The increasing accident rate brought about by the explosive growth of
automobiles has made the research on active safety systems of automobiles
increasingly important. The importance of improving the accuracy of vehicle
target detection is self-evident. To achieve the goals of vehicle detection and
distance estimation and provide safety warnings, a Distance Estimation Safety
Warning System (DESWS) based on a new neural network model (YOLOv5s-SE) by
replacing the IoU with DIoU, embedding SE attention module, and a distance
estimation method through using the principle of similar triangles was
proposed. In addition, a method that can give safety suggestions based on the
estimated distance using nonparametric testing was presented in this work.
Through the simulation experiment, it was verified that the mAP was improved by
5.5% and the purpose of giving safety suggestions based on the estimated
distance information can be achieved.

基于新的神经网络模型（YOLOv5s-SE），以 DIoU 替换 IoU，嵌入 SE 注意力模块和使用相似三角形原理的距离估计方法，提出了一个基于距离估计的安全警告系统（DESWS）。此外，还提出了一种基于非参数检测的预测距离的安全建议方法，通过模拟实验证实了平均准确率提高了 5.5％，并实现了基于估计距离信息的安全建议目标。