Assisted driving device and system

Abstract

An assisted driving device and system, relating to the technical field of assisted driving. The assisted driving device (100) comprises a protective housing (1), an image acquisition module (23), a ranging module (4), arranged in the protective housing (1), and a control module (5). The image acquisition module (23) is configured to acquire image information of a traveling environment of a main vehicle and send same to the control module (5). The ranging module (4) is configured to acquire distance information of a target object in the traveling environment and send same to the control module (5). The control module (5) is configured to perform environmental cognition on the traveling environment on the basis of the image information and the distance information, to obtain assisted driving information of the main vehicle. The assisted driving device and system can provide more accurate and appropriate environmental cognition of the traveling environment, thereby providing users with more comprehensive, intelligent, and accurate assisted driving information, and effectively improving the safety of vehicle traveling.

Description

Driver assistance devices and systems

[0001] This invention claims priority to Chinese Patent Application No. 202421825572.9, filed on July 30, 2024, entitled "Assisted Driving Equipment and System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of driver assistance technology, and more particularly to a driver assistance device and system. Background Technology

[0003] As living standards improve, people's demand for road safety is increasing. Traffic accidents frequently occur on highways, urban roads, and rural roads, causing loss of life and property and negatively impacting people's lives. Therefore, driver assistance technology has emerged. Driver assistance is a technology that utilizes environmental perception sensors, communication, decision-making, and execution devices installed on vehicles to monitor the driving environment in real time and assist the driver in performing driving tasks through information and motion control to avoid or mitigate collision hazards.

[0004] Current advanced driver assistance systems (ADAS) primarily rely on sensors to collect image information of the vehicle's driving environment. This image information is then used for target recognition to obtain environmental perception results, which are then provided to the driver as ADAS information. However, this existing ADAS method, which relies solely on image information of the driving environment, lacks spatial information about targets or cannot accurately obtain such information. Consequently, it cannot accurately assess the safety status of the driving environment and therefore cannot provide users with more comprehensive, intelligent, and precise ADAS functions. Summary of the Invention

[0005] To address the existing technical problems, this application provides an auxiliary driving device and auxiliary driving system that can accurately perceive the vehicle's driving environment to improve vehicle driving safety performance.

[0006] According to a first aspect provided in the embodiments of this application, an assisted driving device is provided, including a protective shell, an image acquisition module and a ranging module disposed within the protective shell, and a control module, wherein the image acquisition module and the ranging module are respectively connected to the control module;

[0007] The image acquisition module is used to acquire image information of the vehicle's driving environment and send the image information to the control module;

[0008] The ranging module is used to collect distance information of target objects in the driving environment and send the distance information to the control module;

[0009] The control module is used to perform environmental cognition based on the image information and the distance information to obtain assisted driving information for the main vehicle.

[0010] Optionally, the image acquisition module includes an infrared sensor and a visible light sensor;

[0011] The infrared sensor and the visible light sensor are aligned vertically, and the image acquisition module and the ranging module are arranged sequentially horizontally.

[0012] Optionally, the image acquisition module includes an infrared sensor and a visible light sensor; the infrared sensor and the visible light sensor are aligned horizontally, and the image acquisition module and the ranging module are aligned vertically.

[0013] Optionally, the control module is located inside the protective housing.

[0014] Optionally, the control module is located outside the protective shell.

[0015] Optionally, the ranging module includes lidar or millimeter-wave radar.

[0016] Optionally, the protective shell is a waterproof metal shell.

[0017] Optionally, the driver assistance device further includes a module bracket fixedly disposed inside the protective shell, the module bracket being provided with mounting holes and mounting slots;

[0018] The image acquisition module's acquisition lens is inserted into the mounting hole and fixed in place by the mounting hole; the ranging module is embedded in the mounting groove and fixed in place by the mounting groove.

[0019] Optionally, the protective shell includes a detachably connected front shell and a rear shell;

[0020] The front shell is provided with the working windows of the image acquisition module and the ranging module. The rear shell is provided with a data transmission interface connected to the control module on the side opposite to the front shell. The control module communicates with external devices through the data transmission interface.

[0021] Optionally, the image acquisition module includes a visible light sensor and an infrared sensor. The working window of the visible light sensor is a glass window whose transparency meets a first preset condition, and the working window of the infrared sensor is a glass window whose infrared light transmittance meets a second preset condition.

[0022] Optionally, the working window of the ranging module is a non-metallic cover plate whose transmittance of the ranging light source meets a third preset condition.

[0023] Optionally, the front shell has a receiving cavity, and the rear shell is used to cover the receiving cavity to seal the receiving cavity;

[0024] The image acquisition module and the ranging module are fixedly installed inside the receiving cavity, and the control module is fixed to the side of the rear shell facing the receiving cavity.

[0025] Optionally, a waterproof sealing ring is provided between the front shell and the rear shell.

[0026] According to a second aspect provided in the embodiments of this application, an assisted driving system is provided, including any of the assisted driving devices and display devices described above;

[0027] The display device is connected to the driver assistance device and is used to display driver assistance information obtained by the driver assistance device.

[0028] Optionally, the control module is integrated into the display device.

[0029] As can be seen from the above, the assisted driving device provided in this application includes an image acquisition module that acquires image information from the vehicle's driving environment, and a distance measurement module that measures the distance to target objects in the driving environment. The image acquisition module and the distance measurement module are housed within a protective casing, with minimal relative positional offset between them. They respectively send the acquired image information and distance information to the control module, resulting in excellent data fusion between the image acquisition module and the distance measurement module. Therefore, the assisted driving device provided in this application can achieve a more accurate and reasonable environmental perception based on image and distance information, thereby providing users with more comprehensive, intelligent, and precise assisted driving information, effectively improving vehicle driving safety. The assisted driving system provided in this application and the assisted driving device provided in this application can achieve the same technical effects. Attached Figure Description

[0030] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0031] Figure 1 is a structural schematic diagram of an auxiliary driving device provided in this application;

[0032] Figure 2 is a perspective view of a driver assistance device provided according to some embodiments of this application from one view.

[0033] Figure 3 is an exploded view of a driver assistance device provided according to some embodiments of this application;

[0034] Figure 4 is a front view of a driver assistance device provided according to some embodiments of this application;

[0035] Figure 5 is a perspective view of a driver assistance device provided according to some embodiments of this application from another angle.

[0036] Figure 6 is a side view of a driver assistance device provided according to some embodiments of this application;

[0037] Figure 7 is a schematic diagram of the structure of an assisted driving system provided according to some embodiments of this application. Detailed Implementation

[0038] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to limit the ways in which this application may be implemented. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0041] In the description of this application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "row," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing this application 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, and therefore should not be construed as a limitation on this application. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0043] Figure 1 is a schematic diagram of the structure of a driver assistance device provided in this application. The driver assistance device 100 includes a protective housing 1, and an image acquisition module 23, a ranging module 4, and a control module 5, respectively fixed within the protective housing 1. The image acquisition module 23 and the ranging module 4 are connected to the control module 5. The image acquisition module 23 is used to acquire image information of the driving environment of the vehicle on which the driver assistance device 100 is installed, and sends the image information to the control module 5. The ranging module 4 is used to acquire distance information of target objects in the driving environment, and sends the distance information to the control module 5. The control module 5 is used to perform environmental cognition based on the image information and distance information to obtain driver assistance information for the vehicle.

[0044] The driver assistance device 100 provided in this embodiment is installed on the main vehicle. Specifically, the driver assistance device 100 is detachably installed on the main vehicle. The protective shell 1 is the outer casing of the driver assistance device 100, used to protect the image acquisition module 23, the ranging module 4, and the control module 5 within the protective shell 1. The driving environment mainly includes the driving road and surrounding environment corresponding to the main vehicle during driving. Image information specifically refers to image data of the driving environment, which includes target objects in the driving environment. Target objects include, but are not limited to, vehicles, pedestrians, animals, obstacles, lane lines, road signs, and / or directional signs on the driving road of the main vehicle. Distance information represents the distance from the target object in the driving environment to the ranging module 4, whereby the distance includes lateral distance and / or longitudinal distance.

[0045] Based on the ranging module 4, distance information of various target objects in the driving environment can be obtained relatively accurately. The control module 5, based on image and distance information, can accurately perceive the driving environment, thereby obtaining more comprehensive and accurate assisted driving information. Specifically, the control module 5's environmental perception based on image and environmental information includes: target recognition of image information to obtain the perception result of the driving environment; determining the relative motion relationship between the vehicle and the target object based on the perception result and the distance information of the target object; and further determining the danger state and / or safety level of the driving environment to obtain the cognitive result of the driving environment. The image information, distance information, perception result, and cognitive result are then provided to the user as assisted driving information. Here, the user typically refers to the driver of the vehicle.

[0046] The perception results obtained by the control module 5 through target recognition of image information include, but are not limited to, information such as the category, location, and size of the target object. Based on the perception results and the distance information of the target object, the control module 5 obtains cognitive results, including but not limited to whether there are currently risky target objects in the driving environment, whether there are target objects requiring warning, or whether target objects requiring prompting are present. The control module 5 can perform target recognition on the acquired image information based on a running deep learning model to convert the image information into perception results of target objects in the driving environment. Then, based on the perception results and the distance information of the target object, it determines the safety level of the current driving environment and obtains the cognitive results of the driving environment.

[0047] The assisted driving device 100 provided in this application includes an image acquisition module 23 that acquires image information from the driving environment of the vehicle, and a distance measuring module 4 that measures the distance to target objects in the driving environment. The image acquisition module 23, the distance measuring module 4, and the control module 5 are fixedly installed in the protective shell 1. The relative positional offset between the modules is small, and the data fusion effect between the image acquisition module 23 and the distance measuring module 4 is better. Therefore, based on the fusion of image information and distance information, the control module 5 can more accurately perceive the driving environment, thereby providing users with more comprehensive, intelligent, and accurate assisted driving information, effectively improving the safety of vehicle driving.

[0048] Figure 2 is a perspective view of the driver assistance device provided according to some embodiments of this application from one angle; Figure 3 is an exploded view of the driver assistance device provided according to some embodiments of this application; Figure 4 is a front view of the driver assistance device provided according to some embodiments of this application; Figure 5 is a perspective view of the driver assistance device provided according to some embodiments of this application from another angle; and Figure 6 is a side view of the driver assistance device provided according to some embodiments of this application. The driver assistance device provided in the embodiments of this application will be further described and explained in detail below with reference to Figures 2 to 6.

[0049] Because the image clarity of a visible light sensor is affected by the light intensity of the driving environment, relying solely on image information acquired by a visible light sensor for visual target recognition in assisted driving cannot meet the requirement of accurate target identification under all driving conditions. To address this issue, in some embodiments, the image acquisition module 23 specifically includes a visible light sensor 2 and an infrared sensor 3. The visible light sensor 2 specifically includes a visible light camera for acquiring visible light image information of the driving environment. The infrared sensor 3 can specifically be an infrared thermal imager for acquiring infrared image information of the driving environment.

[0050] Infrared sensor 3 can accurately acquire image information of the driving environment even in insufficient or excessive light conditions, and is unaffected by ambient light conditions. By fusing the image information of the driving environment acquired by visible light sensor 2 and infrared sensor 3, effective environmental information can be accurately obtained under all operating conditions, thereby improving the accuracy of target object recognition in the driving environment and enhancing the driving safety of the vehicle. Furthermore, since visible light sensor 2 and infrared sensor 3 are fixedly housed within the same protective housing 1, the relative positional offset between them is small during use of the driver assistance device 100. This results in better fusion of the image information acquired by the two sensors, further improving the accuracy of target recognition in the driving environment and assisting in safe driving of the vehicle.

[0051] In some embodiments, the visible light sensor 2 and the infrared sensor 3 are vertically aligned, so that their horizontal field of view centers coincide, thereby improving the fusion effect of the visible light sensor 2 and the infrared sensor 3 and achieving accurate environmental perception of the driving environment. The vertical direction refers to the direction perpendicular to the road surface on which the vehicle is traveling, and the horizontal direction refers to the direction of the horizontal plane on which the vehicle is traveling. Specifically, as an optional implementation, the visible light sensor 2 is positioned above the infrared sensor 3 in the vertical direction. The vertical alignment of the visible light sensor 2 and the infrared sensor 3 specifically means that their image acquisition axes are vertically aligned.

[0052] In the image acquisition module 23, the visible light sensor 2 and the infrared sensor 3 are vertically aligned. Furthermore, the image acquisition module 23 and the ranging module 4 are arranged sequentially in the horizontal direction. This ensures that the coordinate centers of the three sensors (visible light sensor 2, infrared sensor 3, and ranging module 4) are as close as possible, improving the data fusion effect between the three sensors. The ranging module 4 can be a lidar or millimeter-wave radar, enabling precise sensing of the distance to various targets in the driving environment. This allows for a more accurate environmental perception based on the driving environment perception results, thereby improving the safety performance of assisted driving.

[0053] It should be noted that the arrangement of the ranging module 4, the visible light sensor 2, and the infrared sensor 3 within the protective housing 1 can be configured in different ways, while still ensuring that the coordinate centers of these three sensors are as close as possible. For example, in some embodiments, the visible light sensor 2 and the infrared sensor 3 can be aligned horizontally, and the image acquisition module 23 and the ranging module 4 can be aligned vertically accordingly.

[0054] Specifically, the protective shell 1 can be a waterproof metal shell with waterproof function, which can prevent moisture in the driving environment from damaging the internal sensor modules and control modules 5, effectively improving the service life and environmental adaptability of the driver assistance equipment 100.

[0055] In some embodiments, the driver assistance device 100 further includes a module bracket 11 fixedly disposed inside the protective housing 1. The module bracket 11 has mounting holes and mounting slots 113. The acquisition lens of the image acquisition module 23 is inserted into the mounting hole and fixedly confined within the protective housing 1 by the mounting hole. The ranging module 4 is embedded in the mounting slot 113 and fixedly confined within the protective housing 1 by the mounting slot 113. Fixing both the image acquisition module 23 and the ranging module 4 within the protective housing 1 helps to reduce the relative positional offset between them.

[0056] When the image acquisition module 23 includes a visible light sensor 2 and an infrared sensor 3, the aforementioned mounting holes include a first mounting hole 111 and a second mounting hole 112. The first mounting hole 111 and the second mounting hole 112 are vertically aligned. The visible light sensor 2, with its lens facing the first mounting hole 111, is inserted into the first mounting hole 111 from the first side of the module bracket 11 and is fixed in position. The infrared sensor 3, with its lens facing the second mounting hole 112, is inserted into the second mounting hole 112 from the first side of the module bracket 11 and is fixed in position. A mounting groove 113 is provided on the first side of the module bracket 11, and the ranging module 4 is embedded in the mounting groove 113 with its light-emitting surface facing away from the bottom of the mounting groove 113.

[0057] Specifically, in some embodiments, the first side of the module bracket 11 is provided with an annular boss that communicates with the mounting hole at the position corresponding to the mounting hole, so as to limit the acquisition lens of the image acquisition module 23 and further reduce the positional offset of the image acquisition module 23.

[0058] In some embodiments, the protective housing 1 includes a detachably connected front housing 12 and a rear housing 14. Specifically, the rear housing 14 is connected to the front housing 12 by screws 16. A first side of the module bracket 11 faces the front housing 12, and a second side of the module bracket 11 faces the rear housing 14. The first and second sides of the module bracket 11 are opposite sides. Specifically, the front housing 12 is provided with working windows for the image acquisition module 23 and the ranging module 4, and the rear housing 14, on the side opposite to the front housing 12, is provided with a data transmission interface 6 connected to the control module 5. The control module 5 communicates with external devices through the data transmission interface 6 to send assisted driving information to the external devices for provision to the user. The external devices may include, but are not limited to, display devices.

[0059] The working window refers to the light-receiving window of the corresponding sensor, which is located in front of the field of view of the corresponding sensor. The corresponding sensor receives the corresponding sensing light based on the working window to obtain the corresponding sensing data. As an optional implementation, in some embodiments, the working window of the image acquisition module 23 includes a first working window 121 of the visible light sensor 2 and a second working window 122 of the infrared sensor 3.

[0060] In some embodiments, the working windows in front of the field of view of the image acquisition module 23 and the ranging module 4 are waterproof and protective covers. Specifically, the first working window 121 is a glass window with transparency meeting a first preset condition, so as to allow as much visible light as possible to pass through while meeting the waterproof and protective function, allowing the visible light sensor 2 to acquire visible light image information of the driving environment. Meeting the first preset condition means that the transparency is greater than or equal to a preset transparency. The second working window 122 is a glass window with infrared light transmittance meeting a second preset condition, so as to allow as much infrared light as possible to pass through while meeting the waterproof and protective function, allowing the infrared sensor 3 to acquire infrared image information of the driving environment. Meeting the second preset condition means that the infrared light transmittance is greater than or equal to a second preset transmittance. Further, the third working window 123 of the ranging module 4 is a non-metallic cover plate with a transmittance of ranging and receiving light meeting a third preset condition, meaning that the transmittance of the receiving and receiving light is greater than or equal to a third preset transmittance.

[0061] Specifically, to ensure that the protective housing 1 meets the IP69K waterproof design requirements, in some embodiments, the first working window 121 is a high-strength K9 glass cover, and the second working window 122 is a high-strength, high-transparency germanium metal glass cover, which can effectively protect the infrared sensor 3 while ensuring high infrared transmittance. Additionally, the third working window 123 of the ranging module 4 is a non-metallic cover that does not obstruct the light emission and reception required for ranging. Setting corresponding working windows in front of each sensor serves both a protective function and improves the service life and environmental adaptability of each module.

[0062] As an alternative implementation, in some embodiments, the front housing 12 has a receiving cavity, and the rear housing 14 is used to cover the receiving cavity to seal it, thereby protecting the sensors located within the receiving cavity from the effects of moisture in the driving environment. To further improve the waterproof performance of the protective housing 1, a waterproof sealing ring 15 is provided between the front housing 12 and the rear housing 14. Specifically, the image acquisition module 23 and the ranging module 4 are fixedly mounted in the receiving cavity of the front housing 12 based on the module bracket 11, and the control module 5 is fixed to the side of the rear housing 14 facing the receiving cavity, so as to reduce the positional deviation between the modules and reduce the size of the driver assistance device.

[0063] In some embodiments, to enhance the aesthetics of the driver assistance device 100, the protective housing 1 further includes a front cover plate 13 covering the side of the front housing 12 facing away from the rear housing 14. The area of ​​the front cover plate corresponding to each working window has a corresponding window to expose the corresponding working window. The windows provided on the front cover plate 13 include a first window 131 corresponding to the first working window 121, a second window 132 corresponding to the second working window 122, and a third window 133 corresponding to the third working window 123.

[0064] In some embodiments, the rear housing 14 of the driver assistance device 100 is provided with a power interface 7 on the side opposite to the front housing 12 for connecting to a power supply to provide power to the driver assistance device 100. Furthermore, the driver assistance device 100 further includes a mounting component 8 located at the bottom of the protective housing 1. The driver assistance device 100 is fixedly mounted on the main vehicle via the mounting component 8 to enable driver assistance for the main vehicle.

[0065] The driver assistance device 100 provided in this application embodiment can provide users with visible light image data, infrared image data, and distance data of target objects in the driving environment. Based on these data, it can be fused to obtain the perception and cognition results of the driving environment. While ensuring that stable driving environment image information can be obtained under different lighting conditions, it can also obtain accurate distance information of targets in the driving environment, thereby obtaining more accurate and reasonable environmental cognition results and significantly improving the user experience of the driver assistance device 100.

[0066] Please refer to Figure 7, which is a schematic diagram of the structure of an assisted driving system provided according to some embodiments of this application. In some embodiments, the assisted driving system provided by this application includes an assisted driving device 100 as provided in any embodiment of this application and a display device 200. The display device 200 is connected to the assisted driving device 100 and is used to display assisted driving information obtained by the assisted driving device 100. The assisted driving system provided in the embodiments of this application can achieve the same technical effects as the assisted driving device 100 provided in the embodiments of this application, and will not be described again here.

[0067] In some embodiments, the image acquisition module 23 of the driver assistance system provided in this application includes a visible light sensor 2 and an infrared sensor 3, and the ranging module 4 is a distance sensor that can be, but is not limited to, lidar or millimeter-wave radar. Therefore, in some embodiments, the driver assistance system provided in this application is a three-light (visible light, infrared light, and radar ranging) intelligent vehicle night vision system, which can acquire visible light image information, infrared image information, and distance information of the vehicle's driving environment, and fuse the visible light image information, infrared image information, and distance information to perform environmental perception and cognition of the driving environment, obtain corresponding perception results and cognition results, and transmit the corresponding perception results and cognition results as driver assistance information to the display device 200 through the data transmission interface 6, so that the display device 200 can provide them to the user, and the user can obtain visualized image data, perception results, and cognition results of the driving environment.

[0068] It should be noted that the driver assistance device 100 provided in this application embodiment, in addition to integrating the image acquisition module 23 and the ranging module 4, and achieving the fusion of visible light, infrared light, and radar ranging information, can also form other structural forms. For example, in the driver assistance device 100, the control module 5 can be disposed outside the protective shell 1. The control module 5 can be an independent accessory relative to the protective shell 1, installed outside the protective shell 1 or in other locations on the main vehicle, and communicatively connected to the sensors inside the protective shell 1. Alternatively, in the driver assistance device 100, the control module 5 can be integrated into the display device 200 and communicatively connected to the sensors inside the protective shell 1.

[0069] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An assist device for driving, characterized by comprising: The auxiliary driving device comprises a protective shell, an image acquisition module and a distance measuring module arranged in the protective shell, and a control module, wherein the image acquisition module and the distance measuring module are connected with the control module respectively; The image acquisition module is configured to acquire image information of a driving environment of a host vehicle and transmit the image information to the control module; The distance measuring module is configured to acquire distance information of a target object in the driving environment and transmit the distance information to the control module; The control module is configured to perform environment cognition on the driving environment according to the image information and the distance information, and obtain auxiliary driving information of the host vehicle.

2. The assistive driving device of claim 1, wherein, The image acquisition module comprises an infrared sensor and a visible light sensor; The infrared sensor and the visible light sensor are arranged in alignment in a vertical direction, and the image acquisition module and the distance measuring module are arranged in sequence in a horizontal direction.

3. The assistive driving device of claim 1, wherein, The image acquisition module comprises an infrared sensor and a visible light sensor; The infrared sensor and the visible light sensor are arranged in alignment in a horizontal direction, and the image acquisition module and the distance measuring module are arranged in alignment in a vertical direction.

4. The assistive driving device of claim 1, wherein, The control module is arranged in the protective shell.

5. The assistive driving device of claim 1, wherein, The control module is arranged outside the protective shell.

6. The assistive driving device of claim 1, wherein, The distance measuring module comprises a laser radar or a millimeter wave radar.

7. The assistive driving device of claim 1, wherein, The protective shell is a waterproof metal shell.

8. The assistive driving device of claim 1, wherein, Further comprising a module support fixedly arranged in the protective shell, wherein the module support is provided with a mounting hole and a mounting groove; The acquisition lens of the image acquisition module is inserted into the mounting hole to be fixed and limited by the mounting hole, and the distance measuring module is embedded in the mounting groove to be fixed and limited by the mounting groove.

9. The driver assist device according to any one of claims 1 to 8, characterized by, The protective shell comprises a front shell and a rear shell which are detachably connected; The front shell is provided with a working window of the image acquisition module and the distance measuring module, and the rear shell is provided with a data transmission interface connected with the control module on a side facing away from the front shell, and the control module is in communication connection with an external device through the data transmission interface.

10. The assistive driving device of claim 9, wherein, The image acquisition module comprises a visible light sensor and an infrared sensor, a working window of the visible light sensor is a glass window with a first preset transparency, and a working window of the infrared sensor is a glass window with a second preset infrared light transmittance.

11. The assistive driving device of claim 9, wherein, A working window of the distance measuring module is a non-metal cover plate with a third preset transmittance of distance measuring transceiving light.

12. The assistive driving device of claim 9, wherein, The front shell has a receiving cavity, and the rear shell is used for covering the receiving cavity to seal the receiving cavity; The image acquisition module and the distance measuring module are fixedly arranged in the receiving cavity, and the control module is fixed to a side of the rear shell facing the receiving cavity.

13. The assistive driving device of claim 9, wherein, A waterproof sealing ring is arranged between the front shell and the rear shell.

14. An assist system for a vehicle, characterized by comprising: The auxiliary driving device comprises an auxiliary driving device and a display device according to any one of claims 1 to 13; The display device is connected with the auxiliary driving device and is configured to display the auxiliary driving information obtained by the auxiliary driving device.

15. The assisted driving system of claim 14, wherein, The control module is integrally arranged at the display device end.

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