Vehicle driving assistance systems, methods, storage media and vehicles

Abstract

This invention relates to a vehicle driving assistance system, method, storage medium, and vehicle. The vehicle driving assistance system includes a camera, a light source, and a processor. The light source projects at least two light spots into the field of view of the camera. The processor controls the camera and the light source, and upon receiving an image from the camera containing at least two light spots, calculates the distance between a target object and the vehicle within the camera's field of view based on the positions of the at least two light spots in the image, the parameters of the light source emitting the at least two light spots, and the parameters of the camera. This vehicle driving assistance system requires only one camera and a light source capable of emitting at least two light spots to calculate the distance between a target object and the vehicle, thereby assisting vehicle driving. It is low-cost, uses simple image recognition and algorithms, and is highly efficient.

Description

Technical Field

[0001] This invention relates to vehicle driving assistance systems and methods, and more particularly to a vehicle driving assistance system, method, storage medium, and vehicle. Background Technology

[0002] Currently, almost every car is equipped with a driver assistance system (ADAS), which can provide functions such as lane keeping assist, automatic parking assist, braking assist, and reversing assist. High-end vehicles' ADAS can even assist in semi-autonomous or autonomous driving. Many functions of ADAS require cameras for target detection, such as lane line detection, front vehicle detection, rear obstacle detection, and pedestrian detection. After detecting a target, it is generally necessary to detect the distance between the vehicle and the target, and even the target's surface contour. Existing solutions for detecting target distance using cameras involve two or more cameras working together to detect the distance between the vehicle and the target (camera and target). This solution requires two or more cameras to be installed at the front or rear of the vehicle, which is costly and difficult to promote. Summary of the Invention

[0003] The purpose of this invention is to provide a vehicle driving assistance system and method, as well as a storage medium, that can detect the distance of a target object with only one camera to assist driving, and to provide a vehicle using the above-described vehicle driving assistance system and method.

[0004] A vehicle driving assistance system includes a camera, a light source, and a processor. The light source projects at least two light spots into the field of view of the camera. The processor controls the camera and the light source, and upon receiving an image from the camera containing at least two light spots, calculates the distance between a target object and the vehicle within the camera's field of view based on the positions of the at least two light spots in the image, parameters of the at least two light spots emitted by the light source, and parameters of the camera.

[0005] In one embodiment, the camera is fixed on or near the interior rearview mirror of the vehicle; the light source is fixed on both sides of the camera or the light source is integrally formed with the camera, or fixed on both sides of the interior rearview mirror or near the interior rearview mirror or on the surface of the vehicle dashboard.

[0006] In one embodiment, the camera is fixed to the rear of the vehicle, and the light source is fixed to one or both sides of the camera.

[0007] In one embodiment, the light source includes two light-emitting devices; the two light-emitting devices are symmetrically arranged on both sides of the camera, forming an isosceles triangle with the camera or located on the same straight line as the camera; in the initial state, the intersection of the light rays emitted by the two light-emitting devices is located on the optical axis of the camera.

[0008] In one embodiment, the light source includes two light spot emitting devices; each light spot emitting device includes a light spot emitting source, a fixing member for fixing the light spot emitting source, and a driving device for driving the fixing member to rotate or driving the light spot emitting source to rotate on the fixing member, the driving device being connected to and controlled by the processor.

[0009] In one implementation, the light source includes two light spot emitting devices; each light spot emitting device includes multiple light spot emitting sources and a fixing member for fixing the multiple light spot emitting sources; the processor is also used to control the multiple light spot emitting sources to emit light spots according to preset logic, so that the light spots appear at different positions within the field of view of the camera.

[0010] In one embodiment, the light source includes a light spot emitting device; the light spot emitting device includes multiple light spot emitting sources, a fixing member for fixing the multiple light spot emitting sources, and a driving device for driving the fixing member to rotate. The driving device is connected to and controlled by the processor. The processor is also used to control the multiple light spot emitting sources to emit light spots according to preset logic, so that the light spots appear at different positions within the camera's field of view. At the same time, the processor can also control the driving device to move the fixing member or the multiple light spot emitting sources, so as to increase the range of light spot appearance.

[0011] A vehicle driving assistance method includes the following steps:

[0012] S10 controls the light source to project at least two light spots into the camera's field of view;

[0013] S12, Receive the image captured by the camera;

[0014] S14, parse the image and identify the positions of at least two light spots in the image;

[0015] S16, calculate the distance between the target object and the vehicle within the camera's field of view based on the positions of at least two light points in the image, the parameters of the light source emitting the at least two light points, and the camera's parameters; and

[0016] S18, assist vehicle driving based on the distance between the target object and the vehicle.

[0017] As one implementation method, the vehicle driving assistance method further includes the following steps:

[0018] S20, control the light source to change the position of at least two light spots projected into the camera's field of view;

[0019] S22, Receive the image captured by the camera;

[0020] S24, parse the image received in step S22, and identify the parameters of the at least two light points in the image;

[0021] S26, calculate the contour of the target object within the camera's field of view based on the parameters of at least two light points obtained in step S24, the parameters of at least two light points emitted by the light source in step S20, and the camera's parameters; and

[0022] S28, assist vehicle driving based on the outline of the target object.

[0023] As one implementation, in step S20, the method for changing the position of at least two light spots projected into the camera's field of view is one of the following methods: 1) driving the light source to rotate; 2) the light source includes multiple light spot emitting sources and a fixing member for fixing the multiple light spot emitting sources, controlling the multiple light spot emitting sources to emit light spots according to a preset logic so that the light spots appear at different positions within the camera's field of view; 3) driving the light source to move.

[0024] A computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method described above.

[0025] A vehicle is equipped with the aforementioned vehicle driving assistance system, which performs the aforementioned vehicle driving assistance method during operation.

[0026] The vehicle driving assistance system of the present invention only requires a camera and a light source that can emit at least two light points to calculate the distance between the target object and the vehicle, thereby assisting vehicle driving. It is low in cost, simple in image recognition and algorithm, and more efficient. Attached Figure Description

[0027] Figure 1 This is a schematic diagram illustrating the target distance detection principle of the vehicle driving assistance system in Example 1.

[0028] Figure 2 This is a schematic diagram of the light source structure of the vehicle driving assistance system in Example 1.

[0029] Figure 3 This is a schematic diagram illustrating the target contour detection principle of the vehicle driving assistance system in Example 1.

[0030] Figure 4 This is a schematic diagram of the vehicle driving assistance system and light source structure in Example 2. Detailed Implementation

[0031] The vehicle driving assistance system, method, and vehicle of the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0032] The vehicle of this invention is equipped with a vehicle driving assistance system. The innovation of this system lies in using a single camera and light source to perform distance and contour detection of target objects. For example... Figure 1 and Figure 2 As shown in Embodiment 1, the vehicle driving assistance system requires a camera 10, two light spot emitting devices 12 and 13, and a processor 14 to achieve this function. The camera 10 and the light spot emitting devices 12 and 13 are integrated into one unit. The effective camera module of the camera 10 (including a lens, lens motor, and imaging module) is located in the center of the camera. The light spot emitting devices 12 and 13 are symmetrically arranged at both ends of the camera, forming an isosceles triangle with the effective camera module or lying on the same straight line as the effective camera module. In the initial state, the intersection of the light rays emitted by the two light spot emitting devices 12 and 13 is located on the optical axis of the camera 10, and the light spot emitting devices 12 and 13 are configured to project light spots only into the field of view of the camera 10. The processor 14 is electrically connected to the camera 10 and the light spot emitting devices 12 and 13. It controls the camera 10 and the light spot emitting devices 12 and 13, and upon receiving an image with two light spots from the camera 10, it calculates the distance between the target object and the vehicle within the camera's field of view based on the positions of the two light spots in the image, the parameters of the two light spots emitted by the light spot emitting devices 12 and 13, and the parameters of the camera 10. Understandably, the processor 14 is equipped with memory to archive various parameters of the light spot emitting devices and the camera, and also stores driver assistance programs.

[0033] In this embodiment, the light spot emitting devices 12 and 13 can be light source devices such as laser emitters that can emit narrow or parallel beams with good directionality. The integrated camera 10 and light spot emitting devices 12 and 13 can be installed on the rearview mirror of the vehicle, on one side of the rearview mirror, or near the rearview mirror, or on the surface of the vehicle's dashboard, for identifying and measuring targets in front of the vehicle. When the vehicle also needs to identify and measure obstacles behind the vehicle, the integrated camera 10 and light spot emitting devices 12 and 13 can be simultaneously installed at the rear of the vehicle. When the vehicle also needs to identify and measure obstacles on both sides of the vehicle, the integrated camera 10 and light spot emitting devices 12 and 13 can be simultaneously installed on the side of the vehicle, for example, on the left and right rearview mirrors or built into holes in the side wall of the vehicle body.

[0034] Each light spot emitting device 12 / 13 includes a light spot emitting source 121, a fixing member 122 for fixing the light spot emitting source 121, and a driving device 123 for driving the fixing member 122 to rotate. The driving device 123 is connected to and controlled by the processor 14. In this embodiment, the fixing member 122 is an approximately semi-circular plate, the light spot emitting source 121 is fixed on the fixing member 122, and the driving device 123 is a mechanical driving device or an electronic driving device. In this embodiment, it is a motor. The output shaft of the motor is connected to the bottom of the fixing member 122. When the motor rotates, it drives the fixing member 122 to rotate, which in turn drives the light spot emitting source 121 to rotate, so that the position of the two emitted light spots projected into the field of view of the camera is moved.

[0035] In this invention, the light spot emitting devices 12 and 13 are configured to ensure that when a vehicle or pedestrian appears within a preset distance in front of the vehicle, the two light spots can be projected onto the vehicle or pedestrian.

[0036] In this embodiment, when the processor executes the vehicle driving assistance program to implement the vehicle driving assistance method, it includes the following steps.

[0037] S10, control the light spot emitting devices 12 and 13 to project two light spots into the field of view of the camera 10. At this time, the light spot emitting devices 12 and 13 are in their initial positions.

[0038] S12 receives images captured by camera 10.

[0039] S14, parse the image obtained in step S12 and identify the positions of the two light spots in the image.

[0040] Specifically, when there is no target object (such as a vehicle or pedestrian) within a preset distance in front of the vehicle, the image may not be able to identify the light spot, or the parameters of the identified light spot may not meet the requirements, such as the brightness or grayscale value being lower than the preset value. In this case, it is determined that no target object appears within the preset distance, and steps S10 to S14 are repeated. When a light spot that meets the requirements is identified in the image, the position parameters of the two light spots are determined. Another feasible method is to alternate between the on and off states of the light source to obtain images under the two light source states, and compare the images under these two states. If there is a significant difference, it is determined that a target exists and the light spot is shining on the target; otherwise, it is determined that no target object appears.

[0041] S16. Based on the positions of the two light spots obtained in step S14, the parameters of the two light spots emitted by the light spot emitting devices 12 and 13, and the parameters of the camera 10, calculate the distance between the target object and the vehicle within the camera's field of view.

[0042] For details, please refer to Figure 1When a target object appears within a preset distance in front of the vehicle (in front of the camera), the light spot emitting devices 12 and 13 project two light spots D and C onto the surface of the target object, and the intersection of the optical axis of the camera 10 and the surface of the target object is defined as F. At this time, the installation position of the light spot emitting devices 12 and 13 (in...) Figure 1 (marked as A and B), the mounting location of camera 10 (in Figure 1 The distance between point E and point F, i.e. the distance between the camera and the target object, is calculated using geometric rules based on the angle between the light beam emitted by the light spot emitting devices 12 and 13 and the optical axis, as well as the distance between light spots D and C. This allows us to obtain the distance between the vehicle and the target object.

[0043] S18. Based on the distance between the target object and the vehicle obtained in step S16, assist vehicle driving by, for example, slowing down or issuing a reminder to the driver.

[0044] After determining the distance between the vehicle and the target object, the outline of the target object can be further determined by controlling the movement of two light spots. Based on actual needs, this embodiment only determines the outline of the target object in the width direction of the vehicle body. Therefore, the light spots move essentially horizontally away from the camera's optical axis.

[0045] S20, the fixing part 122 of the light spot emitting device 12 and 13 is rotated to change the position of the two light spots projected by the light spot emitting source 121 into the field of view of the camera 10.

[0046] S22, receives the image captured by camera 10 after the light spot moves.

[0047] S24, parse the image received in step S22 and identify the parameters of the two light points in the image.

[0048] S26. Calculate the outline of the target object within the camera's field of view based on the parameters of the two light spots obtained in step S24, the parameters of the two light spots emitted by the light spot emitting devices 12 and 13 in step S20 (i.e., the change in the beam emission angle), and the camera parameters.

[0049] Specifically, when any of the light spots moves to one side of the target object, the parameters of the light spot in the resulting image may immediately become unacceptable (e.g., the light spot brightness value is lower than the preset value), or the brightness / grayscale value drops significantly. In this case, the position of the previous light spot is determined to be the boundary of the target object, thus allowing the extraction of the target object's outline. This principle can be found in [reference needed]. Figure 3 As shown, when multiple light spots are projected onto a rabbit, the light spots projected outside the rabbit's body disappear or are ignored, while the light spots projected onto the surface of the rabbit's body appear in different positions due to the unevenness of the rabbit's body surface, thus obtaining the outline of the rabbit.

[0050] S28. Based on the outline of the target object obtained in step S26, assist vehicle driving. For example, when it is determined that there is a heavy vehicle in front, the distance is increased by slowing down. When it is determined that there is a motorcycle or bicycle in front, the vehicle slows down and issues a warning to the driver.

[0051] In the first embodiment described above, the camera 10 and the light-emitting devices 12 and 13 (i.e., the light source) are integrated into one unit. It is understood that in other embodiments, the camera and the two light-emitting devices can be three independent entities, each fixed to a predetermined position on the vehicle. For example, the camera can be fixed to the bracket of the rearview mirror, preferably to the non-rotatable part of the rearview mirror bracket, or to the windshield (near the rearview mirror or the dashboard), or to the dashboard surface. The two light-emitting devices can be fixed to the windshield or the dashboard surface. Of course, the light source can also be fixed to both sides of the camera using fasteners. Thus, the installation positions of the camera and the two light-emitting devices are predetermined. When applied to the same vehicle model, the distance between the camera and the light source, and the relationship between the light emission angle and the optical axis, are the same, making it easy to promote.

[0052] In another variation, the camera can be fixed to the rearview mirror inside the vehicle, and two light spot emitting devices can be fixed to the two sides of the rearview mirror. When the rearview mirror is adjusted, the camera and the light spot emitting devices are adjusted synchronously. The field of view of the camera changes, but the interaction parameters of the camera and the light spot emitting devices remain unchanged, which has no impact on the implementation of the vehicle driving assistance method. This solution is also easy to implement and promote.

[0053] In other embodiments, the fixed positions of the camera and the two light spot emitting devices may be non-fixed (not preset). In this case, when applying the vehicle driving assistance method, it is necessary to first calibrate the relative positional relationship between the camera and the two light spot emitting devices, as well as the angular relationship between the light spot emission direction and the optical axis direction.

[0054] In the first embodiment described above, the light spot emitting devices 12 and 13 are substantially symmetrically arranged on both sides of the camera 10. It is understood that in other embodiments, the two light spot emitting devices may be arranged on both sides of the camera, but not symmetrically. The two light spot emitting devices may even be arranged on one side of the camera. As long as the geometric positional relationship of the three is determined, the above-mentioned vehicle driving assistance method can be implemented.

[0055] In the first embodiment described above, the driving device 123 drives the fixing member 122 to rotate, thereby moving the light spot emitting source 121. It is understood that in other embodiments, the fixing member may be fixed in place, and the driving device connects to the light spot emitting source through a hole on the fixing member, directly driving the light spot emitting source to rotate.

[0056] In other embodiments, the fixing member 122 can be replaced by other fixing structures, such as a three-dimensional bracket, a frustum or a cone, as long as it achieves the purpose of fixing the light spot emitting device or rotatably connecting the light spot emitting device.

[0057] In other embodiments, the fixing member 122 may be omitted, and the light spot emitting device and the driving device may be directly connected and fixed. For example, the instrument panel surface has a through hole, the light spot emitting device extends out of the instrument panel, and the driving device is located inside the instrument panel.

[0058] In other embodiments, the light spot emitting device may employ a universal drive to drive the light spot emitting source to move on a spherical surface, thereby enabling the light spot to move within the camera's field of view and better identify the outline of the target object.

[0059] In the vehicle driving assistance method of Embodiment 1 described above, the drive unit 123 drives the light spot emitting source 121 to move substantially horizontally to determine the outline of the target object in the vehicle width direction (horizontal direction). It is understood that in other embodiments, the drive unit may also drive two light spot emitting sources to move substantially vertically to determine the outline of the target object in the vertical direction. In other embodiments, the drive unit may also drive one light spot emitting source to move horizontally and the other light spot emitting source to move vertically, thereby determining the outline of the target object in both the horizontal and vertical directions. In this case, it may be necessary to use two motors to drive the light spot emitting sources separately, or one motor in conjunction with a rack / pinion / transmission wheel or other transmission device to achieve driving force in both directions.

[0060] like Figure 4 The image shows a light spot emitting device 16 used in the vehicle driving assistance system of Embodiment 2 of the present invention. In Embodiment 2, the vehicle driving assistance system mainly includes a camera, two light spot emitting devices 16, and a processor. The main difference between Embodiment 2 and Embodiment 1 and its variations lies in the structure of the light spot emitting devices 16 and 12 / 13. Each light spot emitting device 16 includes multiple light spot emitting sources 161 and a fixing member 162 for fixing the multiple light spot emitting sources 161. The fixing member 162 is an approximately semi-circular plate, and the multiple light spot emitting sources 161 are radially fixed to the fixing member 162, which can be configured as one or more layers. During operation, the processor controls the multiple light spot emitting sources 161 to emit light spots according to preset logic, so that the light spots appear at different positions within the camera's field of view. When a target object appears within a preset distance in front of the vehicle, the current light spot can appear at a preset position on the surface of the target object to calculate the distance between the vehicle / camera and the target object. Then, these light spots can change position to calculate the outline of the target object. The aforementioned preset logic can be to drive at least two light source emitters to project at least two light points in turn, either from left to right, from right to left, or from the center to both sides.

[0061] In terms of the driving method, Embodiment 2 uses multiple light spot emitting devices 16 to replace the driving device 123 in Embodiment 1. The vehicle driving assistance method of Embodiment 2 is similar to that of Embodiment 1, and will not be described again here.

[0062] Understandably, in a variation of Embodiment 2, the fixing member can be spherical, hemispherical, or a spherical frustum, and multiple radially extending holes can be formed on the fixing member, with each light spot emitting source inserted into one hole. Thus, in target object contour recognition, both horizontal and vertical contours, or even 360° contour recognition, can be achieved simultaneously, effectively equivalent to using a universal drive device to move the light spot emitting source on a spherical surface.

[0063] In a variation of Embodiment 2, a single light spot emitting device can replace the two light spot emitting devices 16 of Embodiment 2. In this embodiment, the light spot emitting device may include multiple light spot emitting sources, a fixing member for fixing the multiple light spot emitting sources, and a drive device for driving the fixing member to rotate. The drive device is connected to and controlled by the processor. The processor can control the multiple light spot emitting sources to emit light spots according to preset logic, so that at least two light spots appear at different positions of the target object, in order to calculate the distance between the vehicle / camera and the target object. The processor can also control the drive device to move the fixing member or the multiple light spot emitting sources, thereby increasing the range of light spot appearance, in order to calculate the contour of the target object.

[0064] In summary, the vehicle driving assistance system of the present invention only requires a camera and a light source that can emit at least two light points to calculate the distance between the target object and the vehicle, thereby assisting vehicle driving. It is low in cost, has simple image recognition and algorithms, and is more efficient.

[0065] In the description of this invention, it should be understood that terms such as "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0066] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0067] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0068] Although the description of the invention has been given in conjunction with the specific embodiments described above, it will be apparent to those skilled in the art that many substitutions, modifications, and variations can be made based on the foregoing. Therefore, all such substitutions, modifications, and variations are included within the spirit and scope of the appended claims.

Claims

1. A vehicle driving assistance system, characterized in that, include: camera; A light source, used to project at least two light spots into the field of view of the camera; The processor controls the camera and the light source, and upon receiving an image with at least two light points from the camera, calculates the distance between the target object and the vehicle within the camera's field of view based on the positions of the at least two light points in the image, the parameters of the at least two light points emitted by the light source, and the parameters of the camera. It also controls the at least two light points to move horizontally away from the camera's optical axis to determine the outline of the target object in the vehicle's width direction; and controls the at least two light points to move vertically to determine the outline of the target object in the vertical direction. The parameter for the light source emitting the at least two light spots is the beam emission angle; The structure of the light source is one of the following three types: (1) The light source includes a light spot emitting device; the light spot emitting device includes multiple light spot emitting sources, a fixing member for fixing the multiple light spot emitting sources, and a driving device for driving the fixing member to rotate. The driving device is connected to the processor and controlled by the processor. The processor is also used to control the multiple light spot emitting sources to emit light spots according to preset logic so that the light spots appear at different positions within the camera's field of view. At the same time, the processor can also control the driving device to move the fixing member or the multiple light spot emitting sources so that the range of light spots appearing increases. (2) The light source includes two light spot emitting devices; each light spot emitting device includes a light spot emitting source, a fixing member for fixing the light spot emitting source, and a driving device for driving the fixing member to rotate or driving the light spot emitting source to rotate on the fixing member, the driving device being connected to the processor and controlled by the processor; (3) The light source includes two light spot emitting devices; each light spot emitting device includes multiple light spot emitting sources and a fixing member for fixing the multiple light spot emitting sources; the fixing member may be spherical, hemispherical or spherical, and multiple holes extending radially may be formed on the fixing member, and each light spot emitting source is inserted into one hole; the processor is also used to control the multiple light spot emitting sources to emit light spots according to preset logic, so that the light spots appear at different positions within the field of view of the camera; The driving device is a universal driving device, which drives the light spot emission source to move on a spherical surface; In the initial state, the intersection of the light rays emitted by the at least two light source emission sources is located on the optical axis of the camera.

2. The vehicle driving assistance system according to claim 1, characterized in that, The camera and light source are fixed in one of the following ways: (1) The camera is fixed on or near the interior rearview mirror of the vehicle; the light source is fixed on both sides of the camera or the light source is integrally formed with the camera, or fixed on both sides of the interior rearview mirror or near the interior rearview mirror or on the surface of the vehicle dashboard; (2) The camera is fixed at the rear of the vehicle, and the light source is fixed on one side or both sides of the camera.

3. The vehicle driving assistance system according to claim 1, characterized in that, The light source includes two light spot emitting devices; the two light spot emitting devices are symmetrically arranged on both sides of the camera, forming an isosceles triangle with the camera or located on the same straight line as the camera.

4. A vehicle driving assistance method, characterized in that, Includes the following steps: S10 controls the light source to project at least two light spots into the camera's field of view; S12, Receive the image captured by the camera; S14, parse the image and identify the positions of at least two light spots in the image; S16, calculate the distance between the target object and the vehicle within the camera's field of view based on the positions of at least two light spots in the image, the parameters of the light source emitting the at least two light spots, and the parameters of the camera; The parameter for the light source emitting the at least two light spots is the beam emission angle; as well as S18, assist vehicle driving based on the distance between the target and the vehicle; The structure of the light source is one of the following three types: (1) The light source includes a light spot emitting device; the light spot emitting device includes multiple light spot emitting sources, a fixing member for fixing the multiple light spot emitting sources, and a driving device for driving the fixing member to rotate. The driving device is connected to and controlled by the processor. The processor is also used to control the multiple light spot emitting sources to emit light spots according to preset logic so that the light spots appear at different positions within the camera's field of view. At the same time, the processor can also control the driving device to move the fixing member or the multiple light spot emitting sources so that the range of light spots appearing increases. (2) The light source includes two light spot emitting devices; each light spot emitting device includes a light spot emitting source, a fixing member for fixing the light spot emitting source, and a driving device for driving the fixing member to rotate or driving the light spot emitting source to rotate on the fixing member, the driving device being connected to the processor and controlled by the processor; (3) The light source includes two light spot emitting devices; each light spot emitting device includes multiple light spot emitting sources and a fixing member for fixing the multiple light spot emitting sources; the fixing member may be spherical, hemispherical or spherical, and multiple holes extending radially may be formed on the fixing member, and each light spot emitting source is inserted into one hole; the processor is also used to control the multiple light spot emitting sources to emit light spots according to preset logic, so that the light spots appear at different positions within the field of view of the camera; The driving device is a universal driving device, which drives the light spot emission source to move on a spherical surface; In the initial state, the intersection of the light rays emitted by the at least two light source emission sources is located on the optical axis of the camera; Further steps include: S20, control the light source to change the position of at least two light spots projected into the camera's field of view; S22, Receive the image captured by the camera; S24, parse the image received in step S22, and identify the parameters of the at least two light points in the image; S26, calculate the contour of the target object within the camera's field of view based on the parameters of at least two light points obtained in step S24, the parameters of at least two light points emitted by the light source in step S20, and the camera's parameters; and S28, assist vehicle driving based on the outline of the target object.

5. The vehicle driving assistance method according to claim 4, characterized in that, In step S20, the method for changing the positions of at least two light spots projected into the camera's field of view is one of the following: 1) Drive the light source to rotate; 2) The light source includes multiple light spot emitting sources and a fixing component for fixing the multiple light spot emitting sources, and controls the multiple light spot emitting sources to emit light spots according to a preset logic so that the light spots appear at different positions within the camera's field of view; 3) Drive the light source to move.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 4 and 5.

7. A vehicle, characterized in that, The vehicle is equipped with the vehicle driving assistance system as described in claim 1, which performs the vehicle driving assistance method as described in claim 4 during operation.

Images