作者采用基于特征的车辆检测方法，其算法执行速度比较快，能够适应单目视觉系统的使用需要，而且也无须像基于训练的方法那样利用选取的车辆特征集对样本数据进行训练。本方法直接从图像中提取用于车辆检测的特征，以此来判断车辆是否存在并确定车辆的位置。-Of feature-based vehicle detection method, the algorithm performs faster, able to adapt to the use of the monocular vision system, but also no need like the training methods as the use of the vehicles selected feature set of sample data for training. This method is directly extracted from the image used for vehicle detection characteristics, in order to determine whether the vehicle is present and to determine the position of the vehicle.