CN109733409A - Driving assistance system and method - Google Patents
Driving assistance system and method Download PDFInfo
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- CN109733409A CN109733409A CN201711044378.1A CN201711044378A CN109733409A CN 109733409 A CN109733409 A CN 109733409A CN 201711044378 A CN201711044378 A CN 201711044378A CN 109733409 A CN109733409 A CN 109733409A
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Abstract
The present invention relates to driving assistance systems and method.A kind of driving assistance system for vehicle includes: the first detection device, is configured to the gray level image of the road of the driving direction of detection vehicle；Second detection device is configured to emit signal to the road of the driving direction of vehicle and detects the reflection signal reflected from road；And decision maker, it is configured to based on one of gray level image and reflection signal, to determine whether road has the doubtful danger zone for exposure dell；Based on the other of gray level image and reflection signal, to determine whether the danger zone determined based on one of gray level image and reflection signal is exposed dell, and the danger zone in response to determining to be determined based on one of gray level image and reflection signal is exposure dell, to determine that road has exposure dell.
Description
Technical field
The present invention relates generally to the ancillary technique fields of vehicle.More particularly, the present invention relate to the driving of vehicle is auxiliary
Auxiliary system and method.
Background technique
Existing automatic Pilot technology is primarily upon the relevant traffic target of this vehicle front, and can aid in treatment it is multiple
Miscellaneous traffic scene.Vehicle can frequently encounter the road conditions such as exposed dell (for example, hoistway) in the process of moving.To prevent from falling into
Exposure dell, vehicle need around exposure dell traveling.In driver's manual drive vehicle by having the road of exposure dell
When, need to observe exposed dell in advance, and turn in reasonable time point, so that vehicle bypasses exposure dell traveling.This nothing
Doubt the operation difficulty for increasing driver.
For this reason, it may be necessary to a kind of driving assistance system and method for the exposure dell that can automatically detect on road.
Summary of the invention
It is an object of the present invention to provide the driving assistance system for the exposure dell that can automatically detect on road and sides
Method.It is a further object of the present invention to provide can assist vehicle automatically by have exposure dell road driving assistance system
And method.
An aspect of of the present present invention provides a kind of driving assistance system comprising: the first detection device is configured to examine
The gray level image of the road of the driving direction of measuring car；Second detection device is configured to the road to the driving direction of vehicle
The reflection signal that road transmitting signal and detection are reflected from road；And decision maker, it is configured to based on gray level image and anti-
One of signal is penetrated, to determine whether road has the doubtful danger zone for exposure dell；Based on gray level image and reflection
The other of signal, to determine whether the danger zone determined based on one of gray level image and reflection signal is that exposure is deep
Hole, and the danger zone in response to determining to be determined based on one of gray level image and reflection signal is exposure dell, to sentence
Determining road has exposure dell.
According to an embodiment of the invention, decision maker is configured to: based on the other of gray level image and reflection signal
To determine whether road has the doubtful danger zone for exposure dell；In response to being based on gray level image and reflection signal both
Determine that road has danger zone, to determine whether the danger zone determined based on gray level image and reflection signal is overlapped；And
And whether be overlapped according to the danger zone determined based on gray level image and reflection signal, to determine based on gray level image and reflection
Whether the danger zone that one of signal is determined is exposed dell.
According to an embodiment of the invention, decision maker is configured to: it is based on the other of gray level image and reflection signal,
To determine whether the danger zone determined based on one of gray level image and reflection signal is doubtful for exposure dell；And root
It is whether doubtful to expose dell according to the danger zone determined based on one of gray level image and reflection signal, to determine to be based on
Whether the danger zone that one of gray level image and reflection signal are determined is exposed dell.
According to an embodiment of the invention, being rendered as in gray level image based on the danger zone that gray level image is determined each
The identical enclosed region of the grayscale of pixel.
According to an embodiment of the invention, the intensity of the reflection signal reflected on the danger zone determined based on reflection signal
Less than threshold value.
According to an embodiment of the invention, decision maker is further configured to: in response to determining that road has exposure dell, to sentence
Surely on the expection driving trace for exposing the wheel whether dell is located at vehicle.
According to an embodiment of the invention, driving assistance system further include: learning device is configured to driving for record vehicle
Driving behavior of the person of sailing when manual drive vehicle is by the previous road with exposure dell.
According to an embodiment of the invention, driving assistance system further include: output device is configured to sudden and violent in response to determining
Reveal dell to be located on expected driving trace, vehicle is controlled by having the road of exposure dell according to driving behavior.
Another aspect of the present invention provides a kind of vehicle comprising driving assistance system according to the present invention.
Another aspect of the present invention provides a kind of driving assistance method for vehicle, comprising the following steps: a) detects vehicle
Driving direction road gray level image；B) emit signal to the road of the driving direction of vehicle and detect anti-from road
The reflection signal penetrated；C) based on one of gray level image and reflection signal, to determine it is doubtful deep to expose whether road has
The danger zone in hole；D) based on the other of gray level image and reflection signal, to determine based on gray level image and reflect signal
One of the danger zone that is determined whether be exposed dell；And e) in response to determining one based on gray level image and reflection signal
The danger zone that person is determined is exposure dell, to determine that road has exposure dell.
According to an embodiment of the invention, step d) is the following steps are included: based on another in gray level image and reflection signal
Person come determine road whether have it is doubtful for exposure dell danger zone；In response to based on both gray level image and reflection signal
Determine that road has danger zone, to determine whether the danger zone determined based on gray level image and reflection signal is overlapped；
And whether it is overlapped according to based on gray level image and the danger zone that is determined of reflection signal, to determine based on gray level image and anti-
Penetrate whether the danger zone that one of signal is determined is exposed dell.
According to an embodiment of the invention, step d) is the following steps are included: based on another in gray level image and reflection signal
Person, to determine whether the danger zone determined based on one of gray level image and reflection signal is doubtful for exposure dell；And
And it is whether doubtful to expose dell according to the danger zone determined based on one of gray level image and reflection signal, to determine
Whether the danger zone determined based on one of gray level image and reflection signal is exposed dell.
According to an embodiment of the invention, being rendered as in gray level image based on the danger zone that gray level image is determined each
The identical enclosed region of the grayscale of pixel.
According to an embodiment of the invention, the intensity of the reflection signal reflected on the danger zone determined based on reflection signal
Less than threshold value.
According to an embodiment of the invention, driving assistance method is further comprising the steps of: in response to determining that road has exposure
Dell, on the expection driving trace to determine to expose the dell wheel that whether is located at vehicle.
According to an embodiment of the invention, driving assistance method is further comprising the steps of: recording the driver of vehicle manual
Drive driving behavior of the vehicle by the previous road with exposure dell when.
According to an embodiment of the invention, driving assistance method is further comprising the steps of: in response to determining that exposure dell is located at
It is expected that controlling vehicle by having the road of exposure dell according to driving behavior on driving trace.
Detailed description of the invention
Fig. 1 is the schematic diagram of the vehicle of embodiment according to the present invention.
Fig. 2 is the application example of driving assistance system according to the present invention.
Fig. 3 is the driving assistance system of embodiment according to the present invention using exemplary schematic diagram.
Fig. 4 is the driving assistance system of embodiment according to the present invention using exemplary schematic diagram.
Fig. 5 A is the driving assistance system of embodiment according to the present invention using exemplary schematic diagram.
Fig. 5 B is the driving assistance system of embodiment according to the present invention using exemplary schematic diagram.
Fig. 6 is the flow chart of the driving assistance method of embodiment according to the present invention.
Specific embodiment
Hereinafter, embodiment of the invention will be described with reference to drawings.Following detailed description and drawings are for illustratively saying
Bright the principle of the present invention, the present invention is not limited to described preferred embodiment, the scope of the present invention is defined by the claims.It is existing
The embodiment the present invention is described in detail of reference example, some embodiments are illustrated in the drawings.Be described below with reference to attached drawing into
Row, unless otherwise indicated, otherwise same reference numerals in different figures represent same or similar element.Following exemplary
Scheme described in embodiment does not represent all schemes of the invention.On the contrary, these schemes are related in appended claims
And various aspects of the invention system and method example.
The driving assistance system of embodiment according to the present invention may be mounted on vehicle or be applied to vehicle.Vehicle can be with
Be using internal combustion engine as the internal-combustion engines vehicle of driving source, using motor as the electric car of driving source or fuel cell car, more than
State the hybrid vehicle that the two is driving source or the automobile with other driving sources.
Fig. 1 is the schematic diagram of the vehicle of embodiment according to the present invention.As shown in Figure 1, vehicle 10 includes driving auxiliary system
System 100 and operation execution system 200.Driving assistance system 100 can and operate execution system 200 and be connected to each other and communicate.For
For the sake of concise, in vehicle the components such as well known power and manipulation device, transmission system are not shown in FIG. 1.
As shown in Figure 1, driving assistance system 100 may include the first detection device 110, second detection device 120 and sentence
Determine device 130.
First detection device 110 can detecte the gray level image of the road of the driving direction of vehicle.In one example,
One detection device 110 may include one or more for acquiring the camera unit (such as color camera) and image of color image
Processing unit.Image processing unit can be used for Color Image Processing into gray level image.Alternatively, in one example, first
Detection device 110 may include one or more for acquiring the camera unit of gray level image, for example, black and white camera.
Second detection device 120, which can emit signal and be detected to the road of the driving direction of vehicle, to be reflected from road
Reflect signal.According to an embodiment of the invention, second detection device 120 may include one or more radar cells.Radar list
Member can be ordinary radar and/or optical radar unit.Ordinary radar can emit electromagnetic wave to road and receive its echo.Light
Learning radar cell to road illumination beam (such as laser) and can receive the light beam of reflection.
When second detection device 120 is to the signal that road tranmitting frequency is f1, depth can be reflected back less than the pit of h
Enough reflection signals, and pit of the depth greater than h or will not significantly influence rough road of vehicle driving etc. and can be reflected back by force
Spend weaker reflection signal.Therefore, second detection device 120 can emit the frequency of signal by changing, to detect different depths
The pit of degree.
Fig. 2 is the application example of driving assistance system 100 according to the present invention.As shown in Fig. 2, as shown in Fig. 2, vehicle 10
The first detection device 110 may include radar cell 112, radar cell 114 and camera unit 116.Radar cell 112 can be with
The front region of (i.e. Z-direction) scanning vehicle 10 along the vertical direction, radar cell 114 can (i.e. X-direction in the horizontal direction
And Y direction) scanning vehicle 10 front region, camera unit 116 can shoot the image of the front region of vehicle 10.One
In a little embodiments, radar cell 112 may be mounted at the headstock of vehicle 10, such as the center of headstock.In some embodiments
In, radar cell 114 may be mounted at the corner of vehicle 10, such as headstock two corners and the tailstock two corner portions.?
In some embodiments, camera unit 116 may be mounted at the front side of vehicle 10, such as the center of front windshield.
The installation site of above description radar cell 112, radar cell 114 and camera unit 116.But the present invention is not
It is limited to above-mentioned installation site.It will be appreciated by those skilled in the art that radar cell and/or camera unit of the invention can also pacify
Mounted in the other positions of vehicle.
Decision maker 130 can be with 120 wired or wireless communication of the first detection device 110 and second detection device.Determine
Device 130 can receive detection data from the first detection device 110 and second detection device 120, for example, gray level image and reflection
Signal.
Decision maker 130 can determine whether road has based on gray level image and reflection one of signal
The danger zone of exposure dell determines whether the danger zone is exposed based on the other of gray level image and reflection signal
Dell, and in response to determining that the danger zone exposes dell for exposure dell to determine to have on road.
Herein, exposure dell refers to the dell not covered with covering on road.The wheel of vehicle 10 is once fallen into
Enter in the dell, just can not drive through the dell.When the wheels travel of vehicle 10 passes through the dell, which makes vehicle 10
Jolt and seriously affect the riding comfort of occupant.In the exemplary embodiment, exposure dell can include but is not limited to well
Road.The shape of exposure dell can be round, rectangle or irregular shape.
In the following, the exemplary decision procedure for determining that whether there is exposure dell on road of description decision maker 130.
<first embodiment>
Decision maker 130 can determine whether road has doubtful the first danger for exposure dell based on gray level image
Region.According to an embodiment of the invention, the grayscale that the first danger zone is rendered as each pixel in gray level image identical is closed
Close region.Therefore, if with the identical enclosed region of grayscale of each pixel, the judgement of decision maker 130 in gray level image
With doubtful the first danger zone for exposure dell on road.(i.e. first is dangerous for road area represented by the enclosed region
Region) it may be covering or dell not covered with covering etc., therefore the road area is doubtful for exposure dell.Decision maker
130 need comprehensive other conditions to determine that road is practical and whether have exposure dell.
Herein, " identical " it is identical in a strict sense and have " big to be not necessarily referring to each element to compare
Cause identical " meaning, can have certain difference between each element.It in one example, can be by determining each picture
Whether the difference between the grayscale of element is less than predetermined difference value, to determine each pixel grayscale whether having the same.However, should
Understand, each pixel grayscale whether having the same can also be determined by other methods well known in the art.
In certain embodiments, when needing to determine circular hoistway, the shape of enclosed region can be oval or close
Like circle.It will be appreciated, however, that enclosed region is not to be only used for determining the shape of circular exposed dell and enclosed region simultaneously
It is without being limited thereto.
Fig. 3 is the driving assistance system of embodiment according to the present invention using exemplary schematic diagram.As shown in figure 3, vehicle
10 the first detection device 110 can detecte gray level image.With the identical circle of grayscale of each pixel in the gray level image
Shape enclosed region 118.It is doubtful for exposure dell that the decision maker 130 of vehicle 10 can determine that road has based on the gray level image
The first danger zone (i.e. road area represented by circular closure region).
Further, it is doubtful for exposure dell can to determine whether road has based on reflection signal for decision maker 130
The second danger zone.According to an embodiment of the invention, the intensity of the reflection signal of the second danger zone reflection is less than threshold value.Cause
This, if the specific region that there is the intensity of reflection signal to be less than threshold value on road, determining that road has doubtful is that exposure is deep
Second danger zone in hole.The specific region (i.e. the second danger zone) may for exposure dell or rough road etc., therefore, it is determined that
Whether device 130 needs to determine in conjunction with other conditions that road is practical has exposure dell.
Fig. 4 is the driving assistance system of embodiment according to the present invention using exemplary schematic diagram.As shown in figure 4, vehicle
10 second detection device 120 can detecte reflection signal.There is a round specific region 122, the specific region on road
The intensity of the reflection signal of reflection is less than threshold value.The decision maker 130 of vehicle 10 can be had based on reflection signal determining road
Doubtful the second danger zone (i.e. specific region) for exposure dell.
Further, decision maker 130 can have the first danger zone and the second danger zone in response to judgement road,
To determine whether the first danger zone and the second danger zone are overlapped.Herein, what " coincidence " was not necessarily referring to compare each wants
Element is completely coincident in a strict sense and refers to the meaning substantially overlapped.
Further, whether decision maker 130 can be overlapped according to the first danger zone and the second danger zone, to determine
Whether the first danger zone is exposed dell.If the first danger zone and the second danger zone are overlapped, decision maker 130 is sentenced
Fixed first danger zone or the second danger zone are exposure dell.
Further, decision maker 130 can be in response to determining the first danger zone for exposure dell, to determine that road has
There is exposed dell.
<second embodiment>
The decision maker 130 of second embodiment and the decision maker 130 of first embodiment are roughly the same, and difference mainly exists
In: in a second embodiment, whether decision maker 130, which is configured to be primarily based on reflection signal determining road have, doubtful is
The danger zone of exposure dell is then based on gray level image whether to determine on road with the doubtful danger area for exposure dell
Domain, next determines whether the two danger zones are overlapped, and finally determines danger zone according to whether two danger zones are overlapped
It whether is exposed dell.In the above-described first embodiment, determine whether road has to based on reflection signal and gray level image
Dangerous region is described in detail, therefore details are not described herein.
In the first embodiment and the second embodiment, decision maker 130 not only can be determined that road has exposure dell, also
It can be determined that other road conditions on road.If determining the danger area on road with doubtful exposed dell based on gray level image
Domain, and based on the danger zone for not having doubtful exposed dell on reflection signal determining road, then decision maker 130 can be determined that
Road has the dell for being covered with covering.If determining do not have the doubtful danger for exposure dell on road based on gray level image
Danger zone domain, and based on the danger zone with doubtful exposed dell on reflection signal determining road, then decision maker 130 can be sentenced
Determine road do not have exposure dell and road on may have rough road etc..If sentenced based on gray level image and reflection signal
Determine danger zone and the two danger zones on road with doubtful exposed dell not to be overlapped, then decision maker 130 can
There may be rough road etc. to determine not having on road on exposure dell and road.
<3rd embodiment>
Decision maker 130 can determine whether road has the doubtful danger area for exposure dell based on gray level image
Domain.In the first embodiment, the determination method progress to determining whether road has danger zone based on gray level image
It explains in detail, therefore details are not described herein.
Further, decision maker 130 can determine that whether doubtful the danger zone is deep to expose based on reflection signal
Hole.If the intensity for the reflection signal that the danger zone is reflected is less than threshold value, decision maker 130 determines that the danger zone is doubted
It is seemingly exposure dell.
Further, whether decision maker 130 can doubtful to expose dell according to the danger zone, to determine the danger
Whether region is exposed dell.If determining the danger zone also based on reflection signal for exposure dell, decision maker 130 is sentenced
The fixed danger zone is exposure dell.
Further, decision maker 130 can be in response to determining danger zone for exposure dell, to determine to have on road
Exposure dell.
<fourth embodiment>
Decision maker 130 can determine whether road has the doubtful danger area for exposure dell based on reflection signal
Domain.In the first embodiment, the determination method progress to determining whether road has danger zone based on reflection signal
It explains in detail, therefore details are not described herein.
Further, decision maker 130 can determine that whether doubtful the danger zone is deep to expose based on gray level image
Hole.If the danger zone is the identical enclosed region of grayscale of each pixel, decision maker 130 determines that the danger zone is doubted
It is seemingly exposure dell.
Further, whether decision maker 130 can doubtful to expose dell according to the danger zone, to determine the danger
Whether region is exposed dell.If also determining that the danger zone is doubtful for exposure dell, decision maker based on gray level image
130 danger zones are exposure dell.
Further, decision maker 130 can be in response to determining danger zone for exposure dell, to determine that it is sudden and violent that road has
Reveal dell.
According to an embodiment of the invention, driving assistance system further includes output device 140.Output device 140 can be with
130 wired or wireless communication of one detection device 110, second detection device 120 and/or decision maker.Output device 140 can be with
With operation execution system wired or wireless communication.Operation execution system 200 is configured to the operation of all parts of control vehicle 10,
For example, the dynamical system of vehicle 10, steering system, speed change system, braking system, security system etc..
According to an embodiment of the invention, output device 140 can be in response to determining that road has exposure dell, to vehicle
10 occupant export vision, the sense of hearing, in haptic alerts at least one of.Driver infuses in time under the prompting of output device 140
Anticipate the exposure dell onto road, and the braking of vehicle 10 is controlled according to the position of exposure dell and size, turn to or after
Continuous edge is travelled when front direction and with present speed.
According to an embodiment of the invention, decision maker 130 may also respond to determine that road has exposure dell, to determine
On the expection driving trace for the wheel whether exposure dell is located at vehicle 10.
Fig. 5 A and Fig. 5 B are the application examples of the driving assistance system of embodiment according to the present invention.As shown in Figure 5A, one
Exposure dell 300 be located at vehicle 10 front also, exposure dell width less than vehicle 10 front axle away from and hind axle
Away from the two.Therefore, in this example, decision maker 130 determines that exposure dell is not located on the expection driving trace of wheel.Such as figure
Shown in 5B, an exposure dell 400 is located at the front of vehicle 10, and the width of exposure dell greater than vehicle 10 front axle away from
With hind axle away from.Therefore, in this example, decision maker 130 determines that exposure dell is located on the expection driving trace of wheel.
According to an embodiment of the invention, driving assistance system further includes learning device 150.Learning device 150 can be with
One detection device 110,140 wired or wireless communication of second detection device 120, decision maker 130 and/or output device.
Learning device 150 can recorde driver and pass through the previous road with exposure dell in manual drive vehicle 10
When driving behavior.In the exemplary embodiment, driving behavior can include but is not limited to: leading to when vehicle passes through exposure dell
When crossing speed, reducing speed now vehicle to the exposure distance of dell, vehicle deceleration curve (that is, in moderating process vehicle reality
Brief acceleration and to exposure dell real-time range between change curve) and vehicle driving trace.In exemplary embodiment
In, when each manual drive vehicle of driver is by having the road of exposure dell, learning device 150 can recorde driving row
For.
When vehicle autonomous driving, output device 140 can be travelled in response to determining that exposure dell is located at the expected of wheel
On track, to indicate that operation execution system 200 controls vehicle driving by having the road of exposure dell according to driving behavior.Cause
This, is capable of the driving habit of simulating vehicle driver, and personalized driving experience is provided with the user for vehicle.
The driving assistance method of embodiment according to the present invention is described below with reference to the accompanying drawings.Fig. 6 is shown according to the present invention
One embodiment driving assistance method flow chart.
As shown in fig. 6, detecting the gray level image of the road of the driving direction of vehicle in step S610.In this step,
The gray level image of road can directly be detected.Alternatively, the color image of road can be detected first, then by the cromogram of road
As being processed into gray level image.Then, processing advances to step S620.
In step S620, emits signal to the road of the driving direction of vehicle and detect the reflection letter reflected from road
Number.Then, processing advances to step S630.
In step S630, determine whether road has doubtful the first danger area for exposure dell based on gray level image
Domain.According to an embodiment of the invention, the first danger zone is rendered as the identical closure of grayscale of each pixel in gray level image
Region.If determining that road has the first danger area with the identical enclosed region of grayscale of each pixel in gray level image
Domain.
If it is determined that road has doubtful the first danger zone for exposure dell, then processing advances to step S640.Such as
Fruit determines that road does not have doubtful the first danger zone for exposure dell, then determines that road does not have exposure dell.Processing can
To be back to step S610 to continue to detect road.Alternatively, if it is desired to determine other road conditions of road, handle
Step S640 can be continued to.Hereinbefore, the decision procedure of other road conditions is described in detail, thus it is no longer superfluous herein
It states.
In step S640, determine whether first danger zone is exposed dell based on reflection signal.Step S640
Including step S641 to S643.In step S641, it is doubtful for exposure dell to determine whether road has based on reflection signal
The second danger zone.According to an embodiment of the invention, the intensity of the reflection signal of the second danger zone reflection is less than threshold value.Cause
This determines that road has the second danger zone if the specific region that there is the intensity of reflection signal to be less than threshold value on road.
In step S642, determine whether the first danger zone and the second danger zone are overlapped.In step S643, according to the first danger
Whether region and the second danger zone are overlapped, to determine whether the first danger zone is exposed dell.
In step S640, if being exposure dell based on reflection the first danger zone of signal determining, processing is advanced to
Step S650.In step S650, in response to determining first danger zone for exposure dell, to determine that road has exposure deep
Hole.
Additionally, according to an embodiment of the invention, driving assistance method further includes step S660, S670 and S680.In step
In rapid S660, determine to expose on the expection driving trace for the wheel whether dell is located at vehicle.In step S670, vehicle is recorded
Driving behavior of the driver when manual drive vehicle is by the previous road with exposure dell.In step S680,
In response to determining that exposure dell is located on expected driving trace, vehicle is controlled by having exposure dell according to driving behavior
Road.Step S660 can be executed after step S650, and step S680 can be after step S650, S660 and S670
It executes.The execution sequence of step S670 is not particularly limited.
Alternatively, the step S610 for detecting gray level image can be executed after the step S620 of detected reflectance signal.
Alternatively, step S640 may include step S644 and S645.In step S644, determined based on reflection signal
Whether the first danger zone is doubtful for exposure dell.It is whether doubtful deep to expose according to the first danger zone in step S645
Hole, to determine whether the first danger zone is exposed dell.
Alternatively, in step S630 and S640, can also be primarily based on reflection signal determining road whether have it is doubtful
For the first danger zone of exposure dell, then determine whether first danger zone is exposed dell based on gray level image again.
While the invention has been described with reference to exemplary embodiments thereof, however, it is understood that the present invention is not limited to above-mentioned realities
Apply the construction and method of example.On the contrary, it is intended to cover various modifications example and equivalent arrangements.In addition, although in various examples
Property combination and construction in show the various elements and method and step of disclosed invention, but including more, less element
Or other combinations of method are also fallen within the scope of the present invention.
Claims (17)
1. a kind of driving assistance system comprising:
First detection device is configured to the gray level image of the road of the driving direction of detection vehicle；
Second detection device is configured to emit signal to the road of the driving direction of the vehicle and detect from the road
The reflection signal of road reflection；With
Decision maker is configured to
Based on one of the gray level image and the reflection signal, to determine it is doubtful deep to expose whether the road has
The danger zone in hole；
Based on the other of the gray level image and the reflection signal, to determine based on the gray level image and the reflection
Whether the danger zone that the one of signal is determined is exposed dell, and
It is exposure in response to the danger zone for determining that the one based on the gray level image and the reflection signal is determined
Dell, to determine that the road has exposure dell.
2. driving assistance system according to claim 1, wherein the decision maker is configured to:
Doubtful it is to determine whether the road has based on the another one in the gray level image and the reflection signal
The danger zone of exposure dell；
In response to both determining that the road has danger zone based on the gray level image and the reflection signal, to determine
Whether the danger zone determined based on the gray level image and the reflection signal is overlapped；And
Whether it is overlapped according to the danger zone determined based on the gray level image and the reflection signal, to determine based on described
Whether the danger zone that the one of gray level image and the reflection signal is determined is exposed dell.
3. driving assistance system according to claim 1, wherein the decision maker is configured to:
Based on the another one in the gray level image and the reflection signal, to determine based on the gray level image and described
Whether the danger zone that the one in reflection signal is determined is doubtful for exposure dell；And
It is whether doubtful according to the danger zone determined based on the one in the gray level image and the reflection signal to be
Exposure dell, come determine the danger zone that is determined of the one based on the gray level image and the reflection signal whether be
Exposure dell.
4. driving assistance system according to any one of claim 1 to 3, wherein
The grayscale that the danger zone determined based on the gray level image is rendered as each pixel in the gray level image is identical
Enclosed region.
5. driving assistance system according to any one of claim 1 to 3, wherein
The intensity of the reflection signal reflected on the danger zone determined based on the reflection signal is less than threshold value.
6. driving assistance system according to any one of claim 1 to 3, wherein the decision maker is further configured to:
In response to determining that the road has exposure dell, to determine to expose the expection for the wheel whether dell is located at the vehicle
On driving trace.
7. driving assistance system according to claim 6, further includes:
Learning device, the driver's vehicle described in manual drive for being configured to record the vehicle have cruelly by previous
Reveal the driving behavior when road of dell.
8. driving assistance system according to claim 7, further includes:
Output device is configured to drive according in response to determining that exposure dell is located on the expected driving trace
Vehicle described in behaviour control is sailed by having the road of exposure dell.
9. a kind of vehicle comprising driving assistance system according to any one of claim 1 to 8.
10. a kind of driving assistance method comprising following steps:
A) gray level image of the road of the driving direction of vehicle is detected；
B) the reflection signal that the road transmitting signal of the driving direction of Xiang Suoshu vehicle and detection are reflected from the road；
C) it is based on one of the gray level image and the reflection signal, to determine it is doubtful for exposure whether the road has
The danger zone of dell；
D) be based on the other of the gray level image and the reflection signal, come determine based on the gray level image and it is described instead
Penetrate whether the danger zone that the one of signal is determined is exposed dell；With
It e) is sudden and violent in response to the danger zone for determining that the one based on the gray level image and the reflection signal is determined
Reveal dell, to determine that the road has exposure dell.
11. driving assistance method according to claim 10, wherein the step d) the following steps are included:
Doubtful it is to determine whether the road has based on the another one in the gray level image and the reflection signal
The danger zone of exposure dell；
In response to both determining that the road has danger zone based on the gray level image and the reflection signal, to determine
Whether the danger zone determined based on the gray level image and the reflection signal is overlapped；And
Whether it is overlapped according to the danger zone determined based on the gray level image and the reflection signal, to determine based on described
Whether the danger zone that the one of gray level image and the reflection signal is determined is exposed dell.
12. driving assistance method according to claim 10, wherein the step d) the following steps are included:
Based on the another one in the gray level image and the reflection signal, to determine based on the gray level image and described
Whether the danger zone that the one in reflection signal is determined is doubtful for exposure dell；And
It is whether doubtful according to the danger zone determined based on the one in the gray level image and the reflection signal to be
Exposure dell, come determine the danger zone that is determined of the one based on the gray level image and the reflection signal whether be
Exposure dell.
13. driving assistance method according to any one of claims 10 to 12, wherein
The grayscale that the danger zone determined based on the gray level image is rendered as each pixel in the gray level image is identical
Enclosed region.
14. driving assistance method according to any one of claims 10 to 12, wherein
The intensity of the reflection signal reflected on the danger zone determined based on the reflection signal is less than threshold value.
15. driving assistance method according to any one of claims 10 to 12, further comprising the steps of:
In response to determining that the road has exposure dell, to determine to expose the expection for the wheel whether dell is located at the vehicle
On driving trace.
16. driving assistance method according to claim 15, further comprising the steps of:
Driving when recording driver's vehicle described in manual drive of the vehicle by the previous road with exposure dell
Sail behavior.
17. driving assistance method according to claim 16, further comprising the steps of:
In response to determining that the exposed dell is located on the expected driving trace, the vehicle is controlled according to the driving behavior
Pass through have exposure dell road.
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