CN109733409B - Driving assistance system and method - Google Patents
Driving assistance system and method Download PDFInfo
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- CN109733409B CN109733409B CN201711044378.1A CN201711044378A CN109733409B CN 109733409 B CN109733409 B CN 109733409B CN 201711044378 A CN201711044378 A CN 201711044378A CN 109733409 B CN109733409 B CN 109733409B
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Abstract
The invention relates to a driving assistance system and method. A driving assistance system for a vehicle includes: a first detection device configured to detect a grayscale image of a road in a traveling direction of a vehicle; a second detection device configured to emit a signal to a road in a traveling direction of the vehicle and detect a reflected signal reflected from the road; and a determination device configured to determine whether the road has a dangerous area suspected of exposing a pit based on one of the grayscale image and the reflection signal; whether the dangerous area determined based on one of the grayscale image and the reflection signal is an exposed pit or not is determined based on the other of the grayscale image and the reflection signal, and the road is determined to have an exposed pit in response to determining that the dangerous area determined based on one of the grayscale image and the reflection signal is an exposed pit.
Description
Technical Field
The present invention generally relates to the field of vehicle assistance. More particularly, the present invention relates to a driving assistance system and method for a vehicle.
Background
The existing automatic driving technology mainly focuses on relevant traffic targets in front of the vehicle and can assist in processing complex traffic scenarios. Vehicles often encounter exposed pits (e.g., hoistways) during driving. To prevent the vehicle from sinking into the exposed pit, the vehicle needs to travel around the exposed pit. When a driver manually drives a vehicle through a road having an exposed pit, it is necessary to observe the exposed pit in advance and turn at an appropriate point in time so that the vehicle travels around the exposed pit. This certainly increases the difficulty of the operation of the driver.
For this reason, a driving assistance system and method capable of automatically detecting an exposed pit on a road is required.
Disclosure of Invention
It is an object of the present invention to provide a driving assistance system and method capable of automatically detecting an exposed pit on a road. It is another object of the present invention to provide a driving assistance system and method capable of assisting a vehicle to automatically pass through a road having an exposed pit.
An aspect of the present invention provides a driving assistance system including: a first detection device configured to detect a grayscale image of a road in a traveling direction of a vehicle; a second detection device configured to emit a signal to a road in a traveling direction of the vehicle and detect a reflected signal reflected from the road; and a determination device configured to determine whether the road has a dangerous area suspected of exposing a pit based on one of the grayscale image and the reflection signal; whether the dangerous area determined based on one of the grayscale image and the reflection signal is an exposed pit or not is determined based on the other of the grayscale image and the reflection signal, and the road is determined to have an exposed pit in response to determining that the dangerous area determined based on one of the grayscale image and the reflection signal is an exposed pit.
According to an embodiment of the present invention, the determination device is configured to: determining whether the road has a dangerous area suspected of being an exposed pit based on the other of the grayscale image and the reflected signal; determining whether the dangerous area determined based on the grayscale image and the reflection signal coincides in response to determining that the road has the dangerous area based on both the grayscale image and the reflection signal; and determining whether the dangerous area determined based on one of the grayscale image and the reflection signal is an exposed pit, based on whether the dangerous area determined based on the grayscale image and the reflection signal coincides.
According to an embodiment of the present invention, the determination device is configured to: determining whether the dangerous area determined based on one of the grayscale image and the reflection signal is suspected to be an exposure pit based on the other of the grayscale image and the reflection signal; and determining whether the dangerous area determined based on one of the grayscale image and the reflection signal is an exposure pit, based on whether the dangerous area determined based on one of the grayscale image and the reflection signal is suspected to be an exposure pit.
According to the embodiment of the present invention, the risk region determined based on the grayscale image appears as a closed region in which the grayscales of the respective pixels are the same in the grayscale image.
According to an embodiment of the present invention, the intensity of the reflected signal reflected on the dangerous area determined based on the reflected signal is less than the threshold value.
According to an embodiment of the present invention, the determination device is further configured to: in response to determining that the road has an exposed pit, it is determined whether the exposed pit is located on an expected travel track of wheels of the vehicle.
According to an embodiment of the present invention, the driving assistance system further includes: a learning device configured to record driving behavior of a driver of the vehicle when manually driving the vehicle through a previous road having an exposed pit.
According to an embodiment of the present invention, the driving assistance system further includes: an output device configured to control the vehicle through a road having the exposed pit according to a driving behavior in response to determining that the exposed pit is located on the expected travel track.
Another aspect of the invention provides a vehicle comprising a driving assistance system according to the invention.
Another aspect of the present invention provides a driving assistance method for a vehicle, including the steps of: a) detecting a grayscale image of a road in a traveling direction of a vehicle; b) transmitting a signal to a road in a traveling direction of a vehicle and detecting a reflected signal reflected from the road; c) determining whether the road has a dangerous area suspected of being an exposed pit based on one of the grayscale image and the reflection signal; d) determining whether the dangerous area determined based on one of the grayscale image and the reflection signal is an exposed pit based on the other of the grayscale image and the reflection signal; and e) determining that the road has an exposed pit in response to determining that the dangerous area determined based on one of the grayscale image and the reflection signal is an exposed pit.
According to an embodiment of the invention, step d) comprises the steps of: determining whether the road has a dangerous area suspected of being an exposed pit based on the other of the grayscale image and the reflected signal; determining whether the dangerous area determined based on the grayscale image and the reflection signal coincides in response to determining that the road has the dangerous area based on both the grayscale image and the reflection signal; and determining whether the dangerous area determined based on one of the grayscale image and the reflection signal is an exposed pit, based on whether the dangerous area determined based on the grayscale image and the reflection signal coincides.
According to an embodiment of the invention, step d) comprises the steps of: determining whether the dangerous area determined based on one of the grayscale image and the reflection signal is suspected to be an exposure pit based on the other of the grayscale image and the reflection signal; and determining whether the dangerous area determined based on one of the grayscale image and the reflection signal is an exposure pit, based on whether the dangerous area determined based on one of the grayscale image and the reflection signal is suspected to be an exposure pit.
According to the embodiment of the present invention, the risk region determined based on the grayscale image appears as a closed region in which the grayscales of the respective pixels are the same in the grayscale image.
According to an embodiment of the present invention, the intensity of the reflected signal reflected on the dangerous area determined based on the reflected signal is less than the threshold value.
According to an embodiment of the present invention, the driving assistance method further includes the steps of: in response to determining that the road has an exposed pit, it is determined whether the exposed pit is located on an expected travel track of wheels of the vehicle.
According to an embodiment of the present invention, the driving assistance method further includes the steps of: the driving behaviour of the driver of the vehicle when manually driving the vehicle through a previous road with an exposed pit is recorded.
According to an embodiment of the present invention, the driving assistance method further includes the steps of: controlling the vehicle through the road with the exposed pit according to the driving behavior in response to determining that the exposed pit is located on the expected driving trajectory.
Drawings
FIG. 1 is a schematic illustration of a vehicle according to an embodiment of the present invention.
Fig. 2 is an application example of the driving assistance system according to the present invention.
Fig. 3 is a schematic diagram of an application example of the driving assistance system according to the embodiment of the invention.
Fig. 4 is a schematic diagram of an application example of the driving assistance system according to the embodiment of the invention.
Fig. 5A is a schematic diagram of an application example of the driving assistance system according to the embodiment of the invention.
Fig. 5B is a schematic diagram of an application example of the driving assistance system according to the embodiment of the invention.
Fig. 6 is a flowchart of a driving assistance method according to an embodiment of the invention.
Detailed Description
Hereinafter, embodiments of the present invention are described with reference to the drawings. The following detailed description and drawings are illustrative of the principles of the invention, which is not limited to the preferred embodiments described, but is defined by the claims. The invention will now be described in detail with reference to exemplary embodiments thereof, some of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings, in which like reference numerals refer to the same or similar elements in different drawings unless otherwise indicated. The aspects described in the following exemplary embodiments do not represent all aspects of the present invention. Rather, these aspects are merely exemplary of the systems and methods according to the various aspects of the present invention as recited in the appended claims.
The driving assist system according to the embodiment of the invention may be mounted on or applied to a vehicle. The vehicle may be an internal combustion engine vehicle using an internal combustion engine as a drive source, an electric vehicle or a fuel cell vehicle using an electric motor as a drive source, a hybrid vehicle using both of the above as drive sources, or a vehicle having another drive source.
FIG. 1 is a schematic illustration of a vehicle according to an embodiment of the present invention. As shown in fig. 1, the vehicle 10 includes a driving assistance system 100 and an operation execution system 200. The driving assistance system 100 and the operation execution system 200 may be connected to and communicate with each other. Well-known power and steering devices, drive trains, and like components of the vehicle are not shown in FIG. 1 for the sake of clarity.
As shown in fig. 1, the driving assistance system 100 may include a first detection device 110, a second detection device 120, and a determination device 130.
The first detection means 110 may detect a grayscale image of a road in the traveling direction of the vehicle. In one example, the first detection device 110 may include one or more image capturing units (e.g., color cameras) for capturing color images and an image processing unit. The image processing unit may be adapted to process the color image into a grayscale image. Alternatively, in one example, the first detection device 110 may include one or more camera units for capturing grayscale images, such as a black and white camera.
The second detection device 120 may emit a signal to a road in the traveling direction of the vehicle and detect a reflected signal reflected from the road. According to an embodiment of the invention, the second detection means 120 may comprise one or more radar units. The radar unit may be a general radar and/or an optical radar unit. A general radar can transmit electromagnetic waves to a road and receive echoes thereof. The optical radar unit may irradiate a light beam (e.g., laser light) to a road and receive the reflected light beam.
When the second detecting device 120 transmits a signal with the frequency f1 to the road, a pit with a depth less than h can reflect back a sufficient reflected signal, while a pit with a depth greater than h or a rough road or the like that does not greatly affect the running of the vehicle can reflect back a reflected signal with a weaker intensity. Thus, the second detection means 120 can detect pits of different depths by varying the frequency of the emitted signal.
Fig. 2 is an application example of the driving assistance system 100 according to the present invention. As shown in fig. 2, the first detection device 110 of the vehicle 10 may include a radar unit 112, a radar unit 114, and a camera unit 116, as shown in fig. 2. The radar unit 112 may scan a front area of the vehicle 10 in a vertical direction (i.e., a Z-axis direction), the radar unit 114 may scan the front area of the vehicle 10 in a horizontal direction (i.e., an X-axis direction and a Y-axis direction), and the camera unit 116 may capture an image of the front area of the vehicle 10. In some embodiments, radar unit 112 may be mounted on a head of vehicle 10, such as in a central location of the head. In some embodiments, radar unit 114 may be mounted at corners of vehicle 10, such as two corners of the nose and two corners of the tail. In some embodiments, the camera unit 116 may be mounted on the front side of the vehicle 10, such as in the center of the front windshield.
The mounting positions of the radar unit 112, the radar unit 114, and the imaging unit 116 are described above. However, the present invention is not limited to the above-described mounting position. It will be appreciated by those skilled in the art that the radar unit and/or camera unit of the present invention may also be mounted at other locations on the vehicle.
The determination device 130 may be in wired or wireless communication with the first detection device 110 and the second detection device 120. The determination device 130 may receive detection data, for example, a gray image and a reflection signal, from the first detection device 110 and the second detection device 120.
The determination means 130 may determine whether the road has a dangerous area suspected of being an exposed pit based on one of the grayscale image and the reflection signal, determine whether the dangerous area is an exposed pit based on the other of the grayscale image and the reflection signal, and determine that the road has an exposed pit in response to determining that the dangerous area is an exposed pit.
Herein, an exposed pit refers to a pit on a road that is not covered with a cover. Once the wheels of vehicle 10 are recessed in the pit, they cannot travel through the pit. The pit bumps the vehicle 10 and severely impacts the ride comfort of the occupants as the wheels of the vehicle 10 travel through the pit. In an exemplary embodiment, the exposed pit may include, but is not limited to, a hoistway. The shape of the exposed pit may be circular, rectangular or irregular.
Next, an exemplary determination manner of the determination device 130 for determining whether or not there is an exposed pit on the road is described.
< first embodiment >
The determination device 130 may determine whether the road has a first dangerous area suspected of being an exposed pit based on the grayscale image. According to an embodiment of the present invention, the first danger area appears as a closed area in which the gray levels of the respective pixels are the same in the gray scale image. Therefore, if there is a closed region in the grayscale image in which the gradations of the respective pixels are the same, the determination device 130 determines that there is a first dangerous region suspected of being an exposed pit on the road. The road area represented by the closed area, i.e. the first danger area, may be a pit or the like, covered or uncovered with a covering, and is therefore suspected to be an exposed pit. The determination means 130 needs to integrate other conditions to determine whether the road actually has an exposed pit.
In this context, "the same" does not mean that the respective elements being compared are exactly the same in a strict sense and have the meaning of "substantially the same", and there may be some difference between the respective elements. In one example, whether the respective pixels have the same gray scale may be determined by determining whether a difference between gray scales of the respective pixels is less than a predetermined difference. However, it should be understood that whether each pixel has the same gray scale may be determined by other methods known in the art.
In some embodiments, when a circular hoistway needs to be determined, the shape of the enclosed area may be elliptical or approximately circular. However, it should be understood that the closed region is not only used to determine the circular exposed pit and the shape of the closed region is not limited thereto.
Fig. 3 is a schematic diagram of an application example of the driving assistance system according to the embodiment of the invention. As shown in fig. 3, the first detection device 110 of the vehicle 10 may detect a grayscale image. The gray scale image has circular closed areas 118 with the same gray scale for each pixel. The determination device 130 of the vehicle 10 may determine that the road has the first danger area (i.e., the road area represented by the circular closed area) suspected of being an exposed pit based on the grayscale image.
Further, the determination device 130 may determine whether the road has the second danger zone suspected of being an exposed pit based on the reflected signal. According to an embodiment of the invention, the intensity of the reflected signal reflected by the second hazardous area is smaller than a threshold value. Therefore, if there is a specific area on the road where the intensity of the reflected signal is less than the threshold value, it is determined that the road has a second dangerous area suspected of being an exposed pit. The specific area (i.e., the second dangerous area) may be an exposed pit or a rough road, etc., and thus the determination device 130 needs to determine whether the road actually has an exposed pit in combination with other conditions.
Fig. 4 is a schematic diagram of an application example of the driving assistance system according to the embodiment of the invention. As shown in fig. 4, the second detection device 120 of the vehicle 10 may detect the reflected signal. The road has a circular specific area 122, and the intensity of the reflected signal reflected by the specific area is less than the threshold value. The determination device 130 of the vehicle 10 may determine that the road has the second dangerous area (i.e., the specific area) suspected of being an exposed pit based on the reflected signal.
Further, the determination device 130 may determine whether the first danger zone and the second danger zone coincide in response to determining that the road has the first danger zone and the second danger zone. In this context, "overlap" does not mean that the respective elements being compared are completely overlapped in a strict sense and means that they are substantially overlapped.
Further, the determination device 130 may determine whether the first dangerous region is an exposed pit or not, based on whether the first dangerous region and the second dangerous region coincide with each other or not. If the first danger area and the second danger area coincide, the determination device 130 determines that the first danger area or the second danger area is an exposed pit.
Further, the determination device 130 may determine that the road has an exposed pit in response to determining that the first danger zone is an exposed pit.
< second embodiment >
The determination device 130 of the second embodiment is substantially the same as the determination device 130 of the first embodiment, and differs mainly in that: in the second embodiment, the determination device 130 is configured to first determine whether there is a dangerous area suspected of being an exposed pit on the road based on the reflected signal, then determine whether there is a dangerous area suspected of being an exposed pit on the road based on the grayscale image, then determine whether the two dangerous areas coincide, and finally determine whether the dangerous area is an exposed pit according to whether the two dangerous areas coincide. In the first embodiment described above, the determination of whether the road has a dangerous area based on the reflection signal and the grayscale image has been described in detail, and therefore, the description thereof is omitted.
In the first and second embodiments, the determination device 130 may determine not only that the road has an exposed pit, but also other road conditions on the road. If it is determined that there is a dangerous area with a suspected exposed pit on the road based on the grayscale image and it is determined that there is no dangerous area with a suspected exposed pit on the road based on the reflected signal, the determination means 130 may determine that the road has a pit covered with the cover. If it is determined that the road does not have a dangerous area suspected of exposing a pit based on the grayscale image and it is determined that the road has a dangerous area suspected of exposing a pit based on the reflected signal, the determination device 130 may determine that the road does not have an exposed pit and that the road may have a rough road or the like. If it is determined that there is a dangerous area on the road with a suspected exposed pit based on both the grayscale image and the reflection signal and the two dangerous areas do not coincide, the determination device 130 may determine that there is no exposed pit on the road and there is a possibility of a rough road or the like on the road.
< third embodiment >
The determination device 130 may determine whether the road has a dangerous area suspected of being an exposed pit based on the grayscale image. In the first embodiment, the method for determining whether a road has a dangerous area based on a grayscale image has been described in detail, and therefore, the description thereof is omitted.
Further, the determination device 130 may determine whether the dangerous area is suspected to be an exposed pit based on the reflected signal. If the intensity of the reflected signal reflected by the dangerous area is less than the threshold value, the determination device 130 determines that the dangerous area is suspected to be an exposed pit.
Further, the determination device 130 may determine whether or not the dangerous area is an exposure pit, based on whether or not the dangerous area is suspected to be an exposure pit. If the dangerous area is also determined to be an exposed pit based on the reflected signal, the determination means 130 determines that the dangerous area is an exposed pit.
Further, the determination device 130 may determine that the road has an exposed pit in response to determining that the dangerous area is an exposed pit.
< fourth embodiment >
The determination device 130 may determine whether the road has a dangerous area suspected of being an exposed pit based on the reflected signal. In the first embodiment, the method for determining whether a road has a dangerous area based on a reflected signal has been described in detail, and therefore, the description thereof is omitted.
Further, the determination device 130 may determine whether the dangerous area is suspected to be an exposure pit based on the grayscale image. If the dangerous area is a closed area having the same gray scale of each pixel, the determination device 130 determines that the dangerous area is suspected to be an exposed pit.
Further, the determination device 130 may determine whether or not the dangerous area is an exposure pit, based on whether or not the dangerous area is suspected to be an exposure pit. If it is determined that the dangerous area is suspected to be an exposure pit based on the grayscale image, then determination device 130 determines that the dangerous area is an exposure pit.
Further, the determination device 130 may determine that the road has an exposed pit in response to determining that the dangerous area is an exposed pit.
According to an embodiment of the present invention, the driving assistance system further includes an output device 140. The output device 140 may be in wired or wireless communication with the first detection device 110, the second detection device 120, and/or the determination device 130. The output device 140 may also be in wired or wireless communication with the operation execution system. The operation execution system 200 is configured to control operations of various components of the vehicle 10, such as a powertrain, a steering system, a transmission system, a brake system, a safety system, etc., of the vehicle 10.
According to an embodiment of the present invention, the output device 140 may output at least one of a visual, audible, and tactile alert to an occupant of the vehicle 10 in response to determining that the road has an exposed pit. The driver notices the exposed pit on the road in time at the reminder of the output device 140, and controls the vehicle 10 to brake, turn, or continue to travel in the current direction and at the current speed according to the location and size of the exposed pit.
According to an embodiment of the present invention, the determination device 130 may also determine whether the exposed pit is located on an expected travel track of the wheels of the vehicle 10 in response to determining that the road has an exposed pit.
Fig. 5A and 5B are application examples of the driving assistance system according to the embodiment of the invention. As shown in fig. 5A, an exposed pit 300 is located directly in front of the vehicle 10 and the width of the exposed pit is smaller than both the front and rear wheel base of the vehicle 10. Therefore, in this example, the determination device 130 determines that the exposed pit is not located on the expected travel track of the wheel. As shown in fig. 5B, an exposed pit 400 is located directly in front of the vehicle 10, and the width of the exposed pit is larger than the front and rear wheel bases of the vehicle 10. Therefore, in this example, determination device 130 determines that the exposed pit is located on the expected travel track of the wheel.
According to an embodiment of the present invention, the driving assistance system further includes a learning device 150. The learning device 150 may be in wired or wireless communication with the first detection device 110, the second detection device 120, the determination device 130, and/or the output device 140.
The learning device 150 may record the driver's driving behavior as the vehicle 10 is manually driven through previous roads with exposed pits. In an exemplary embodiment, driving behavior may include, but is not limited to: the passing speed of the vehicle as it passes through the exposed pit, the distance of the vehicle to the exposed pit at the start of deceleration, the deceleration profile of the vehicle (i.e., the profile of the change between the real-time acceleration of the vehicle and the real-time distance to the exposed pit during deceleration), and the travel trajectory of the vehicle. In an exemplary embodiment, the learning device 150 may record driving behavior each time the driver manually drives the vehicle through a road with an exposed pit.
When the vehicle is driven autonomously, the output device 140 may instruct the operation execution system 200 to control the vehicle to travel through a road having an exposed pit according to the driving behavior in response to a determination that the exposed pit is located on an expected travel trajectory of the wheel. Thus, the driving habits of the vehicle driver can be simulated to provide a personalized driving experience for the user of the vehicle.
A driving assist method according to an embodiment of the invention will be described below with reference to the drawings. Fig. 6 shows a flowchart of a driving assistance method according to an embodiment of the invention.
As shown in fig. 6, in step S610, a grayscale image of the road in the traveling direction of the vehicle is detected. In this step, a grayscale image of the road may be directly detected. Alternatively, a color image of the road may be detected first, and then processed into a grayscale image. Next, the process proceeds to step S620.
In step S620, a signal is emitted toward the road in the traveling direction of the vehicle and a reflected signal reflected from the road is detected. Next, the process proceeds to step S630.
In step S630, it is determined whether the road has a first dangerous area suspected of being an exposed pit based on the grayscale image. According to an embodiment of the present invention, the first danger area appears as a closed area in which the gray levels of the respective pixels are the same in the gray scale image. And if closed areas with the same gray scale of each pixel exist in the gray scale image, judging that the road has a first dangerous area.
If it is determined that the road has the first dangerous area suspected of being an exposed pit, the process proceeds to step S640. If it is determined that the road does not have the first danger zone suspected of being an exposed pit, it is determined that the road does not have an exposed pit. The process may return to step S610 to continue detecting the road. Alternatively, if it is desired to determine other road conditions of the road, the process may also proceed to step S640. In the above, the determination method of other road conditions is described in detail, and therefore, the detailed description thereof is omitted.
In step S640, it is determined whether the first dangerous region is an exposed pit based on the reflected signal. Step S640 includes steps S641 to S643. In step S641, it is determined whether the road has a second dangerous area suspected of being an exposed pit based on the reflected signal. According to an embodiment of the invention, the intensity of the reflected signal reflected by the second hazardous area is smaller than a threshold value. Therefore, if there is a specific area on the road where the intensity of the reflected signal is less than the threshold value, it is determined that the road has the second danger area. In step S642, it is determined whether or not the first risk region and the second risk region overlap. In step S643, it is determined whether the first dangerous region is an exposed pit or not, based on whether the first dangerous region and the second dangerous region overlap or not.
In step S640, if it is determined that the first dangerous region is an exposed pit based on the reflected signal, the process proceeds to step S650. In step S650, it is determined that the road has an exposed pit in response to determining that the first danger zone is an exposed pit.
Additionally, according to an embodiment of the present invention, the driving assistance method further includes steps S660, S670, and S680. In step S660, it is determined whether the exposed pit is located on an expected travel track of the wheels of the vehicle. In step S670, the driving behavior of the driver of the vehicle when manually driving the vehicle through a previous road with an exposed pit is recorded. In step S680, in response to determining that the exposed pit is located on the expected travel track, the vehicle is controlled to pass through the road having the exposed pit according to the driving behavior. Step S660 may be performed after step S650, and step S680 may be performed after steps S650, S660, and S670. The execution order of step S670 is not particularly limited.
Alternatively, the step S610 of detecting a gray image may be performed after the step S620 of detecting a reflection signal.
Alternatively, step S640 may include steps S644 and S645. In step S644, it is determined whether the first dangerous area is suspected to be an exposed pit based on the reflected signal. In step S645, it is determined whether the first dangerous area is an exposure pit or not, based on whether the first dangerous area is suspected to be an exposure pit or not.
Alternatively, in steps S630 and S640, it may be determined whether the road has a first dangerous area suspected of being an exposed pit based on the reflected signal first, and then it may be determined whether the first dangerous area is an exposed pit based on the grayscale image.
While the invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the construction and methods of the embodiments described above. On the contrary, the invention is intended to cover various modifications and equivalent arrangements. In addition, while the various elements and method steps of the disclosed invention are shown in various example combinations and configurations, other combinations, including more, less or all, of the elements or methods are also within the scope of the invention.
Claims (13)
1. A driving assistance system, comprising:
a first detection device configured to detect a grayscale image of a road in a traveling direction of a vehicle;
a second detection device configured to emit a signal to a road in a traveling direction of the vehicle and detect a reflected signal reflected from the road; and
a determination device configured to
Determining whether the road has a dangerous area suspected of being an exposed pit based on one of the grayscale image and the reflected signal;
determining whether the dangerous area determined based on the one of the grayscale image and the reflection signal is an exposed pit based on the other of the grayscale image and the reflection signal, and
determining that the road has an exposed pit in response to determining that the dangerous area determined based on the one of the grayscale image and the reflection signal is an exposed pit, wherein the determination device is configured to:
determining whether the road has a dangerous area suspected of being an exposed pit based on the other of the grayscale image and the reflected signal;
determining whether the dangerous area determined based on the grayscale image and the reflection signal coincides in response to determining that the road has a dangerous area based on both the grayscale image and the reflection signal; and is
Determining whether the dangerous area determined based on the one of the grayscale image and the reflection signal is an exposed pit according to whether the dangerous area determined based on the grayscale image and the reflection signal coincides.
2. The driving assistance system according to claim 1,
the danger area determined based on the grayscale image appears as a closed area in which the grayscale of each pixel is the same in the grayscale image.
3. The driving assistance system according to claim 1,
the intensity of the reflected signal reflected on the hazard zone determined based on the reflected signal is less than a threshold.
4. The driving assistance system according to claim 1, wherein the determination device is further configured to:
determining whether an exposed pit is located on an expected travel track of wheels of the vehicle in response to determining that the road has an exposed pit.
5. The driving assistance system according to claim 4, further comprising:
a learning device configured to record driving behavior of a driver of the vehicle when manually driving the vehicle through a previous road having an exposed pit.
6. The driving assistance system according to claim 5, further comprising:
an output device configured to control the vehicle through a road having an exposed pit according to the driving behavior in response to determining that the exposed pit is located on the expected travel trajectory.
7. A vehicle comprising the driving assistance system according to any one of claims 1 to 6.
8. A driving assistance method, comprising the steps of:
a) detecting a grayscale image of a road in a traveling direction of a vehicle;
b) transmitting a signal to a road in a traveling direction of the vehicle and detecting a reflected signal reflected from the road;
c) determining whether the road has a dangerous area suspected of being an exposed pit based on one of the grayscale image and the reflected signal;
d) determining whether the dangerous area determined based on the one of the grayscale image and the reflection signal is an exposed pit based on the other of the grayscale image and the reflection signal; and
e) determining that the road has an exposed pit in response to determining that the dangerous area determined based on the one of the grayscale image and the reflection signal is an exposed pit, wherein the step d) includes the steps of:
determining whether the road has a dangerous area suspected of being an exposed pit based on the other of the grayscale image and the reflected signal;
determining whether the dangerous area determined based on the grayscale image and the reflection signal coincides in response to determining that the road has a dangerous area based on both the grayscale image and the reflection signal; and is
Determining whether the dangerous area determined based on the one of the grayscale image and the reflection signal is an exposed pit according to whether the dangerous area determined based on the grayscale image and the reflection signal coincides.
9. The driving assistance method according to claim 8,
the danger area determined based on the grayscale image appears as a closed area in which the grayscale of each pixel is the same in the grayscale image.
10. The driving assistance method according to claim 8,
the intensity of the reflected signal reflected on the hazard zone determined based on the reflected signal is less than a threshold.
11. The driving assistance method according to claim 8, further comprising the step of:
determining whether an exposed pit is located on an expected travel track of wheels of the vehicle in response to determining that the road has an exposed pit.
12. The driving assistance method according to claim 11, further comprising the step of:
recording a driving behavior of a driver of the vehicle when manually driving the vehicle through a previous road with an exposed pit.
13. The driving assistance method according to claim 12, further comprising the step of:
controlling the vehicle through a road having an exposed pit according to the driving behavior in response to determining that the exposed pit is located on the expected driving trajectory.
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