WO2023284748A1 - 一种辅助驾驶系统及车辆 - Google Patents

一种辅助驾驶系统及车辆 Download PDF

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Publication number
WO2023284748A1
WO2023284748A1 PCT/CN2022/105247 CN2022105247W WO2023284748A1 WO 2023284748 A1 WO2023284748 A1 WO 2023284748A1 CN 2022105247 W CN2022105247 W CN 2022105247W WO 2023284748 A1 WO2023284748 A1 WO 2023284748A1
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WIPO (PCT)
Prior art keywords
vehicle
unit
detection signal
camera
interface
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Ceased
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PCT/CN2022/105247
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English (en)
French (fr)
Inventor
邓晖
陈锋
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ArcSoft Corp Ltd
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ArcSoft Corp Ltd
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Priority to US18/579,465 priority Critical patent/US20240336197A1/en
Priority to EP22841382.9A priority patent/EP4371822A4/en
Publication of WO2023284748A1 publication Critical patent/WO2023284748A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning

Definitions

  • the present invention relates to a driving assistance technology, in particular to a driving assistance system and a vehicle.
  • a camera or radar is usually used to display and detect the surrounding environment to assist the driver's driving behavior.
  • An existing ultrasonic radar detection scheme installs multiple ultrasonic sensors on the outside of the vehicle body, detects objects around the vehicle through the return signal after the radar emission signal hits the object, and prompts the driver through some alarm sounds.
  • this solution can only detect whether there is an object and reflect the distance information of the object. It does not have real-time images, cannot fully reflect the real external environment of the vehicle, and cannot determine the specific object.
  • an assisted driving technology that can automatically display the images acquired by the relevant cameras according to the driving posture of the car, so as to realize the monitoring of the blind area of sight.
  • Embodiments of the present invention provide an assisted driving system and a vehicle to at least solve the technical problem in the prior art that images acquired by relevant cameras cannot be automatically displayed according to the driving posture of the vehicle.
  • an assisted driving system including a vehicle attitude detection unit, a camera unit, a processing unit, and a display unit, wherein the vehicle attitude detection unit is used to detect the driving of the vehicle in real time after the vehicle is started The state is to obtain the vehicle attitude detection signal;
  • the processing unit has a first interface, a second interface and a third interface; wherein the processing unit is connected to the vehicle attitude detection unit through the first interface, and is used to receive the vehicle attitude output by the vehicle attitude detection unit The signal is detected, and the image data acquired by the camera unit corresponding to the vehicle attitude detection signal is received through the second interface; the display unit is connected with the third interface of the processing unit for receiving and displaying the image data.
  • the processing unit further includes a fourth interface, configured to generate an activation signal according to the vehicle attitude detection signal, and send the activation signal to the camera unit through the fourth interface, so as to control the camera unit to start.
  • a fourth interface configured to generate an activation signal according to the vehicle attitude detection signal, and send the activation signal to the camera unit through the fourth interface, so as to control the camera unit to start.
  • the assisted driving system also includes a blind spot detection unit, which is used to judge the blind spot position of the vehicle in combination with the vehicle attitude detection signal, and obtain the blind spot detection signal; Image data corresponding to the location of the blind spot.
  • a blind spot detection unit which is used to judge the blind spot position of the vehicle in combination with the vehicle attitude detection signal, and obtain the blind spot detection signal; Image data corresponding to the location of the blind spot.
  • the vehicle attitude detection signal includes at least one of the following: vertical angle, horizontal angle, and driving speed of the vehicle.
  • the processing unit further includes: comparing the vehicle attitude detection signal with a preset value, and receiving the image data acquired by the camera unit corresponding to the vehicle attitude detection signal according to the comparison result.
  • the vehicle posture detection unit, the processing unit, the camera unit and the display unit are discrete components; or partially integrated components; or fully integrated components.
  • the processing unit further renders the image data, and sends the processed 3D image data to the display unit through the third interface for display.
  • the camera unit is located at least one of the following positions of the vehicle: front, rear, left side, and right side.
  • the processor synthesizes the image data acquired by at least two adjacent camera units.
  • the vehicle attitude detection signal represents at least one of the following vehicle driving states: straight ahead, uphill, downhill, left turn, right turn, reverse, and parked.
  • the assisted driving system also includes a line of sight detection unit, which is used to detect the driver's line of sight direction and/or point of view position, and obtain a line of sight detection signal; the processing unit generates a display unit start signal according to the line of sight detection signal, and controls the corresponding display unit to open .
  • a line of sight detection unit which is used to detect the driver's line of sight direction and/or point of view position, and obtain a line of sight detection signal
  • the processing unit generates a display unit start signal according to the line of sight detection signal, and controls the corresponding display unit to open .
  • the vehicle attitude detection unit includes at least one of the following: inertial sensor, camera, infrared sensor, radar, lidar, and GPS.
  • the inertial sensor includes a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis magnetometer.
  • the processor detects obstacles in the image data to obtain an obstacle detection result.
  • the obstacle detection result is transmitted to a display unit for display or transmitted to an alarm device for alarm reminder.
  • the content displayed by the display unit includes distance and direction indications.
  • the number of camera units is at least four, so that when all the camera units are turned on, environmental images covering the surroundings of the vehicle can be acquired.
  • the viewing angle of the camera unit is greater than or equal to 180 degrees.
  • a vehicle including: the assisted driving system according to any one of the above.
  • the driving state of the vehicle can be detected in real time, and the image data of the camera unit at the corresponding position can be automatically acquired accordingly and displayed on the display unit, so that the driver can see the surrounding environment in the direction of the vehicle in a timely manner without the need to Triggered by signals such as turn signals to ensure the driver's safe driving and help reduce the occurrence of accidents.
  • Fig. 1 is a structural block diagram of an optional assisted driving system according to an embodiment of the present invention
  • Fig. 2 is a structural block diagram of another optional assisted driving system according to an embodiment of the present invention.
  • Fig. 3 is a structural block diagram of another optional assisted driving system according to an embodiment of the present invention.
  • Fig. 4 is a structural block diagram of another optional assisted driving system according to an embodiment of the present invention.
  • Fig. 5 is a structural block diagram of another optional driving assistance system according to an embodiment of the present invention.
  • the assisted driving system 10 includes a vehicle posture detection unit 100, a processing unit 120, a camera unit 140 and a display unit 160, wherein,
  • the vehicle attitude detection unit 100 is used to detect the driving state of the vehicle in real time after the vehicle is started, and obtain a vehicle attitude detection signal;
  • the vehicle posture detection signal includes information such as a vertical angle, a horizontal angle, and a driving speed of the vehicle.
  • the driving state of the vehicle includes at least one of the following: going straight, uphill, downhill, turning left, turning right, reversing, and parking.
  • the vertical angle information contained in the vehicle attitude detection signal can represent whether the vehicle is in a normal straight state or an uphill or downhill state;
  • the horizontal angle information contained in the vehicle attitude detection signal can represent whether the vehicle is going straight, reversing, or turning left or right State, etc.;
  • the driving speed contained in the vehicle attitude detection signal can indicate whether the vehicle is in a parking state; at the same time, combining the vertical angle information and horizontal angle information, the uphill can also be divided into straight uphill, left turn uphill, right turn uphill , Downhill is divided into straight downhill, left turn downhill, right turn downhill, reversing is divided into straight reversing, left side reversing, right side reversing, uphill reversing, downhill reversing and other different states.
  • the vehicle attitude detection unit includes at least one of the following: inertial sensor, camera, infrared sensor, radar, laser radar, GPS.
  • the vehicle posture detection unit is an inertial sensor including a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis magnetometer.
  • the processing unit 120 has a first interface, a second interface and a third interface; wherein the processing unit is connected to the vehicle attitude detection unit 100 through the first interface, and is used to receive the vehicle attitude detection signal output by the vehicle attitude detection unit 100, and pass The second interface receives the image data acquired by the camera unit 140 corresponding to the vehicle posture detection signal.
  • the camera unit 140 is located at least one of the following positions of the vehicle: front, rear, left side, and right side.
  • the camera unit 140 can be installed in any area of the vehicle body such as the hood, the front windshield, the front bumper, the rear windshield, the trunk door, the rear bumper, the door, the fender, the side mirror, etc. Image data in different directions such as front, rear, left, and right.
  • the number of camera units 140 is at least 4, for example, a 360-degree surround view system (Surround View Monitoring, SVM) composed of 4-6 cameras, so that when all the camera units are turned on, it is possible to obtain environmental images covering the surroundings of the vehicle. If it is necessary to use the images acquired by the camera unit 140 to achieve panoramic stitching, the field of view angle of each camera unit 140 can be selected to be greater than or equal to 180 degrees.
  • SVM 360-degree surround view system
  • the processing unit 120 is connected to the vehicle posture detection unit 100 , the camera unit 140 , and the display unit 160 through wired methods such as video cables and data cables, or wirelessly.
  • the processing unit further includes: comparing the vehicle attitude detection signal with a preset value, and receiving the image data acquired by the camera unit 140 corresponding to the vehicle attitude detection signal according to the comparison result. For example, when the vehicle attitude detection signal indicates that the vehicle is in an uphill state or a downhill state, if the vertical angle information in the vehicle attitude detection signal exceeds a preset value, the processing unit acquires an image in front of the vehicle; When turning left or turning right, if the horizontal angle information in the vehicle attitude detection signal exceeds the preset value, the processing unit acquires the image on the left or right side of the vehicle.
  • the display unit 160 is connected to the third interface of the processing unit 120 for receiving and displaying image data.
  • the content displayed by the display unit may be image data acquired by a single camera unit, or may be spliced from image data acquired by multiple camera units.
  • the user can choose to display the image data obtained by a single camera or the image data spliced by multiple camera units on the display unit.
  • the display mode can be 2D display, and the angle can be top view, front view, side view, rear view, etc., or 3D display with any adjustable angle.
  • the content of the display unit may also contain distance and direction indications.
  • the processing unit 120 performs rendering processing on the acquired image data, and sends the processed 3D image data to the display unit through the third interface for display.
  • the driving assistance system mentioned above can detect the driving state of the vehicle in real time, and automatically acquires the image data of the camera unit at the corresponding position and displays it on the display unit accordingly, so as to ensure the safe driving of the driver.
  • the above-mentioned assisted driving system detects that the driving state of the vehicle is uphill, it automatically obtains the image on the uphill through the front-view camera and displays it; The image on the ramp is displayed; when it is detected that the vehicle is turning left, the image of the environment on the left side is automatically acquired through the camera on the left side of the vehicle and displayed; when the vehicle is detected to be turning right, it is automatically passed
  • the camera on the right side of the vehicle acquires the image of the environment on the right side and displays it; when it detects that the vehicle is in reverse, it automatically acquires the image of the rear environment through the rearview camera of the vehicle and displays it; thus, the driver can be informed in time Seeing the surrounding environment in the direction of the vehicle's movement, without the need to trigger it through signals such as turn signals, can
  • the processing unit can also process the image data, and send the processed image data to the display unit for display through the third interface.
  • the processing methods include: distortion correction, noise reduction, calibration, color enhancement , fusion, splicing and other processing to obtain higher quality image data.
  • the processing unit can also process the image data to perform lane line detection, obstacle detection, surrounding vehicle detection, pedestrian detection, traffic signal detection, signage detection, etc., to obtain road traffic condition information. For example, it is possible to detect obstacles, obtain the detection results of obstacles, and transmit the obstacle detection results to the display device for display or to the alarm device for alarm reminder.
  • Fig. 2 is a structural block diagram of another optional driving assistance system according to an embodiment of the present invention.
  • the processing unit 220 of the assisted driving system also includes a fourth interface, which is used to generate an activation signal according to the vehicle attitude detection signal, and send the activation signal to the camera unit through the fourth interface to control the camera.
  • the unit 140 starts up and receives the image data acquired by the camera unit 140 through the second interface. It is worth noting that although it is described here that the functions of sending the activation signal and receiving the image data are respectively undertaken by the second interface and the fourth interface, those skilled in the art know that the sending of the activation signal and the reception of the image data can also be performed by multiplexing The same interface is done.
  • the vehicle posture detection unit 100 , the camera unit 140 and the display unit 160 can be used with the same function or structure as the embodiment shown in FIG. 1 , and will not be repeated here. In this way, the corresponding camera unit can be turned on only when the driving assistance function is required, and the rest of the camera units can be kept off, thereby reducing the overall power consumption of the vehicle.
  • the processing unit 220 further includes: comparing the vehicle posture detection signal with a preset value, generating an activation signal according to the comparison result, and receiving image data acquired by the camera unit 140 corresponding to the vehicle posture detection signal. For example, when the vehicle attitude detection signal indicates that the vehicle is in an uphill or downhill state, if the vertical angle information in the vehicle attitude detection signal exceeds a preset value, the processing unit generates an activation signal to the front-view camera located in front of the vehicle to control the front-view camera.
  • the camera starts to acquire the image in front of the vehicle; when the vehicle attitude detection signal indicates that the vehicle is turning left or right, if the horizontal angle information in the vehicle attitude detection signal exceeds the preset value, the processing unit generates a start signal to the left side of the vehicle. , the camera on the right side, control the camera to start to acquire the image on the left or right side of the vehicle.
  • Fig. 3 is a structural block diagram of another optional driving assistance system according to an embodiment of the present invention.
  • the assisted driving system also includes a line of sight detection unit 300 for detecting the direction of the driver's line of sight and/or the position of the point of view to obtain a line of sight detection signal, and the processing unit 120 generates a line of sight according to the line of sight detection signal.
  • the display unit start signal controls the corresponding display unit to be turned on.
  • the processing unit 120 controls the central control display to turn on and display the image data sent by the processing unit 120;
  • the processing unit 120 controls the left A-pillar display screen to be turned on to display the image data sent by the processing unit 120 .
  • the vehicle attitude detection unit 100, the processing unit 120, the camera unit 140, the display unit 160 and other undescribed parts can adopt the same function or structure as the embodiment shown in Fig. 1 or Fig. 2 , which will not be repeated here. repeat.
  • only the display unit concerned by the driver can be turned on, and the rest of the display units of the vehicle can be turned off, thereby reducing the overall power consumption of the vehicle and reducing interference to the driver.
  • Fig. 4 is a structural block diagram of another optional driving assistance system according to an embodiment of the present invention.
  • the assisted driving system also includes a blind spot detection unit 400 for judging the position of the blind spot of the vehicle in combination with the vehicle attitude detection signal and obtaining the blind spot detection signal.
  • the processing unit 120 determines the blind spot according to the blind spot detection signal The location is to receive the image data corresponding to the location of the blind spot acquired by the camera unit through the second interface.
  • the vehicle posture detection unit 100, the processing unit 120, the camera unit 140, the display unit 160 and other undescribed parts can adopt the same function or structure as that of the embodiment shown in Fig. 1, Fig. 2 or Fig. 3. This will not be repeated here. In this way, the image data of the blind spot position can be effectively obtained, and the visual interference caused by the image of an irrelevant position can be eliminated, so as to improve the accuracy of assisting safe driving.
  • the processor synthesizes the image data acquired by at least two adjacent camera units to acquire image data with a larger field of view.
  • the processing unit can splice the image data obtained by the left or right camera unit and the image data obtained by the front camera unit, and send the spliced image data to The display unit performs display; the image data acquired by the three camera units on the left side, the front side and the right side can also be spliced, and the spliced image data is sent to the display unit for display.
  • the processing unit may splice the image data obtained by the left or right side camera unit and the image data obtained by the rear camera unit, and send the spliced image data to the display unit displaying; it is also possible to splice the image data acquired by the left, right, and rear three-way camera units, and send the spliced image data to the display unit for display.
  • the camera unit 140 includes a first front-facing camera, a second front-facing camera, a left camera, a right camera, a first rear-facing camera, and a second rear-facing camera.
  • the first forward-facing camera is installed at the position of the common AVM forward-facing camera, near the top of the forward-facing license plate, and the second forward-facing camera is installed at the upper position of the center of the windshield inside the car.
  • the first rear camera is installed at the rear camera position of the common AVM, close to the top of the rear-facing license plate.
  • the second rear camera is installed on the top of the rear trunk or the top of the rear window.
  • the images acquired by the first forward-facing camera and the second forward-facing camera can be spliced, and the spliced image data can be sent to the display unit for display;
  • the images are directly displayed on the upper and lower parts of the screen according to the corresponding relationship between the upper and lower parts without splicing.
  • the images captured by the first rear camera and the second rear camera can be spliced, and the spliced image data can be sent to the display unit for display;
  • the images are directly displayed on the upper and lower parts of the screen according to the corresponding relationship between the upper and lower parts without splicing.
  • the AVM camera only provides overhead images, it cannot provide users with a wider range of driving environment information. By splicing or combining the images acquired by the AVM camera and other cameras, it can provide users with a wider range of driving environment information and assist safety.
  • the vehicle posture detection unit, line of sight detection unit, blind spot detection unit, processing unit, camera unit and display unit are discrete components; or partially integrated components; or fully integrated components.
  • the processing unit and the vehicle attitude detection unit may be integrated into one component; for another example, the camera unit and the vehicle attitude detection unit may be integrated into one component.
  • the disclosed technical content can be realized in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units may be a logical function division.
  • multiple units or components may be combined or may be Integrate into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of units or modules may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
  • the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention.
  • the aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disc, etc., which can store program codes. .

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Abstract

一种辅助驾驶系统及车辆，包括：车辆姿态检测单元(100)、摄像单元(140)、处理单元(120)和显示单元(160)，其中，车辆姿态检测单元(100)，用于在车辆启动后实时检测车辆的行驶状态，获取车辆姿态检测信号；处理单元，具有第一接口、第二接口和第三接口；其中，处理单元(120)通过第一接口与车辆姿态检测单元(100)连接，用于接收车辆姿态检测单元(100)输出的车辆姿态检测信号，并通过第二接口接收与车辆姿态检测信号对应的摄像单元(140)获取的影像数据；显示单元(160)，与处理单元(120)的第三接口连接，用于接收并显示影像数据。该系统解决了现有技术中无法根据汽车的行驶姿态自动显示相关摄像头获取的影像的技术问题。还公开了一种车辆。

Description

一种辅助驾驶系统及车辆
本申请要求于2021年7月13日递交的中国专利申请第202110791987.3号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本发明涉及辅助驾驶技术，具体而言，涉及一种辅助驾驶系统及车辆。
背景技术
由于汽车结构及行车环境的原因，驾驶员视线存在各种盲区，并不能看到车身周边的所有情况。因此，在倒车或停车场景中，通常利用摄像头或者雷达来显示和探测周边环境，以辅助驾驶员的驾驶行为。
在有些上下坡度较大的道路上或者转向行驶的情况下，会出现一些视线盲区，对驾驶安全非常不利。现有的一种采用超声波雷达检测的方案，在车身外部安装多个超声波传感器，通过雷达发射信号碰到物体后的返回信号来探测车辆周边的物体，并通过一些警报声对驾驶员进行提示，但这种方案只能检测是否有物体存在以及反映物体的距离信息，不具有实时的影像，不能完全反映真实的车辆外部环境，也不能判断具体是什么物体。
因此，有必要提出一种辅助驾驶技术，能够根据汽车的行驶姿态自动显示相关摄像头获取的影像，以实现对视线盲区的监测。
发明内容
本发明实施例提供了一种辅助驾驶系统及车辆，以至少解决了现有技术中无法根据汽车的行驶姿态自动显示相关摄像头获取的影像的技术问题。
根据本发明实施例的一个方面，提供了一种辅助驾驶系统，包括车辆姿态检测单元、摄像单元、处理单元和显示单元，其中，车辆姿态检测单元，用于在车辆启动后实时检测车辆的行驶状态，获取车辆姿态检测信号；处理单元，具有第一接口、第二接口和第三接口；其中，处理单元通过第一接口与车辆姿 态检测单元连接，用于接收车辆姿态检测单元输出的车辆姿态检测信号，并通过第二接口接收与车辆姿态检测信号对应的摄像单元获取的影像数据；显示单元，与处理单元的第三接口连接，用于接收并显示影像数据。
可选地，处理单元还包括第四接口，用于根据车辆姿态检测信号产生启动信号，通过第四接口发送启动信号给摄像单元，控制摄像单元启动。
可选地，辅助驾驶系统还包括盲区检测单元，用于结合车辆姿态检测信号判断车辆的盲区位置，获得盲区检测信号；处理单元根据盲区检测信号确定盲区位置，通过第二接口接收摄像单元获取的与盲区位置对应的影像数据。
可选地，车辆姿态检测信号包括下述至少一项：车辆的垂直角度、水平角度、行驶速度。
可选地，处理单元还包括：将车辆姿态检测信号与预设值进行比较，根据比较结果接收与车辆姿态检测信号对应的摄像单元获取的影像数据。
可选地，车辆姿态检测单元、处理单元、摄像单元和显示单元为分立的部件；或部分集成的部件；或全部集成的部件。
可选地，处理单元还对影像数据进行渲染处理，并将经过处理的3D影像数据通过第三接口发送给显示单元进行显示。
可选地，摄像单元位于车辆的下述至少一个位置：前方、后方、左侧方、右侧方。
可选地，处理器对至少两个相邻位置的摄像单元获取的影像数据进行合成处理。
可选地，车辆姿态检测信号表征下述车辆行驶状态中的至少一项：直行、上坡、下坡、左转、右转、倒车、停车。
可选地，辅助驾驶系统还包括视线检测单元，用于检测驾驶员的视线方向和/或视点位置，获得视线检测信号；处理单元根据视线检测信号产生显示单元开启信号，控制对应的显示单元开启。
可选地，车辆姿态检测单元包括下述至少一种：惯性传感器、照相机、红外线传感器、雷达、激光雷达、GPS。
可选地，惯性传感器包括3轴陀螺仪、3轴加速度仪和3轴磁力仪。
可选地，处理器对影像数据中的障碍物进行检测，获得障碍物检测结果。
可选地，将障碍物检测结果传送给显示单元显示或传送给报警装置进行报警提醒。
可选地，显示单元显示的内容包含距离和方向指示。
可选地，摄像单元的数量为至少4个，使得在摄像单元全部开启的情况下，能够获取覆盖车辆周围的环境影像。
可选地，摄像单元的视场角大于等于180度。
根据本发明实施例的另一个方面，提供了一种车辆，包括：根据上述任一项所述的辅助驾驶系统。
通过上述辅助驾驶系统能够实时检测车辆的行驶状态，并据此自动获取相应位置的摄像单元的影像数据显示在显示单元上，可以及时地让驾驶员看到车辆运动方向的周围环境，而不需要通过转向灯等信号进行触发，保障驾驶员安全行车，能够帮助减少事故的发生。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是根据本发明实施例的一种可选的辅助驾驶系统的结构框图；
图2是根据本发明实施例的另一种可选的辅助驾驶系统的结构框图；
图3是根据本发明实施例的另一种可选的辅助驾驶系统的结构框图；
图4是根据本发明实施例的另一种可选的辅助驾驶系统的结构框图；
图5是根据本发明实施例的另一种可选的辅助驾驶系统的结构框图。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发 明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的顺序在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
如果提及到某个结构元件“连接”或“接触”于另一结构元件，其可能是直接连接于或接触于另一结构元件，但也可被理解为是他们中间存在有其他结构元件。反之，如果提及到某个结构元件“直接连接”或“直接接触”于另一结构元件，则应当被理解为是他们之间不存在有其他结构元件。
参考图1，是根据本发明实施例的一种可选的辅助驾驶系统的结构框图。如图1所示，该辅助驾驶系统10包括车辆姿态检测单元100、处理单元120、摄像单元140和显示单元160，其中，
车辆姿态检测单元100，用于在车辆启动后实时检测车辆的行驶状态，获取车辆姿态检测信号；
在一种可选的实施例中，车辆姿态检测信号包括车辆的垂直角度、水平角度、行驶速度等信息。车辆的行驶状态包括下述至少一项：直行、上坡、下坡、左转、右转、倒车、停车。例如，车辆姿态检测信号中包含的垂直角度信息可以表征车辆是普通直行状态还是上、下坡状态等；车辆姿态检测信号中包含的水平角度信息可以表征车辆处于直行、倒车、还是左、右转向状态等；车辆姿态检测信号中包含的行驶速度可以表征车辆是否处于停车状态；同时结合垂直角度信息和水平角度信息，还可以将上坡分为直行上坡、左转上坡、右转上坡，下坡分为直行下坡、左转下坡、右转下坡，倒车分为直行倒车、左侧方倒车、右侧方倒车、上坡倒车、下坡倒车等不同状态。
车辆姿态检测单元包括下述至少一种：惯性传感器、照相机、红外线传感器、雷达、激光雷达、GPS。在一种具体的实施例中，车辆姿态检测单元为包括3轴陀螺仪、3轴加速度仪和3轴磁力仪惯性传感器。
处理单元120，具有第一接口、第二接口和第三接口；其中，处理单元通过第一接口与车辆姿态检测单元100连接，用于接收车辆姿态检测单元100输出的车辆姿态检测信号，并通过第二接口接收与车辆姿态检测信号对应的摄像单元140获取的影像数据。
在可选的实施例中，摄像单元140位于车辆的下述至少一个位置：前方、后方、左侧方、右侧方。具体地，摄像单元140可安装在发动机罩、前风挡、前保险杠、后风挡、后备箱门、后保险杠、车门、挡泥板、侧镜等车辆车体中的任意区域，用于获取前方、后方、左侧方、右侧方等不同方向的影像数据。摄像单元140的数量为至少4个，例如，由4-6颗摄像头组成的360环视系统(Surround View Monitoring,SVM)，使得在摄像单元全部开启的情况下，能够获取覆盖车辆周围的环境影像。若需要使用摄像单元140获取的影像实现全景拼接，可选择每个摄像单元140的视场角大于等于180度。
在可选的实施例中，处理单元120通过视频线、数据线等有线方式，或无线(Wireless)方式与车辆姿态检测单元100、摄像单元140、显示单元160连接。
在一种可选的实施例中，处理单元还包括：将车辆姿态检测信号与预设值进行比较，根据比较结果接收与车辆姿态检测信号对应的摄像单元140获取的影像数据。例如，当车辆姿态检测信号表征车辆处于上坡状态或下坡状态时，如果车辆姿态检测信号中的垂直角度信息超过预设值，处理单元获取车辆前方的影像；当车辆姿态检测信号表征车辆处于左转、右转状态时，如果车辆姿态检测信号中的水平角度信息超过预设值，处理单元获取车辆左侧或右侧的影像。
显示单元160，与处理单元120的第三接口连接，用于接收并显示影像数据。
在可选的实施例中，显示单元显示的内容可以是单个摄像单元获取的影像数据，也可以由多个摄像单元获取的影像数据拼接而成。可以由用户可以选择在显示单元上显示单个摄像头获取的影像数据还是多个摄像单元拼接后的影像 数据。显示方式可以是2D显示，角度可以是俯视、前视、侧视、后视等，也可以是角度任意可调的3D显示。显示单元的内容还可以包含距离和方向指示。当显示内容是3D影像时，通过处理单元120对其获取的影像数据进行渲染处理，并将经过处理的3D影像数据通过第三接口发送给显示单元进行显示。
上述辅助驾驶系统能够实时检测车辆的行驶状态，并据此自动获取相应位置的摄像单元的影像数据显示在显示单元上，以保障驾驶员安全行车。例如，当上述辅助驾驶系统检测到车辆行驶状态为上坡时，自动通过前视摄像头获取上坡道上的影像并显示出来；当检测到车辆行驶状态为下坡时，自动通过前视摄像头获取下坡道上的影像并显示出来；当检测到车辆行驶状态为左转时，自动通过车辆左侧方的摄像头获取左侧环境的影像并显示出来；当检测到车辆行驶状态为右转时，自动通过车辆右侧方的摄像头获取右侧环境的影像并显示出来；当检测到车辆行驶状态为倒车时，自动通过车辆后视摄像头获取后方环境的影像并显示出来；由此，可以及时地让驾驶员看到车辆运动方向的周围环境，而不需要通过转向灯等信号进行触发，能够帮助减少事故的发生。
在可选的实施例中，处理单元还可以对影像数据进行处理，并将经过处理的影像数据通过第三接口发送给显示单元进行显示，处理方法包括：畸变矫正、降噪、校准、色彩增强、融合、拼接等处理，以获取更高质量的影像数据。
在可选的实施例中，处理单元还可以对影像数据进行处理，进行车道线检测、障碍物检测、周围车辆检测、行人检测、交通信号检测、标识牌检测等，获取道路交通状况信息。例如，可以进行障碍物检测，获得障碍物的检测结果，并将障碍物检测结果传送给显示装置显示或传送给报警装置进行报警提醒。
图2是根据本发明实施例的另一种可选的辅助驾驶系统的结构框图。与图1所示辅助驾驶系统不同的是，该辅助驾驶系统的处理单元220还包括第四接口，用于根据车辆姿态检测信号产生启动信号，通过第四接口发送启动信号给摄像单元，控制摄像单元140启动，并通过第二接口接收摄像单元140获取的影像数据。值得注意的是，虽然此处描述的是由第二接口和第四接口分别承担发送启动信号和接收影像数据的功能，但是本领域技术人员可知，发送启动信号和接收影像数据也可以通过复用同一个接口完成。在本实施例中，可以采用与图1 所示实施例相同功能或结构的车辆姿态检测单元100、摄像单元140及显示单元160，在此不再赘述。由此，可以仅在需要辅助驾驶功能时，开启对应的摄像单元，而保持其余摄像单元为关闭状态，降低车辆的整体功耗。
同样地，处理单元220还包括：将车辆姿态检测信号与预设值进行比较，根据比较结果根据比较结果产生启动信号，接收与车辆姿态检测信号对应的摄像单元140获取的影像数据。例如，当车辆姿态检测信号表征车辆处于上坡或下坡状态时，如果车辆姿态检测信号中的垂直角度信息超过预设值，处理单元产生启动信号给位于车辆前方的前视摄像头，控制前视摄像头启动获取车辆前方的影像；当车辆姿态检测信号表征车辆处于左转、右转状态时，如果车辆姿态检测信号中的水平角度信息超过预设值，处理单元产生启动信号给位于车辆左侧方、右侧方的摄像头，控制该摄像头启动获取车辆左侧或右侧的影像。
图3是根据本发明实施例的又一种可选的辅助驾驶系统的结构框图。与图1所示辅助驾驶系统不同的是，该辅助驾驶系统还包括视线检测单元300，用于检测驾驶员的视线方向和/或视点位置，获得视线检测信号，处理单元120根据视线检测信号产生显示单元开启信号，控制对应的显示单元开启。例如，当视线检测单元300检测到驾驶员的视点落在中控显示屏上时，处理单元120控制中控显示屏开启，显示处理单元120发送的影像数据；当视线检测单元300检测到驾驶员的视点落在左侧A柱显示屏上时，处理单元120控制左侧A柱显示屏开启，显示处理单元120发送的影像数据。在本实施例中，车辆姿态检测单元100、处理单元120、摄像单元140及显示单元160等其余未描述部分可以采用与图1或图2所示实施例相同的功能或结构，在此不再赘述。由此，可以仅开启驾驶员关注的显示单元，关闭车辆其余显示单元，降低车辆的整体功耗，并减少对驾驶员的干扰。
图4是根据本发明实施例的又一种可选的辅助驾驶系统的结构框图。与图1所示辅助驾驶系统不同的是，该辅助驾驶系统还包括盲区检测单元400，用于结合车辆姿态检测信号判断车辆的盲区位置，获得盲区检测信号，处理单元120根据盲区检测信号确定盲区位置，通过第二接口接收摄像单元获取的与盲区位置对应的影像数据。在本实施例中，车辆姿态检测单元100、处理单元120、摄 像单元140及显示单元160等其余未描述部分可以采用与图1、图2或图3所示实施例相同的功能或结构，在此不再赘述。由此，可以有效地获取盲区位置的影像数据，排除无关位置的影像造成的视觉干扰，以提高辅助安全驾驶的准确性。
在可选的实施例中，处理器对至少两个相邻位置的摄像单元获取的影像数据进行合成处理，获取视野范围更大的影像数据。例如，车辆处于左转或右转状态时，处理单元可以将左侧方或右侧方摄像单元获取的影像数据和前方摄像单元获取的影像数据进行拼接，并将拼接处理后的影像数据发送给显示单元进行显示；也可以将左侧方、前方、右侧方三路摄像单元获取的影像数据进行拼接，并将拼接处理后的影像数据发送给显示单元进行显示。又例如，当车辆处于倒车状态时，处理单元可以将左侧方或右侧方摄像单元获取的影像数据和后方摄像单元获取的影像数据进行拼接，并将拼接处理后的影像数据发送给显示单元进行显示；也可以将左侧方、右侧方和后方三路摄像单元获取的影像数据进行拼接，并将拼接处理后的影像数据发送给显示单元进行显示。
如图5所示，为根据本发明实施例的一种辅助驾驶系统的结构框图。在该实施例中，摄像单元140包括第一前向摄像头、第二前向摄像头、左摄像头、右摄像头、第一后向摄像头、第二后向摄像头。第一前向摄像头安装在普通AVM前向摄像头的位置，靠近前向车牌上方，第二前向摄像头安装在车内挡风玻璃中央靠上的位置。第一后方摄像头安装在普通AVM后方摄像头位置，靠近后向车牌上方。第二后方摄像头安装在车后方后备箱顶部或者后视窗顶部位置。当车辆处于上坡状态时，可以将第一前向摄像头和第二前向摄像头获取的影像进行拼接，并将拼接处理后的影像数据发送给显示单元进行显示；也可以将这两个摄像头获取的影像按照上下对应的关系不经拼接直接显示在屏幕的上下部。当车辆处于倒车状态时，可以将第一后向摄像头和第二后向摄像头获取的影像进行拼接，并将拼接处理后的影像数据发送给显示单元进行显示；也可以将这两个摄像头获取的影像按照上下对应的关系不经拼接直接显示在屏幕的上下部。由于AVM摄像头仅提供俯视影像，无法为用户提供更大范围的驾驶环境信息，通过将AVM摄像头与其它摄像头获取的影像进行拼接或组合显示，可以为 用户提供更大范围的驾驶环境信息，辅助安全驾驶
在可选的实施例中，车辆姿态检测单元、视线检测单元、盲区检测单元、处理单元、摄像单元和显示单元为分立的部件；或部分集成的部件；或全部集成的部件。例如，处理单元可以与车辆姿态检测单元集成为一个部件；又例如，摄像单元可以与车辆姿态检测单元集成为一个部件。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
在本发明的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网 络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (19)

  1. 一种辅助驾驶系统，其特征在于，包括车辆姿态检测单元、摄像单元、处理单元和显示单元，其中，
    所述车辆姿态检测单元，用于在车辆启动后实时检测所述车辆的行驶状态，获取车辆姿态检测信号；
    所述处理单元，具有第一接口、第二接口和第三接口；其中，所述处理单元通过第一接口与所述车辆姿态检测单元连接，用于接收所述车辆姿态检测单元输出的所述车辆姿态检测信号，并通过所述第二接口接收与所述车辆姿态检测信号对应的所述摄像单元获取的影像数据；
    所述显示单元，与所述处理单元的第三接口连接，用于接收并显示所述影像数据。
  2. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述处理单元还包括第四接口，用于根据所述车辆姿态检测信号产生启动信号，通过所述第四接口发送启动信号给所述摄像单元，控制所述摄像单元启动。
  3. 根据权利要求1或2所述的辅助驾驶系统，其特征在于，所述辅助驾驶系统还包括盲区检测单元，用于结合车辆姿态检测信号判断车辆的盲区位置，获得盲区检测信号；所述处理单元根据所述盲区检测信号确定盲区位置，并通过所述第二接口接收所述摄像单元获取的与所述盲区位置对应的影像数据。
  4. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述车辆姿态检测信号包括下述至少一项：车辆的垂直角度、水平角度、行驶速度。
  5. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述处理单元还包括：将所述车辆姿态检测信号与预设值进行比较，根据比较结果接收与所述车辆姿态检测信号对应的所述摄像单元获取的影像数据。
  6. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述车辆姿态检测单元、所述处理单元、所述摄像单元和所述显示单元为分立的部件；或部分集成的部件；或全部集成的部件。
  7. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述处理单元还对所述影像数据进行渲染处理，并将经过处理的3D影像数据通过所述第三接口发 送给所述显示单元进行显示。
  8. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述摄像单元位于所述车辆的下述至少一个位置：前方、后方、左侧方、右侧方。
  9. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述处理器对至少两个相邻位置的摄像单元获取的影像数据进行合成处理。
  10. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述车辆姿态检测信号表征下述车辆行驶状态中的至少一项：直行、上坡、下坡、左转、右转、倒车、停车。
  11. 根据权利要求1或2所述的辅助驾驶系统，其特征在于，所述辅助驾驶系统还包括视线检测单元，用于检测驾驶员的视线方向和/或视点位置，获得视线检测信号；所述处理单元根据所述视线检测信号产生显示单元开启信号，控制对应的所述显示单元开启。
  12. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述车辆姿态检测单元包括下述至少一种：惯性传感器、照相机、红外线传感器、雷达、激光雷达、GPS。
  13. 根据权利要求12所述的辅助驾驶系统，其特征在于，所述惯性传感器包括3轴陀螺仪、3轴加速度仪和3轴磁力仪。
  14. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述处理器对所述影像数据中的障碍物进行检测，获得障碍物检测结果。
  15. 根据权利要求14所述的辅助驾驶系统，其特征在于，将所述障碍物检测结果传送给显示单元显示或传送给报警装置进行报警提醒。
  16. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述显示单元显示的内容包含距离和方向指示。
  17. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述摄像单元的数量为至少4个，使得在所述摄像单元全部开启的情况下，能够获取覆盖所述车辆周围的环境影像。
  18. 根据权利要求1所述的辅助驾驶系统，其特征在于，所述摄像单元的视场角大于等于180度。
  19. 一种车辆，包括：根据权利要求1至权利要求18中任一项所述的辅助驾驶系统。
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