基于车辆图像特征的前车距离与速度感知

徐慧智,王秀青

Perception of distance and speed of front vehicle based on vehicle image features

Huizhi XU,Xiuqing WANG

表 3 无遮挡场景下前车距离感知模型的测定距离及误差

Tab.3 Measuring distance and error of distance perception model of front vehicle in unobstructed scene

No. u v h w s CD/m AD/m ED/m AE/m RE/% RE[24]/% TD LD 1 962.00 629.00 170.00 206.0 35020.00 0.0130 12.6591 12.1200 11.3055 0.8145 6.72 4.45 2 981.00 574.50 85.00 102.00 8670.00 0.3066 24.9489 25.1300 25.2094 0.0794 0.32 0.71 3 962.00 551.00 58.00 76.00 4408.00 0.0361 35.3211 35.1100 35.6806 0.5706 1.632 0.60 4 1323.00 660.50 162.00 269.00 43578.00 3.0317 12.0089 12.5000 12.4865 0.0135 0.11 0.91 5 1132.75 547.50 88.00 116.50 10252.00 2.9594 24.9489 25.3600 25.5288 0.1688 0.67 0.93 6 1061.25 538.50 48.00 65.50 3144.00 3.1038 45.3382 45.1700 44.2035 0.9665 2.14 0.61 7 1698.50 655.50 167.50 364.00 60970.00 6.3925 12.3831 13.7800 12.8473 0.9327 6.74 1.13 8 1281.50 561.00 74.00 114.00 8436.00 6.6861 30.0132 30.8600 31.5624 0.7024 2.27 0.36 9 1149.50 534.50 42.00 64.00 2688.00 6.4934 49.8614 50.5300 50.2477 0.2823 0.56 0.49 10 1451.25 566.00 71.50 157.50 12836.25 9.5390 27.9150 29.9200 29.6630 0.2570 0.86 1.40 11 1323.50 547.00 58.00 102.00 5916.00 9.5822 38.0089 39.4400 39.9697 0.5297 1.34 0.61 12 1233.50 534.00 47.00 72.00 3384.00 9.5441 50.4910 51.0600 50.2355 0.8245 1.61 0.64 13 1321.50 736.00 242.00 364.00 88088.00 2.0758 8.2414 8.3300 8.2931 0.0369 0.44 2.03 14 1128.00 605.00 109.00 161.00 17549.00 2.0834 18.0576 18.2000 18.6537 0.4537 2.49 0.12 15 1471.00 627.00 137.00 257.00 35209.00 5.3606 15.0544 15.9000 15.9164 0.0164 0.10 0.51 均值 — — — — — — — — — 0.4433 1.87 1.03