Preceding vehicle state estimation method and system based on binocular high-speed camera

The invention provides a preceding vehicle state estimation method and system based on a binocular high-speed camera, and the method comprises the steps: calibrating the binocular camera, and obtaining a camera internal parameter matrix, a distortion parameter and a baseline length; performing distortion removal on the left-eye image and the right-eye image; obtaining respective target frame initial positions in the first frame of left and right eye images through a target detection algorithm, obtaining a next frame of left target frame position through target tracking, and updating a right target frame based on the left target frame position; acquiring regions of interest of the left and right targets, and calculating left and right parallax based on the regions of interest of the left and right targets; calculating a target vehicle distance by combining a triangulation method according to the left-right visual difference, the camera internal reference and the baseline length; and calculating the acceleratio