For rigid object, the data structures that most collision detection algorithms depend onend in the pre-processing phase.
对于刚体对象，大部分碰撞检测算法所依赖的数据结构都可以在预处理阶段处理完毕。
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This paper can solve the key difficulty of lane detection, car detection and distance measurement based on central perspective principle and image process in order to alarm rear-endcollision.