires the front route guidance information of the car navigation module, the road indication information of the front of the intelligent visual driving module, and the intelligence.
  • the front and rear side side vehicle information of the visual driving module, and the speed warning information and the lane change guidance are output according to the front route guidance information, the front road indication information, and the front and rear side vehicle information.
  • the car navigation module fuses the data received from the fusion module into its own navigation system; the intelligent visual driving module superimposes the data received from the fusion module in a text and/or pattern manner. Go to the screen of the scene analysis result.
  • the intelligent visual driving module acquires real-time screen information, and performs scene analysis on the real-time screen information to obtain a scene analysis result, where the scene analysis result includes visibility analysis result, road indication information in front, front and rear side vehicle information, and Front obstacle information.
  • the forward road indication information includes front traffic indication information, front traffic light information, front road indication information, and forward route guidance information.
  • the front and rear side vehicle information includes lane information in which the front and rear side vehicles are located, front and rear side vehicle relative motion state information, and front and rear side vehicle collision avoidance information.
  • the navigation result of the car navigation module includes front navigation direction information, front route guidance information, current road segment history speed limit information, and terrain information of the route.
  • the invention also discloses a driving assistance method for merging navigation and intelligent vision.
  • the car navigation module acquires current coordinates and obtains terrain data of current coordinates; the car navigation module sends terrain data to The intelligent visual driving module performs simplification and/or key mark processing on the real-time picture information obtained by the smart visual driving module according to the terrain data.
  • the intelligent visual driving module acquires real-time picture information, and performs scene analysis on the real-time picture information to obtain a scene analysis result; the intelligent visual driving module sends the scene analysis result to the car navigation module, and the car navigation module analyzes the scene according to the scene. The result adjusts its navigation results.
  • the invention realizes the fusion of the navigation information processed by the car navigation module and the recognition and early warning information of the intelligent visual driving module processing output, and integrates the empirical data of the car navigation module and the real-time data of the intelligent visual driving module, thereby obtaining more realistic and reliable navigation.
  • the data and warning data are then fed back to the car navigation module and the intelligent visual driving module respectively to achieve a more accurate and optimized navigation warning function.
  • FIG. 1 is a schematic structural diagram of an embodiment of a driving assistance system incorporating vehicle navigation and intelligent vision according to the present invention.
  • FIG. 1 is a structural diagram made to facilitate the content of the present invention.
  • the driving assistance system incorporating vehicle navigation and intelligent vision can be based on actual conditions. The situation is appropriately increased or decreased for its module or unit.
  • the utility model comprises an in-vehicle navigation module, an intelligent visual driving module and a fusion module, wherein the output of the in-vehicle navigation module and the output of the intelligent visual driving module are connected with the fusion module, and the output of the fusion module is respectively connected to the car navigation module and the intelligent visual driving module, and the realization is
  • the car navigation module processes the output navigation information and the intelligent visual driving module processing output recognition and early warning information fusion processing, integrates the empirical data of the car navigation module and the real-time data of the intelligent visual driving module, thereby obtaining more realistic and reliable navigation data and warning data. Then, respectively, feedback to the car navigation module and the intelligent visual driving module to achieve a more accurate and optimized navigation warning function.
  • the intelligent visual driving module establishes a data connection with the in-vehicle navigation module.
  • the intelligent visual driving module can analyze the real-time scene and identify the target and the target of interest.
  • the vehicle navigation module has real-time information interaction with the intelligent visual driving module while completing the navigation function, and the intelligent visual driving module and the car navigation module are both.
  • the function can be improved or enhanced from the information exchanged, and then the results related to the intelligent visual driving module and the car navigation module enter the fusion subsystem, perform high-level decision analysis, and finally output the merged navigation, warning and prompt voices or Video result information.
  • An implementation of the intelligent visual driving module to obtain data from the car navigation module to enhance its own functions is as follows:
  • the intelligent visual driving module analyzes the scene in real time and identifies the target of interest, and performs necessary refinement processing on the relevant scene or target according to the received effective terrain information sent by the in-vehicle navigation module.
  • the acquired real-time map topographic information can better improve the scene analysis and the detection function of the target of interest.
  • the car navigation module can also make a real-time adjustment of the reality through the scene analysis result of the intelligent visual driving module and the identified target of interest. Its own guidance and indication function.
  • the complementary effects can be achieved at the functional level; the macro scene and the real-time scene comprehensive analysis, and the scene adaptability is stronger.
  • the intelligent vision driving module's powerful target and scene analysis capabilities can be utilized, along with the map navigation guidance information and friendly user framework of the car navigation module, to provide drivers with more realistic and richer visual and audible advanced driving.
  • Functional experience greatly improve the user experience, can be better applied to the automotive electronics industry.
  • the real-time road condition fusion unit uses the relevant algorithms and decision-making ideas according to the road conditions output by the car navigation module and the road conditions output by the intelligent visual driving module to obtain more accurate road condition prompts and vehicle operating state guidance.
  • the car navigation module outputs the prompt information of the front curve
  • the intelligent visual driving module calculates the actual road curvature according to the relevant algorithm according to the acquired real-time image and the current body state of the vehicle (such as the speed and direction angle), and derives corresponding The safe speed, if necessary, will output a deceleration warning.
  • the acquisition of the current vehicle body state may be acquired based on an existing detection module of the automobile, and is not limited to being acquired in the in-vehicle navigation module or the intelligent visual driving module.
  • the intelligent visual driving module such as the temporarily set speed limit road sign
  • the front vehicle collision avoidance information comprehensive judgment is made to obtain more effective speed limit warning information.
  • the front route guidance information output by the car navigation module and the front road indication information (such as road signs) outputted by the intelligent visual driving module, the front and rear side vehicle movement information, and the front and rear side lane information, etc. according to the correlation algorithm, accurate prompt deceleration Early warning and lane change guidelines.
  • the data output by the car navigation module to the fusion module includes:
  • Real-time road conditions such as dangerous sections for easy accidents
  • real-time topographical features such as sharp turns ahead, tunnels and bridges, etc.
  • speed limit information such as sharp turns ahead, tunnels and bridges, etc.
  • height limit information such as sharp turns ahead, tunnels and bridges, etc.
  • road reminder information such as forward convergence
  • route navigation prompt information such as Turn right at the 200m traffic light ahead.
  • the data output by the intelligent visual driving module to the fusion module includes:
  • Visibility analysis results front, rear, side vehicle information; front, rear, side lane information; traffic indication information (speed limit, height limit and prohibition of left turn, etc.); front signal information; road indication information (such as Road signs); front obstacle information, etc.
  • Various navigation guidance information and alarm information output by the fusion module can be superimposed on the real scene to display warnings and guidelines (output to the intelligent visual driving module or superimposed with the display outputted to the intelligent visual driving module), voice warning and guidance Can be retained in the car navigation module for optimization.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
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Abstract

本发明涉及一种融合导航与智能视觉的驾驶辅助系统，包括车载导航模块、智能视觉驾驶模块和融合模块，所述车载导航模块的输出和智能视觉驾驶模块的输出均与融合模块连接，融合模块的输出连接车载导航模块和/或智能视觉驾驶模块。本发明还涉及一种融合导航与智能视觉的驾驶辅助方法。本发明实现将车载导航模块处理输出的导航信息和智能视觉驾驶模块处理输出的识别与预警信息融合处理，综合车载导航模块的经验数据和智能视觉驾驶模块的实时数据，从而获得更真实可靠的导航数据和预警数据，然后分别反馈到车载导航模块和智能视觉驾驶模块，实现更精准更优化的导航预警功能。

Description

一种融合导航与智能视觉的驾驶辅助系统及方法 技术领域
本发明涉及车载辅助驾驶领域，尤其涉及一种车载导航与智能视觉的驾驶辅助系统及方法。
背景技术
随着汽车消费的快速增长，汽车安全问题被普遍的关注，人们越来越渴望高科技带来的安全与便捷。因此，汽车ADAS系统被广泛应用，越多越多的电子系统在汽车上应用。电子技术的应用已经改变了汽车的面貌，成为影响汽车发展的核心技术。由于视觉能清晰的捕捉到前后方与周围的场景细节信息，通过智能处理，能有效的识别出前后方与周围的车辆、行人、交通标志、道路线和障碍等等，应用在车辆碰撞预警、行人预碰撞预警、交通警示预警、车道线偏离预警、移动目标监测和障碍物预警等等方面有着巨大优势，因此，在汽车上应用智能视觉模块，是目前驾驶辅助系统极具竞争力的解决方案，有着巨大的市场前景。不过，目前的智能视觉模块局限于简单的报警，缺乏指引功能，客户体验不够真切；而车载导航缺乏实景图像，其导航指引功能过于单一，而且是基于经验数据，经常与实际场景有偏差。
发明内容
本发明为了解决上述技术问题，提供了一种融合导航与智能视觉的驾驶辅助系统，包括车载导航模块、智能视觉驾驶模块和融合模块，所述车载导航模块的输出和智能视觉驾驶模块的输出均与融合模块连接，融合模块的输出连接车载导航模块和/或智能视觉驾驶模块。
进一步的，所述智能视觉驾驶模块还与车载导航模块连接。
本发明还公开一种融合导航与智能视觉的驾驶辅助方法，基于如上所述的驾驶辅助系统，所述融合模块获取车载导航模块的前方导航走向信息、智能视觉驾驶模块的实时画面信息以及当前车辆的速度和方向转角，计算出实际的道路曲率，输出相应的安全速度和/或安全预警信息。
本发明还公开一种融合导航与智能视觉的驾驶辅助方法，基于如上所述的驾驶辅助系统，所述融合模块获取车载导航模块的当前路段历史限速信息、智能视觉驾驶模块的实时限速信息以及智能视觉驾驶模块的前方车辆防撞信息，并根据历史限速信息、实时限速信息和前方车辆防撞信息输出速度预警信息。
本发明还公开一种融合导航与智能视觉的驾驶辅助方法，基于如上所述的驾驶辅助系统，所述融合模块获取车载导航模块的前方路线指引信息、智能视觉驾驶模块的前方道路 指示信息以及智能视觉驾驶模块的前后侧方车辆信息，并根据前方路线指引信息、前方道路指示信息和前后侧方车辆信息输出速度预警信息和变道指引。
进一步的，所述车载导航模块将从融合模块接收到的数据以语音方式融合到自身的导航系统中；所述智能视觉驾驶模块将从融合模块接收到的数据以文字和/或图案的方式叠加到其场景分析结果的画面中。
进一步的，所述智能视觉驾驶模块获取实时画面信息，并对该实时画面信息进行场景分析，获得场景分析结果，所述场景分析结果包括能见度分析结果、前方道路指示信息、前后侧方车辆信息和前方障碍信息。所述前方道路指示信息包括前方交通指示信息、前方信号灯信息、前方道路指示信息和前方路线指引信息。所述前后侧方车辆信息包括前后侧方车辆所在的车道信息、前后侧方车辆相对运动状态信息和前后侧方车辆防撞信息。
进一步的，所述车载导航模块的导航结果包括前方导航走向信息、前方路线指引信息、当前路段历史限速信息和路线的地形信息。
本发明还公开一种融合导航与智能视觉的驾驶辅助方法，基于如上所述的驾驶辅助系统，所述车载导航模块获取当前坐标，获得当前坐标的地形数据；所述车载导航模块发送地形数据到智能视觉驾驶模块，所述智能视觉驾驶模块根据所述地形数据对自身获得的实时画面信息进行简化和/或重点标记处理。
进一步的，所述智能视觉驾驶模块获取实时画面信息，并对该实时画面信息进行场景分析，获得场景分析结果；所述智能视觉驾驶模块发送场景分析结果到车载导航模块，车载导航模块根据场景分析结果调整其导航结果。
本发明实现将车载导航模块处理输出的导航信息和智能视觉驾驶模块处理输出的识别与预警信息融合处理，综合车载导航模块的经验数据和智能视觉驾驶模块的实时数据，从而获得更真实可靠的导航数据和预警数据，然后分别反馈到车载导航模块和智能视觉驾驶模块，实现更精准更优化的导航预警功能。
附图说明
图1为本发明融合车载导航与智能视觉的驾驶辅助系统一实施例的结构示意图。
具体实施方式
下面结合附图对本发明的较佳实施例进行详细阐述，以使本发明的优点和特征更易被本领域技术人员理解，从而对本发明的保护范围作出更为清楚的界定。
实施例1：
本实施例中的融合车载导航与智能视觉的驾驶辅助系统如图1所示，图1为了方便本发明举例的内容而做出的结构图，融合车载导航与智能视觉的驾驶辅助系统可根据实际情况对其模 块或单元进行适当的增减。包括车载导航模块、智能视觉驾驶模块和融合模块，所述车载导航模块的输出和智能视觉驾驶模块的输出均与融合模块连接，融合模块的输出分别连接车载导航模块和智能视觉驾驶模块，实现将车载导航模块处理输出的导航信息和智能视觉驾驶模块处理输出的识别与预警信息融合处理，综合车载导航模块的经验数据和智能视觉驾驶模块的实时数据，从而获得更真实可靠的导航数据和预警数据，然后分别反馈到车载导航模块和智能视觉驾驶模块，实现更精准更优化的导航预警功能。
另一种实施方式是：智能视觉驾驶模块与车载导航模块建立数据连接。
智能视觉驾驶模块可对实时场景进行分析，识别出感兴趣的目标与标志，车载导航模块在完成导航功能的同时，与智能视觉驾驶模块有实时的信息交互，智能视觉驾驶模块和车载导航模块都能从所交互的信息中完善或强化自身功能，然后智能视觉驾驶模块与车载导航模块相关的结果进入融合子系统，进行高层次的决策分析，最后输出融合后的导航、预警和提示等语音或者视频结果信息。
智能视觉驾驶模块从车载导航模块获取数据强化自身功能的一个实施例如下：
智能视觉驾驶模块实时分析场景并识别出感兴趣的目标，并且根据收到的车载导航模块发送的有效的地形信息，对相关场景或者目标进行必要的精炼处理。
本实施例通过获取到的实时地图地形信息，能更好的完善场景分析与感兴趣目标的检测功能。
基于上述智能视觉驾驶模块借用车载导航模块的数据强化自身模块的处理，车载导航模块也可以通过智能视觉驾驶模块的场景分析结果和识别出的感兴趣目标，做出眼见为实的实时调整，强化自身的引导与指示功能。
本实施例通过融合智能视觉驾驶模块和车载导航模块的数据，在功能层面上能达到优势互补的效果；宏观场景和实时场景综合分析，场景适应能力更强。
实施时，可利用智能视觉驾驶模块强大的目标与场景分析能力，配合车载导航模块的地图地形指引信息和友好的用户框架，为驾驶者提供更真实、更丰富的可视与可听的高级驾驶功能感受，极大的提高用户体验，能够更好的应用于汽车电子行业。
实施例2：
本实施例将举例说明车载导航模块和智能视觉驾驶模块之间的融合方式：
1、实时路况融合
实时路况融合单元根据车载导航模块输出的路况和智能视觉驾驶模块输出的路况，使用相关算法和决策思路，得到更加准确的路况提示和车辆运行状态指引。例如：车载导航模块输出前方弯道的提示信息，智能视觉驾驶模块依据获取的实时画面和车辆的当前车身状态(比如 速度和方向转角)，根据相关算法计算出实际的道路曲率，并且推导出相应的安全速度，如果有必要，将输出减速预警。在本实施例中当前车身状态的获取可基于汽车现有的检测模块中获取、不限于在车载导航模块或智能视觉驾驶模块中获取。
2、限速预警融合
根据车载导航模块输出的限速信息和智能视觉驾驶模块输出的限速信息(例如临时设置的限速路标)和前方车辆防撞信息，综合判断，得到更加有效的限速预警信息。
3、路线指引信息融合
根据车载导航模块输出的前方路线指引信息和智能视觉驾驶模块输出的前方道路指示信息(比如路标)、前后侧方车辆运动信息和前后侧方车道信息等等，依据相关算法推算，准确的提示减速预警和变道指引。
上述是本发明的车载导航模块和智能视觉驾驶模块融合后的其中几种实施方式，在此就不进行一一阐述。通常，车载导航模块向融合模块输出的数据包括：
实时路况(比如易发事故危险路段)；实时地形地貌(比如前方急转弯、隧道和桥梁等等)；限速信息、限高信息和道路提示信息(比如前方汇流)；路线导航提示信息(比如前方200米交通灯处右拐)等。
智能视觉驾驶模块向融合模块输出的数据包括：
能见度分析结果；前、后、侧方车辆信息；前、后、侧方车道信息；前方交通指示信息(限速、限高和禁止左转等等)；前方信号灯信息；前方道路指示信息(比如道路指示牌)；前方障碍信息等。
对于融合模块向车载导航模块和智能视觉驾驶模块的输出：
融合模块输出的各种导航指引信息和报警信息可叠加在实景画面里显示预警与指引(输出到智能视觉驾驶模块中或者与输出到智能视觉驾驶模块输出的显示屏进行叠加)，语音预警和指引可以保留在车载导航模块进行优化实现。
上面结合附图对本发明的实施方式作了详细说明，但是本发明并不限于上述实施方式，在本领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下作出各种变化。

Claims (10)

  1. 一种融合导航与智能视觉的驾驶辅助系统，其特征在于，包括车载导航模块、智能视觉驾驶模块和融合模块，所述车载导航模块的输出和智能视觉驾驶模块的输出均与融合模块连接，融合模块的输出连接车载导航模块和/或智能视觉驾驶模块。
  2. 根据权利要求1所述的驾驶辅助系统，其特征在于，所述智能视觉驾驶模块还与车载导航模块连接。
  3. 一种融合导航与智能视觉的驾驶辅助方法，其特征在于，基于如权利要求1或2所述的驾驶辅助系统，所述融合模块获取车载导航模块的前方导航走向信息、智能视觉驾驶模块的实时画面信息以及当前车辆的速度和方向转角，计算出实际的道路曲率，输出相应的安全速度和/或安全预警信息。
  4. 一种融合导航与智能视觉的驾驶辅助方法，其特征在于，基于如权利要求1或2所述的驾驶辅助系统，所述融合模块获取车载导航模块的当前路段历史限速信息、智能视觉驾驶模块的实时限速信息以及智能视觉驾驶模块的前方车辆防撞信息，并根据历史限速信息、实时限速信息和前方车辆防撞信息输出速度预警信息。
  5. 一种融合导航与智能视觉的驾驶辅助方法，其特征在于，基于如权利要求1或2所述的驾驶辅助系统，所述融合模块获取车载导航模块的前方路线指引信息、智能视觉驾驶模块的前方道路指示信息以及智能视觉驾驶模块的前后侧方车辆信息，并根据前方路线指引信息、前方道路指示信息和前后侧方车辆信息输出速度预警信息和变道指引。
  6. 根据权利要求3-5任一项所述的驾驶辅助方法，其特征在于，所述车载导航模块将从融合模块接收到的数据以语音方式融合到自身的导航系统中；所述智能视觉驾驶模块将从融合模块接收到的数据以文字和/或图案的方式叠加到其场景分析结果的画面中。
  7. 根据权利要求3-5任一项所述的驾驶辅助方法，其特征在于，所述智能视觉驾驶模块获取实时画面信息，并对该实时画面信息进行场景分析，获得场景分析结果，所述场景分析结果包括能见度分析结果、前方道路指示信息、前后侧方车辆信息和前方障碍信息。
  8. 根据权利要求3-5任一项所述的驾驶辅助方法，其特征在于，所述车载导航模块的导航结果包括前方导航走向信息、前方路线指引信息、当前路段历史限速信息和路线的地形信息。
  9. 一种车载导航与智能视觉的驾驶辅助方法，其特征在于，基于如权利要求2所述的驾驶辅助系统，所述车载导航模块获取当前坐标，获得当前坐标的地形数据；所述车载导航模块发送地形数据到智能视觉驾驶模块，所述智能视觉驾驶模块根据所述地形数据对自身获得的实时画面信息进行简化和/或重点标记处理。
  10. 根据权利要求9所述的驾驶辅助方法，其特征在于，所述智能视觉驾驶模块获取实时画面信息，并对该实时画面信息进行场景分析，获得场景分析结果；所述智能视觉驾驶模块发 送场景分析结果到车载导航模块，车载导航模块根据场景分析结果调整其导航结果。
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