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 4 有遮挡条件下前车距离感知模型测定距离及误差

Tab.4 Measuring distance and error of distance perception model of front vehicle in obstructed scene

No. u v h w s CD/m AD/m ED/m AE/m RE/% RE[24]/% TD LD 1 982.48 849.75 332.68 395.27 131495.87 0.0750 5.5879 5.1000 5.4299 0.3299 6.08 8.74 2 951.33 597.19 118.05 143.46 16935.64 0.1653 19.4333 20.0900 20.3101 0.2201 1.08 3.38 3 952.24 539.05 56.38 70.22 3958.95 0.3518 44.7846 45.0600 45.5251 0.4651 1.02 0.61 4 1477.91 712.81 239.07 395.06 94447.79 3.2991 9.1215 10.6500 10.4446 0.2054 1.97 9.80 5 1222.03 598.12 129.93 187.94 24419.36 3.4953 19.2251 25.3600 21.1628 0.7428 3.51 3.15 6 1062.70 539.32 59.12 75.40 4457.70 3.0928 44.5149 45.2000 45.7836 0.5836 1.27 1.29 7 1619.22 631.37 175.29 330.61 57951.78 6.7049 14.5721 16.5500 16.6669 0.1169 0.70 3.18 8 1280.96 562.54 85.78 134.89 11571.08 6.5240 29.3341 30.7400 30.6801 0.0599 0.20 2.29 9 1775.10 612.01 137.74 283.90 39105.05 9.6650 16.9792 20.7400 20.0467 0.6933 3.46 6.16 10 1299.34 545.34 46.98 71.44 3356.83 9.7730 48.8349 51.2200 50.7488 0.4712 0.93 2.84 均值 — — — — — — — — — 0.3882 2.02 4.28