CN105416290A - Method and device for detecting distances between vehicles - Google Patents

Abstract

The invention discloses a method and device for detecting the distances between vehicles and belongs to the field of computers. The method includes the steps that a road in front of the first vehicle is photographed to obtain a road image, and an inner lane line of the road is extracted from the road image; according to the inner lane line, the yaw angle between the running direction of the first vehicle and the inner lane line is calculated; whether the second vehicle exists in a lane is determined; if the second vehicle exists in the lane, the first transverse distance and the first longitudinal distance between the first vehicle and the second vehicle relative to the running direction of the first vehicle are calculated; and according to the yaw angle, the first transverse distance and the first longitudinal distance, the second transverse distance and the second longitudinal distance between the first vehicle and the second vehicle relative to the direction of the inner lane line are calculated. The device comprises a photographing module, an extracting module, a first calculating module, a determining module, a second calculating module and a third calculating module. Through the method and device, the accuracy of detecting the distances between the vehicles is improved.

Description

The method and apparatus of inspection vehicle distance

Technical field

The present invention relates to computer realm, particularly a kind of method and apparatus of inspection vehicle distance.

Background technology

Urban traffic jam is the serious traffic problems that numerous country of the world today faces, and urban traffic blocking brings inconvenience to people's trip, also brings serious social concern and environmental problem simultaneously; In order to the problem that solving urban traffic blocking brings, intelligence becomes the emphasis of nowadays car enterprise industry research and development with driving skills art.Intelligence is divided into two modules with driving skills art, is respectively environment sensing module and control module, and environment sensing module is for measuring the spacing of this vehicle and front vehicles, and control module is used for controlling this vehicle according to spacing and follows front vehicles traveling.

At present, the method detecting the spacing of this vehicle and front vehicles can be: adopt the sensors such as the camera of this vehicle or radar take the image in road vehicle front, utilizes image processing techniques to calculate this vehicle and front vehicles compared to the transverse distance of the travel direction of this vehicle and fore-and-aft distance.

Realizing in process of the present invention, contriver finds that prior art at least exists following problem:

If the travel direction of this vehicle and lane mark direction inconsistent time, then there is certain deviation with the transverse distance of reality and fore-and-aft distance in the transverse distance of above-mentioned detection and fore-and-aft distance, causes the accuracy of inspection vehicle distance low respectively.

Summary of the invention

In order to solve the problem of prior art, embodiments provide a kind of method and apparatus of inspection vehicle distance.Described technical scheme is as follows:

A method for inspection vehicle distance, described method comprises:

First vehicle front road is taken, obtains road image, and from described road image, extract the inside lane line in track;

According to described inside lane line, calculate the yaw angle between the travel direction of described first vehicle and described inside lane line;

Determine whether there is the second vehicle in described track;

If there is the second vehicle in described track, calculate between described first vehicle and described second vehicle relative to the first transverse distance of the travel direction of described first vehicle and the first fore-and-aft distance;

According to described yaw angle, described first transverse distance and described first fore-and-aft distance, calculate between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction and the second fore-and-aft distance.

Optionally, described according to described yaw angle, described first transverse distance and described first fore-and-aft distance, to calculate between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction and the second fore-and-aft distance, comprising:

According to described first transverse distance and described first fore-and-aft distance, calculate between described first vehicle and described second vehicle relative to the first angle between the travel direction of described first vehicle;

According to described yaw angle and described first angle, calculate between described first vehicle and described second vehicle relative to the second angle between described inside lane line direction;

According to described first transverse distance, described first fore-and-aft distance and described second angle, calculate between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction and the second fore-and-aft distance.

Optionally, described according to described first transverse distance and described first fore-and-aft distance, to calculate between described first vehicle and described second vehicle relative to the first angle between the travel direction of described first vehicle, comprising:

Calculate the ratio of described first transverse distance and described first fore-and-aft distance;

Calculate the arc-tangent value of described ratio;

Described arc-tangent value is defined as between described first vehicle and described second vehicle relative to the first angle between the travel direction of described first vehicle.

Optionally, described according to described yaw angle and described first angle, to calculate between described first vehicle and described second vehicle relative to the second angle between described inside lane line direction, comprising:

Calculate the differential seat angle of described yaw angle and described first angle;

Described differential seat angle is defined as between described first vehicle and described second vehicle relative to the second angle between described inside lane line direction.

Optionally, described according to described first transverse distance, described first fore-and-aft distance and described second angle, to calculate between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction and the second fore-and-aft distance, comprising:

According to described first transverse distance and described first fore-and-aft distance, calculate the distance between described first vehicle and described second vehicle;

Calculate sine value and the cosine value of described second angle;

The product calculating described distance and described sine value as between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction;

The product calculating described distance and described cosine value as between described first vehicle and described second vehicle relative to second fore-and-aft distance in described inside lane line direction.

A device for inspection vehicle distance, described device comprises:

Taking module, for taking the first vehicle front road, obtains road image;

Extraction module, for extracting the inside lane line in track from described road image;

First computing module, for according to described inside lane line, calculates the yaw angle between the travel direction of described first vehicle and described inside lane line;

Determination module, for determining whether there is the second vehicle in described track;

Second computing module, if for there is the second vehicle in described track, calculates between described first vehicle and described second vehicle relative to the first transverse distance of the travel direction of described first vehicle and the first fore-and-aft distance;

3rd computing module, for according to described yaw angle, described first transverse distance and described first fore-and-aft distance, calculates between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction and the second fore-and-aft distance.

Optionally, described 3rd computing module, comprising:

First calculating unit, for according to described first transverse distance and described first fore-and-aft distance, calculates between described first vehicle and described second vehicle relative to the first angle between the travel direction of described first vehicle;

Second calculating unit, for according to described yaw angle and described first angle, calculates between described first vehicle and described second vehicle relative to the second angle between described inside lane line direction;

3rd calculating unit, for according to described first transverse distance, described first fore-and-aft distance and described second angle, calculates between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction and the second fore-and-aft distance.

Optionally, described first calculating unit, comprising:

First computation subunit, for calculating the ratio of described first transverse distance and described first fore-and-aft distance;

Second computation subunit, for calculating the arc-tangent value of described ratio;

First determines subelement, for described arc-tangent value being defined as between described first vehicle and described second vehicle relative to the first angle between the travel direction of described first vehicle.

Optionally, described second calculating unit, comprising:

3rd computation subunit, for calculating the differential seat angle of described yaw angle and described first angle;

Second determines subelement, for being defined as by described differential seat angle between described first vehicle and described second vehicle relative to the second angle between described inside lane line direction.

Optionally, described 3rd calculating unit, comprising:

4th computation subunit, for according to described first transverse distance and described first fore-and-aft distance, calculates the distance between described first vehicle and described second vehicle;

5th computation subunit, for calculating sine value and the cosine value of described second angle;

6th computation subunit, for the product that calculates described distance and described sine value as between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction;

7th computation subunit, for the product that calculates described distance and described cosine value as between described first vehicle and described second vehicle relative to second fore-and-aft distance in described inside lane line direction.

In embodiments of the present invention, from the road image of the first vehicle front, obtain the inside lane line in track, according to this inside lane line, calculate the yaw angle between the travel direction of the first vehicle and inside lane line; If there is the second vehicle in track, calculate between the first vehicle and the second vehicle relative to the first transverse distance of the travel direction of the first vehicle and the first fore-and-aft distance; According to this yaw angle, the first transverse distance and the first fore-and-aft distance, calculate between the first vehicle and the second vehicle relative to second transverse distance in inside lane line direction and the second fore-and-aft distance.Because the travel direction of the first vehicle and inside lane line direction may be inconsistent, thus according to the yaw angle between the travel direction of the first vehicle and inside lane line, first transverse distance and the first fore-and-aft distance, determine that the second transverse distance and the second fore-and-aft distance are more accurate, improve the accuracy of inspection vehicle distance.

Accompanying drawing explanation

In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

Fig. 1 is the method flow diagram of a kind of inspection vehicle distance that the embodiment of the present invention one provides;

Fig. 2-1 is the method flow diagram of a kind of inspection vehicle distance that the embodiment of the present invention two provides;

Fig. 2-2 is the interface schematic diagrams of a kind of inspection vehicle distance that the embodiment of the present invention two provides;

Fig. 3 is the apparatus structure schematic diagram of a kind of inspection vehicle distance that the embodiment of the present invention three provides.

Detailed description of the invention

For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.

Embodiment one

Fig. 1 is the method flow diagram of a kind of inspection vehicle distance that the embodiment of the present invention provides, and the executive agent of the method can be the car-mounted terminal of the first vehicle.

See Fig. 1, the method comprises:

Step 101: the first vehicle front road is taken, obtains road image, and from road image, extract the inside lane line in track.

Step 102: according to inside lane line, calculates the yaw angle between the travel direction of the first vehicle and inside lane line.

Step 103: determine whether there is the second vehicle in track.

Step 104: if there is the second vehicle in track, calculate between the first vehicle and the second vehicle relative to the first transverse distance of the travel direction of the first vehicle and the first fore-and-aft distance.

Step 105: according to yaw angle, the first transverse distance and the first fore-and-aft distance, calculates between the first vehicle and the second vehicle relative to second transverse distance in inside lane line direction and the second fore-and-aft distance.

This step can be passed through following steps (1) to (3) and realize, and comprising:

(1): according to the first transverse distance and the first fore-and-aft distance, calculate between the first vehicle and the second vehicle relative to the first angle between the travel direction of the first vehicle.

Particularly, the ratio of the first transverse distance and the first fore-and-aft distance is calculated; Calculate the arc-tangent value of this ratio; This arc-tangent value is defined as between the first vehicle and the second vehicle relative to the first angle between the travel direction of the first vehicle.

(2): according to this yaw angle and the first angle, calculate between the first vehicle and the second vehicle relative to the second angle between inside lane line direction.

Particularly, the differential seat angle of this yaw angle and the first angle is calculated; This differential seat angle is defined as between the first vehicle and the second vehicle relative to the second angle between inside lane line direction.

(3): according to the first transverse distance, the first fore-and-aft distance and the second angle, calculate between the first vehicle and the second vehicle relative to second transverse distance in inside lane line direction and the second fore-and-aft distance.

Particularly, according to the first transverse distance and the first fore-and-aft distance, the distance between the first vehicle and the second vehicle is calculated; Calculate sine value and the cosine value of the second angle; The product calculating this distance and sine value as between the first vehicle and the second vehicle relative to second transverse distance in inside lane line direction; The product calculating this distance and cosine value as between the first vehicle and the second vehicle relative to second fore-and-aft distance in inside lane line direction.

In embodiments of the present invention, from the road image of the first vehicle front, obtain the inside lane line in track, according to this inside lane line, calculate the yaw angle between the travel direction of the first vehicle and inside lane line; If there is the second vehicle in track, calculate between the first vehicle and the second vehicle relative to the first transverse distance of the travel direction of the first vehicle and the first fore-and-aft distance; According to this yaw angle, the first transverse distance and the first fore-and-aft distance, calculate between the first vehicle and the second vehicle relative to second transverse distance in inside lane line direction and the second fore-and-aft distance.Because the travel direction of the first vehicle and inside lane line direction may be inconsistent, thus according to the yaw angle between the travel direction of the first vehicle and inside lane line, first transverse distance and the first fore-and-aft distance, determine that the second transverse distance and the second fore-and-aft distance are more accurate, improve the accuracy of inspection vehicle distance.

Embodiment two

Fig. 2-1 is the method flow diagram of a kind of inspection vehicle distance that the embodiment of the present invention provides, and the executive agent of the method can be the car-mounted terminal of the first vehicle.See Fig. 2-1, the method comprises:

Step 201: the first vehicle front road is taken, obtains road image, and from road image, extract the inside lane line in track.

This step can be passed through following steps (1) to (4) and realize, and comprising:

(1): by being contained in the pick up camera of the first vehicle interior or outside, the first vehicle front road is taken, obtains road image;

(2): road image is converted to gray level image, and this gray level image is carried out edge enhancing and binary conversion treatment, obtain image to be detected;

Particularly, this road image is converted to gray level image; According to the ground level vanishing line in this gray level image, from this gray level image, obtain area-of-interest, this area-of-interest is carried out edge enhancing and binary conversion treatment, obtain image to be detected.Or,

According to the ground level vanishing line in this road image, from this road image, obtain area-of-interest, area-of-interest is converted to gray level image, this gray level image is carried out edge enhancing and binary conversion treatment, obtain image to be detected.

(3): the inside edge unique point extracting the lane mark that image to be detected comprises;

Particularly, according to Edge Feature Points extraction algorithm, from image to be detected, extract the inside edge unique point of lane mark.

(4): according to inside edge unique point, simulate inside lane line by hough conversion, and obtain stable inside lane line according to lane mark tracking technique.

Step 202: according to inside lane line, calculates the yaw angle between the travel direction of the first vehicle and inside lane line.

Obtain the travel direction of the first vehicle, according to the direction of inside lane line and the travel direction of the first vehicle, calculate the angle between the travel direction of the first vehicle and inside lane line direction, this angle is defined as the yaw angle between the travel direction of the first vehicle and inside lane line.

As shown in Fig. 2-2, α (t) is the yaw angle between the travel direction of the first vehicle and inside lane line.

It should be noted that, according to the travel direction of lane mark direction and the first vehicle, the process calculating the angle between the travel direction of the first vehicle and inside lane line is prior art, no longer describes in detail at this.

Step 203: determine whether there is the second vehicle in this track.

According to the math modeling and the road image that describe automobile information, detect the image whether existing in this track and meet this math modeling, if existed, then determine to there is vehicle in this track, for convenience of description, the vehicle existed in this track is called the second vehicle, and the image meeting this math modeling is the second vehicle.

Before this step, gather a large amount of vehicle pictures, form positive and negative sample database, adopt machine learning method to train sample database, obtain the math modeling that can describe automobile information.

Further, if there is the second vehicle in this track, step 204 is performed; If there is not the second vehicle in this vehicle, terminate.

Step 204: if there is the second vehicle in this track, calculate between the first vehicle and the second vehicle relative to the first transverse distance of the travel direction of the first vehicle and the first fore-and-aft distance.

Such as, be the first transverse distance see Fig. 2-2, dis_x, dis_y is the first fore-and-aft distance.

It should be noted that, calculating between the first vehicle and the second vehicle relative to the first transverse distance of the travel direction of the first vehicle and the detailed process of the first fore-and-aft distance is prior art, no longer describes in detail at this.

Step 205: according to the first transverse distance and the first fore-and-aft distance, calculates between the first vehicle and the second vehicle relative to the first angle between the travel direction of the first vehicle.

Particularly, the ratio of the first transverse distance and the first fore-and-aft distance is calculated; Calculate the arc-tangent value of this ratio; This arc-tangent value is defined as between the first vehicle and the second vehicle relative to the first angle between the travel direction of the first vehicle.

Such as, be the first angle see Fig. 2-2, β (t), and

Wherein, dis_x is the first transverse distance, and dis_y is the first fore-and-aft distance.

Step 206: according to yaw angle and the first angle, calculates between the first vehicle and the second vehicle relative to the second angle between inside lane line direction.

Particularly, the differential seat angle of this yaw angle and the first angle is calculated; This differential seat angle is defined as between the first vehicle and the second vehicle relative to the second angle between inside lane line direction.

Such as, be the second angle see Fig. 2-2, θ (t), and θ (t)=α (t)-β (t).

Wherein, α (t) is yaw angle, and β (t) is the first angle.

Step 207: according to the first transverse distance, the first fore-and-aft distance and the second angle, calculates between the first vehicle and the second vehicle relative to second transverse distance in inside lane line direction and the second fore-and-aft distance.

Particularly, according to the first transverse distance and the first fore-and-aft distance, the distance between the first vehicle and the second vehicle is calculated; Calculate sine value and the cosine value of the second angle; The product calculating this distance and sine value as between the first vehicle and described second vehicle relative to second transverse distance in inside lane line direction; The product calculating this distance and this cosine value as between the first vehicle and the second vehicle relative to second fore-and-aft distance in inside lane line direction.

This step can calculate the second transverse distance relative to inside lane line direction between the first vehicle and the second vehicle by following formula (1), calculates the second fore-and-aft distance relative to inside lane line direction between the first vehicle and the second vehicle by following formula (2).

$\mathrm{\Δ}x\left(t\right)=\sqrt{dis\_x^2+dis\_y^2}\×sin\mathrm{\θ}\left(t\right)$ Formula (1)

$\mathrm{\Δ}y\left(t\right)=\sqrt{dis\_x^2+dis\_y^2}\×cos\mathrm{\θ}\left(t\right)$ Formula (2)

Wherein, Δ x (t) is the second transverse distance, and Δ y (t) is the second fore-and-aft distance, and θ (t) is the second angle, and dis_x is the first transverse distance, and dis_y is the first fore-and-aft distance.

Further, according to the second transverse distance, the second fore-and-aft distance and control algorithm, control the first vehicle and follow the second vehicle traveling.

In embodiments of the present invention, from the road image of the first vehicle front, obtain the inside lane line in track, according to this inside lane line, calculate the yaw angle between the travel direction of the first vehicle and inside lane line; If there is the second vehicle in track, calculate between the first vehicle and the second vehicle relative to the first transverse distance of the travel direction of the first vehicle and the first fore-and-aft distance; According to this yaw angle, the first transverse distance and the first fore-and-aft distance, calculate between the first vehicle and the second vehicle relative to second transverse distance in inside lane line direction and the second fore-and-aft distance.Because the travel direction of the first vehicle and inside lane line direction may be inconsistent, thus according to the yaw angle between the travel direction of the first vehicle and inside lane line, first transverse distance and the first fore-and-aft distance, determine that the second transverse distance and the second fore-and-aft distance are more accurate, improve the accuracy of inspection vehicle distance.

Embodiment three

Embodiments provide a kind of device of inspection vehicle distance, this device may be used for the method for the inspection vehicle distance performing embodiment one and two.

See Fig. 3, wherein, this device comprises:

Taking module 301, for taking the first vehicle front road, obtains road image;

Extraction module 302, for extracting the inside lane line in track from road image;

First computing module 303, for according to inside lane line, calculates the yaw angle between the travel direction of the first vehicle and inside lane line;

Determination module 304, for determining whether there is the second vehicle in track;

Second computing module 305, if for there is the second vehicle in track, calculates between the first vehicle and the second vehicle relative to the first transverse distance of the travel direction of the first vehicle and the first fore-and-aft distance;

3rd computing module 306, for according to yaw angle, the first transverse distance and the first fore-and-aft distance, calculates between the first vehicle and the second vehicle relative to second transverse distance in inside lane line direction and the second fore-and-aft distance.

Optionally, the 3rd computing module 306, comprising:

First calculating unit, for according to the first transverse distance and the first fore-and-aft distance, calculates between the first vehicle and the second vehicle relative to the first angle between the travel direction of the first vehicle;

Second calculating unit, for according to yaw angle and the first angle, calculates between the first vehicle and the second vehicle relative to the second angle between inside lane line direction;

3rd calculating unit, for according to the first transverse distance, the first fore-and-aft distance and the second angle, calculates between the first vehicle and the second vehicle relative to second transverse distance in inside lane line direction and the second fore-and-aft distance.

Optionally, the first calculating unit, comprising:

First computation subunit, for calculating the ratio of the first transverse distance and the first fore-and-aft distance;

Second computation subunit, for the arc-tangent value of ratio calculated;

First determines subelement, for arc-tangent value being defined as between the first vehicle and the second vehicle relative to the first angle between the travel direction of the first vehicle.

Optionally, the second calculating unit, comprising:

3rd computation subunit, for calculating the differential seat angle of yaw angle and the first angle;

Second determines subelement, for being defined as by differential seat angle between the first vehicle and the second vehicle relative to the second angle between inside lane line direction.

Optionally, the 3rd calculating unit, comprising:

4th computation subunit, for according to the first transverse distance and the first fore-and-aft distance, calculates the distance between the first vehicle and the second vehicle;

5th computation subunit, for calculating sine value and the cosine value of the second angle;

6th computation subunit, for calculate distance and sine value product as between the first vehicle and the second vehicle relative to second transverse distance in inside lane line direction;

7th computation subunit, for calculate distance and cosine value product as between the first vehicle and the second vehicle relative to second fore-and-aft distance in inside lane line direction.

In embodiments of the present invention, from the road image of the first vehicle front, obtain the inside lane line in track, according to this inside lane line, calculate the yaw angle between the travel direction of the first vehicle and inside lane line; If there is the second vehicle in track, calculate between the first vehicle and the second vehicle relative to the first transverse distance of the travel direction of the first vehicle and the first fore-and-aft distance; According to this yaw angle, the first transverse distance and the first fore-and-aft distance, calculate between the first vehicle and the second vehicle relative to second transverse distance in inside lane line direction and the second fore-and-aft distance.Because the travel direction of the first vehicle and inside lane line direction may be inconsistent, thus according to the yaw angle between the travel direction of the first vehicle and inside lane line, first transverse distance and the first fore-and-aft distance, determine that the second transverse distance and the second fore-and-aft distance are more accurate, improve the accuracy of inspection vehicle distance.

It should be noted that: the device of the inspection vehicle distance that above-described embodiment provides is when inspection vehicle distance, only be illustrated with the division of above-mentioned each functional module, in practical application, can distribute as required and by above-mentioned functions and be completed by different functional modules, inner structure by device is divided into different functional modules, to complete all or part of function described above.In addition, the device of the inspection vehicle distance that above-described embodiment provides and the embodiment of the method for inspection vehicle distance belong to same design, and its specific implementation process refers to embodiment of the method, repeats no more here.

The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.

One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be read-only memory (ROM), disk or CD etc.

The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. a method for inspection vehicle distance, is characterized in that, described method comprises:

First vehicle front road is taken, obtains road image, and from described road image, extract the inside lane line in track;

According to described inside lane line, calculate the yaw angle between the travel direction of described first vehicle and described inside lane line;

Determine whether there is the second vehicle in described track;

If there is the second vehicle in described track, calculate between described first vehicle and described second vehicle relative to the first transverse distance of the travel direction of described first vehicle and the first fore-and-aft distance;

According to described yaw angle, described first transverse distance and described first fore-and-aft distance, calculate between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction and the second fore-and-aft distance.

2. the method for claim 1, it is characterized in that, described according to described yaw angle, described first transverse distance and described first fore-and-aft distance, to calculate between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction and the second fore-and-aft distance, comprising:

According to described first transverse distance and described first fore-and-aft distance, calculate between described first vehicle and described second vehicle relative to the first angle between the travel direction of described first vehicle;

According to described yaw angle and described first angle, calculate between described first vehicle and described second vehicle relative to the second angle between described inside lane line direction;

According to described first transverse distance, described first fore-and-aft distance and described second angle, calculate between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction and the second fore-and-aft distance.

3. method as claimed in claim 2, it is characterized in that, described according to described first transverse distance and described first fore-and-aft distance, to calculate between described first vehicle and described second vehicle relative to the first angle between the travel direction of described first vehicle, comprising:

Calculate the ratio of described first transverse distance and described first fore-and-aft distance;

Calculate the arc-tangent value of described ratio;

Described arc-tangent value is defined as between described first vehicle and described second vehicle relative to the first angle between the travel direction of described first vehicle.

4. method as claimed in claim 2, is characterized in that, described according to described yaw angle and described first angle, to calculate between described first vehicle and described second vehicle relative to the second angle between described inside lane line direction, comprising:

Calculate the differential seat angle of described yaw angle and described first angle;

Described differential seat angle is defined as between described first vehicle and described second vehicle relative to the second angle between described inside lane line direction.

5. method as claimed in claim 2, it is characterized in that, described according to described first transverse distance, described first fore-and-aft distance and described second angle, to calculate between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction and the second fore-and-aft distance, comprising:

According to described first transverse distance and described first fore-and-aft distance, calculate the distance between described first vehicle and described second vehicle;

Calculate sine value and the cosine value of described second angle;

The product calculating described distance and described sine value as between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction;

The product calculating described distance and described cosine value as between described first vehicle and described second vehicle relative to second fore-and-aft distance in described inside lane line direction.

6. a device for inspection vehicle distance, is characterized in that, described device comprises:

Taking module, for taking the first vehicle front road, obtains road image;

Extraction module, for extracting the inside lane line in track from described road image;

First computing module, for according to described inside lane line, calculates the yaw angle between the travel direction of described first vehicle and described inside lane line;

Determination module, for determining whether there is the second vehicle in described track;

Second computing module, if for there is the second vehicle in described track, calculates between described first vehicle and described second vehicle relative to the first transverse distance of the travel direction of described first vehicle and the first fore-and-aft distance;

3rd computing module, for according to described yaw angle, described first transverse distance and described first fore-and-aft distance, calculates between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction and the second fore-and-aft distance.

7. device as claimed in claim 6, it is characterized in that, described 3rd computing module, comprising:

First calculating unit, for according to described first transverse distance and described first fore-and-aft distance, calculates between described first vehicle and described second vehicle relative to the first angle between the travel direction of described first vehicle;

Second calculating unit, for according to described yaw angle and described first angle, calculates between described first vehicle and described second vehicle relative to the second angle between described inside lane line direction;

3rd calculating unit, for according to described first transverse distance, described first fore-and-aft distance and described second angle, calculates between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction and the second fore-and-aft distance.

8. device as claimed in claim 7, it is characterized in that, described first calculating unit, comprising:

First computation subunit, for calculating the ratio of described first transverse distance and described first fore-and-aft distance;

Second computation subunit, for calculating the arc-tangent value of described ratio;

First determines subelement, for described arc-tangent value being defined as between described first vehicle and described second vehicle relative to the first angle between the travel direction of described first vehicle.

9. device as claimed in claim 7, it is characterized in that, described second calculating unit, comprising:

3rd computation subunit, for calculating the differential seat angle of described yaw angle and described first angle;

Second determines subelement, for being defined as by described differential seat angle between described first vehicle and described second vehicle relative to the second angle between described inside lane line direction.

10. device as claimed in claim 7, it is characterized in that, described 3rd calculating unit, comprising:

4th computation subunit, for according to described first transverse distance and described first fore-and-aft distance, calculates the distance between described first vehicle and described second vehicle;

5th computation subunit, for calculating sine value and the cosine value of described second angle;

6th computation subunit, for the product that calculates described distance and described sine value as between described first vehicle and described second vehicle relative to second transverse distance in described inside lane line direction;

7th computation subunit, for the product that calculates described distance and described cosine value as between described first vehicle and described second vehicle relative to second fore-and-aft distance in described inside lane line direction.