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An Attention Mechanism-Based Monocular Vehicle Distance Estimation Method for Uneven Road Surfaces
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Yongtao LIU, Yifei LI, Longxing GAO, Yisong CHEN, Taiqi WANG
Chinese Journal of Automotive Engineering | 2025, 15(3) : 353 - 365
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Chinese Journal of Automotive Engineering | 2025, 15(3): 353-365
• Intelligent & Connected Technologies Section/Editor in Chief：GAO Zhenhai •
An Attention Mechanism-Based Monocular Vehicle Distance Estimation Method for Uneven Road Surfaces
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Yongtao LIU, Yifei LI, Longxing GAO, Yisong CHEN, Taiqi WANG
Affiliations
  • School of Automobile，Chang’an University，Xi’an 710064，China
Published: 2025-05-20 doi: 10.3969/j.issn.2095–1469.2025.03.08
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A monocular vehicle distance estimation based on attention mechanisms is proposed to improve estimation accuracy on uneven road surfaces. Channel and spatial attention mechanisms are incorporated into the ImVoxelNet neural network to enhance contour perception and feature discrimination, thereby reducing missed vehicle detections. Redundant information in inverse perspective mapping is eliminated through region-of-interest corner calibration, mitigating image distortion. To address variations in vehicle pose, a pose-interference-aware camera extrinsic parameter matrix is proposed, and a coordinate transformation model for uneven surfaces is established. Finally, the proportional relationship between real-world and inverse perspective images is used to construct a distance estimation model, achieving accurate estimation of the longitudinal and lateral distances. Experimental results show that the proposed method maintains a relative error below 3% within a longitudinal range of 80 meters and a lateral range of 4 meters, validating its effectiveness and accuracy.

3D object detection  /  inversion perspective mapping  /  distance measurement  /  monocular vision-based algorithms
Yongtao LIU, Yifei LI, Longxing GAO, Yisong CHEN, Taiqi WANG. An Attention Mechanism-Based Monocular Vehicle Distance Estimation Method for Uneven Road Surfaces[J]. Chinese Journal of Automotive Engineering, 2025 , 15 (3) : 353 -365 . DOI: 10.3969/j.issn.2095–1469.2025.03.08
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Article Info
doi: 10.3969/j.issn.2095–1469.2025.03.08
  • Receive Date：2024-11-01
  • Online Date：2025-07-18
  • Published：2025-05-20
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  • Received：2024-11-01
  • Revised：2024-12-12
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    School of Automobile，Chang’an University，Xi’an 710064，China
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