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 5 车辆跟踪测速模型的测速结果

Tab.5 Results of vehicle tracking and speed measurement model

vc=10 km/h vc=20 km/h vc=30 km/h LDD/m n ∆s/m MS/ (km·h−1) AS/ (km·h−1) LDD/m n ∆s/m MS/ (km·h−1) AS/ (km·h−1) LDD/m n ∆s/m MS/(km·h−1) AS/ (km·h−1) 0 10 1.1630 12.5604 12.2786 0 10 1.9280 20.8224 20.4331 0 10 2.7642 29.8534 30.0877 1.1478 12.3962 1.9162 20.6950 2.7597 29.8056 1.0997 11.8767 1.8261 19.7219 2.8337 30.6040 0 1 0.1149 12.4092 — 0 1 0.1803 19.4724 — 0 1 0.2802 30.2612 — 2.0 10 1.0654 11.5036 11.8196 3.5 10 1.9067 20.5924 20.6723 3.5 10 2.8765 31.0662 31.4204 1.0859 11.7277 1.9572 21.1378 2.8728 31.0262 1.1322 12.2277 1.8784 20.2867 2.9786 32.1689 2.0 1 0.1070 11.5560 — 3.5 1 0.2000 21.6000 — 3.5 1 0.2899 31.3092 — 6.5 10 0.9427 10.1812 10.7031 7.0 10 1.9445 21.0006 21.3826 7.0 10 2.8162 30.4196 29.7883 0.9342 10.9642 1.9492 21.0514 2.7454 29.6503 1.1052 10.9641 2.0459 22.0957 2.7125 29.2950 6.5 1 0.1027 11.0916 — 7.0 1 0.1986 21.4488 — 7.0 1 0.2733 29.5164 —