CN101790083A - Monitoring method of lane space occupancy based on videos - Google Patents

Abstract

The invention discloses a monitoring method of lane space occupancy based on videos, comprising the following concrete steps: step 1: arranging an effective monitoring field of view, and acquiring basic data; step 2: carrying out nonlinear correction of a lane: calibrating the lane, computing the gradients of the upper bottom and the lower bottom of a calibrated trapezoid, computing the weight of each row in the calibrated trapezoid, carrying out curve fitting on the corrected weight, iterating and optimizing weight corrected parameters, and computing the actual length of the corrected calibrated trapezoid region lane, the fitting actual length obtained after curve fitting and the height of a triangle capable of being expressed by the inclination angles of the upper bottom and the lower bottom of the calibrated trapezoid region; and step 3: computing the space occupancy of the lane to obtain the actual value of the lane space occupancy. The method of the invention can effectively reduce the computing error of the lane occupancy since vehicles are big in a near place and are small in a far place in traffic video monitoring.

Description

A kind of method for supervising of the lane space occupancy based on video

Technical field

The invention belongs to technical field of video monitoring, relate to a kind of method for supervising of the lane space occupancy based on video.

Background technology

The traffic flow information statistics is the key link in the intelligent transportation system, and lane occupancy ratio is in the traffic flow information, weighs an important indicator of traffic, and lane occupancy ratio is divided into time occupancy and space occupancy.Time occupancy is meant in the unit interval that vehicle is by the cumulative time of a certain section and the ratio of unit minute.Space occupancy is meant the ratio that at a time records all vehicles occupy on the known road road surface length and road section length.

The flow information that time occupancy is added up goes wrong under some opposite extreme situations usually, for example, when time occupancy is low, may be because vehicle is very few, also may be because the vehicle that causes of traffic congestion can't fast running state.And for an intelligent traffic information processing system, preventing and in time handling extreme case is the core place, and therefore, the calculating of space occupancy has just had very important effect.Yet under video monitoring mode, adopt space occupancy to calculate lane occupancy ratio, a problem also can appear, because car moves the track of same physical length, and the target vehicle of same physical length in monitoring the visual field, the capital is because three dimensions arrives the projection of two dimensional surface, and different length different problem in position appears, promptly closely then long apart from camera lens, far away then short situation.In addition, the different vehicle size of travelling on road is also normally differentiated, therefore, directly does ratio calculation according to the length and the road section length of the target of extracting in the monitoring image simply, can produce very big deviation.

Summary of the invention

The purpose of this invention is to provide a kind of method for supervising of the lane space occupancy based on video, can effectively reduce in the traffic video monitoring, the near big and far smaller error of bringing of calculating to lane occupancy ratio of vehicle.

The technical solution adopted in the present invention is, a kind of method for supervising of the lane space occupancy based on video, and this method is specifically implemented according to following steps:

Step 1: effective supervision visual field is set, obtains basic data

Delimiting the zone, track is effectively to monitor the visual field, this supervision visual field is one trapezoidal, and the length of this visual field is trapezoidal height, and it is capable of p1 distance in the ranks to be p0 on picture, if the image of monitoring image size is M * N, to each the row definition effective range ident value K on the monitoring image _j, j=1,2 ..., M, for:

Ident value K then _j, j=1,2 ..., M, given effective video monitors the visual field;

Step 2: the gamma correction in track

2.1) demarcation in track

According to the road markings line of national regulation the empty ratio of line of lines is set, find out in view of the above be positioned in the picture monitor the middle part, visual field can complete imaging institute wired, empty, according to sequence arrangement from big to small, be made as

And to measure the minimum trapezoidal upper base width that comprises the line sky from picture be a, is positioned at the tr of image ₀OK and the width of going to the bottom be b, be positioned at the tr of image ₁OK, the upper base a and the b that goes to the bottom constitute trapezoidal be defined as demarcate trapezoidal;

2.2) calculate trapezoidal upper base of this demarcation and the gradient tan θ that goes to the bottom: $\tan \mathrm{\θ}=\frac{b-a}{2h}---\left(2\right)$

Wherein, h can get according to following formula for demarcating trapezoidal height: $h=\underset{i=1}{\overset{n_L}{\mathrm{\Σ}}}{l}_i+\underset{i=1}{\overset{n_B}{\mathrm{\Σ}}}{b}_i---\left(3\right)$

Wherein, l _i, i=1,2 ..., n _LBe the length of i bar line on the monitoring image image on the dotted line;

b _i, i=1,2 ..., n _BBe i empty length on the monitoring image image on the dotted line;

2.3) calculate to demarcate trapezoidal in the weight w of every row _k, k=tr wherein ₀, tr ₀+ 1 ..., tr ₁:

$w_k=\frac{b}{2\tan \mathrm{\θ}\·(k-{\mathrm{tr}}_0+1)+a};---\left(4\right)$

2.4) to weight w _i, i=tr ₀, tr ₀+ 1 ..., tr ₁Carry out segmentation and proofread and correct, make adjacent line, empty than the empty ratio of the line that satisfies aforementioned setting, that is:

${\hat{w}}_i=\frac{l_1}{\underset{k\∈L_i}{\mathrm{\Σ}}{w}_k}\·w_i,i\∈L_1,L_2,...,L_{n_L}---\left(5\right)$

${\hat{w}}_i=\frac{s\·l_1}{\underset{k\∈B_i}{\mathrm{\Σ}}{w}_k}\·w_i,i\∈B_1,B_2,...,B_{n_B};---\left(6\right)$

S is the sky of Lane Mark, the length ratio of line;

2.5) to the weights after proofreading and correct

K=tr ₀, tr ₀+ 1 ..., tr ₁Carry out curve fitting, obtain new weights

K=tr ₀, tr ₀+ 1 ..., tr ₁, that is: ${\tilde{w}}_k=\mathrm{\ρ}\·w_k---\left(7\right)$

Proportionality coefficient ρ can be calculated by following formula:

$\mathrm{\ρ}=\frac{\underset{k={\mathrm{tr}}_0}{\overset{{\mathrm{tr}}_1}{\mathrm{\Σ}}}{\hat{w}}_k}{\underset{k={\mathrm{tr}}_0}{\overset{{\mathrm{tr}}_1}{\mathrm{\Σ}}}{w}_k}---\left(8\right)$

Then the correction weights that obtain by curve fit are: ${w^{*}}_k=q\·{\tilde{w}}_k+s,---\left(9\right)$

Wherein, k=tr ₀, tr ₀+ 1 ..., tr ₁

$q=\frac{{\hat{w}}_{{\mathrm{tr}}_1}-{\hat{w}}_{{\mathrm{tr}}_0}}{{\tilde{w}}_{{\mathrm{tr}}_1}-{\tilde{w}}_{{\mathrm{tr}}_0}}---\left(10\right)$

$s={\hat{w}}_{{\mathrm{tr}}_0}-q\·{\tilde{w}}_{{\mathrm{tr}}_0}---\left(11\right)$

2.6) iteration optimization weights corrected parameter w ^* _k

The physical length L of the demarcation trapezoid area road behind the calculation correction, the match physical length L that obtains after the curve fit ^*, and demarcate the leg-of-mutton height H that the angle of slanted floor up and down of trapezoid area can be represented

$L=\underset{i={\mathrm{tr}}_0}{\overset{{\mathrm{tr}}_1}{\mathrm{\Σ}}}{\hat{w}}_i---\left(12\right)$

$L^{*}=\underset{i={\mathrm{tr}}_0}{\overset{{\mathrm{tr}}_1}{\mathrm{\Σ}}}{w^{*}}_i---\left(13\right)$

$H=\frac{b}{2\tan \mathrm{\θ}}---\left(14\right)$

Calculate L and L ^*Deviation e:e=|L ^*-L| if deviation e approaches 0, then need not to revise w ^* _k, k=tr ₀, tr ₀+ 1 ..., tr ₁, otherwise, carry out following judgement:

If L＞H then makes a=a-Δ a, Δ a＞0, otherwise make a=a-Δ a, step 2.2 is returned in Δ a＜0) in, when obtaining minimum deviation e, iteration finishes; Thus, weight w of trapezoidal interior all row have been obtained to demarcate ^* _k, k=tr ₀, tr ₀+ 1 ..., tr ₁

Step 3: the space occupancy R that calculates the track

3.1) calculate the weight w of the trapezoidal upper section of demarcation in the effective monitoring visual field ^* _k, k=p ₀, p ₀+ 1 ..., tr ₀-1, and the weight w of demarcating trapezoidal below part ^* _kK=tr ₁+ 1, tr ₁+ 2 ..., p ₁:

${w^{*}}_k=q\·\mathrm{\ρ}\·\frac{b}{2\tan \mathrm{\θ}\·(k-{\mathrm{tr}}_0+1)+a}+s,---\left(15\right)$

K=p ₀, p ₀+ 1 ..., tr ₀-1, and k=tr ₁+ 1, tr ₁+ 2 ..., p ₁

3.2) calculate the total length in track, the length L in single track _Sr ^*For

${L_{\mathrm{sr}}}^{*}=\underset{i=p_0}{\overset{p_1}{\mathrm{\Σ}}}{w^{*}}_i---\left(16\right)$

If the effective supervision track in the supervision visual field is N, then the total length in track is:

L _r ^*＝N·L _sr ^*； (17)

3.3) calculate the road occupying length L of vehicle target _C ^*

If detect current time M vehicle target arranged, lay respectively at the c in the picture image _K0Walk to c _K1OK, k=1,2 ..., M calculates the road occupying length L of each vehicle target _Ck ^*For:

${L_{\mathrm{Ck}}}^{*}=\underset{i=c_{k0}}{\overset{c_{k1}}{\mathrm{\Σ}}}{w^{*}}_i,i=\mathrm{1,2},...,M---\left(18\right)$

Total road occupying length L of vehicle then _C ^*For: ${L_C}^{*}=\underset{k=1}{\overset{M}{\mathrm{\Σ}}}{L_{\mathrm{Ck}}}^{*};---\left(19\right)$

3.4) lane space occupancy R is:

Promptly obtain the actual value of lane space occupancy.

The beneficial effect of the inventive method is, by setting up the relation of the Nonlinear Mapping between the track length and actual physical size on the monitoring image, these mapping relations are represented with the mode of weights, after detected target length is carried out gamma correction in the video pictures, can obtain the result of calculation of correct lane space occupancy, weights represent that mode has also guaranteed the requirement of real-time simultaneously.

Description of drawings

Fig. 1 is that the used track of the inventive method monitors the visual field schematic diagram.

Embodiment

The present invention is described in detail below in conjunction with the drawings and specific embodiments.

The method for supervising of the lane space occupancy based on video of the present invention is implemented according to following steps,

Step 1: effective supervision visual field is set, obtains basic data

As Fig. 1, be that the track monitors the visual field schematic diagram, in order to reduce the influence of track surrounding environment, the zone of delimiting wherein, track be effective supervision visual field, is one trapezoidal.The length of this visual field is trapezoidal height, sees on picture, is p ₀Row is to p ₁Distance in the ranks.If the image of monitoring image size is M * N, to each the row definition effective range ident value K on the monitoring image _j, j=1,2 ..., M is:

Ident value K then _j, j=1,2 ..., M, given effective video monitors the visual field.

Step 2: the gamma correction in track

2.1) demarcation in track

According to Fig. 1, according to setting up standard of the road lines of present China, highway, Class I highway and city expressway lines are 6 * 9, and other roads are 2 * 4.Embodiment is example with the city expressway, and the line of lines is empty to be generated than the mode with " line/sky=2/3 ", in view of the above, find out be positioned in the picture monitor the middle part, visual field can complete imaging wired, empty, according to sequence arrangement from big to small, be made as

And to measure the minimum trapezoidal upper base width that comprises the line sky from picture be a, and being positioned at the capable and width of going to the bottom of the tr0 of image is b, and the tr1 that is positioned at image is capable, the upper base a and the b that goes to the bottom constitute trapezoidal be defined as demarcate trapezoidal.

2.2) calculate trapezoidal upper base of this demarcation and the gradient tan θ that goes to the bottom, promptly

$\tan \mathrm{\θ}=\frac{b-a}{2h}---\left(2\right)$

Wherein, h can get according to following formula for demarcating trapezoidal height:

$h=\underset{i=1}{\overset{n_L}{\mathrm{\Σ}}}{l}_i+\underset{i=1}{\overset{n_B}{\mathrm{\Σ}}}{b}_i---\left(3\right)$

Wherein, l _i, i=1,2 ..., n _LBe the length of i bar line on the monitoring image image on the dotted line;

b _i, i=1,2 ..., n _BBe i empty length on the monitoring image image on the dotted line.

2.3) calculate to demarcate trapezoidal in the weight w of every row _k, k=tr wherein ₀, tr ₀+ 1 ..., tr ₁:

$w_k=\frac{b}{2\tan \mathrm{\θ}\·(k-{\mathrm{tr}}_0+1)+a}---\left(4\right)$

2.4) to weight w _i, i=tr ₀, tr ₀+ 1 ..., tr ₁Carry out segmentation and proofread and correct, purpose is in order to make adjacent line, empty than satisfying 1/s, that is:

${\hat{w}}_i=\frac{l_1}{\underset{k\∈L_i}{\mathrm{\Σ}}{w}_k}\·w_i,i\∈L_1,L_2,...,L_{n_L}---\left(5\right)$

${\hat{w}}_i=\frac{s\·l_1}{\underset{k\∈B_i}{\mathrm{\Σ}}{w}_k}\·w_i,i\∈B_1,B_2,...,B_{n_B}---\left(6\right)$

Wherein, s is the sky of Lane Mark, the length ratio of line, and s is the inverse of the empty ratio of line, according to the road markings line setting of national regulation, and for city expressway s=3/2=1.5, other roads s=4/2=2.

2.5) big because monitor generally trapezoidal than the demarcation that the is provided with zone of the scope of visual field, for this reason, to the weights after proofreading and correct K=tr ₀, tr ₀+ 1 ..., tr ₁Carry out curve fitting, to obtain new weights

K=tr ₀, tr ₀+ 1 ..., tr ₁, that is: ${\tilde{w}}_k=\mathrm{\ρ}\·w_k---\left(7\right)$

Wherein, proportionality coefficient ρ can be calculated by following formula:

$\mathrm{\ρ}=\frac{\underset{k={\mathrm{tr}}_0}{\overset{{\mathrm{tr}}_1}{\mathrm{\Σ}}}{\hat{w}}_k}{\underset{k={\mathrm{tr}}_0}{\overset{{\mathrm{tr}}_1}{\mathrm{\Σ}}}{w}_k}---\left(8\right)$

The correction weights that obtain by curve fit are:

${w^{*}}_k=q\·{\tilde{w}}_k+s,---\left(9\right)$

Wherein, k=tr ₀, tr ₀+ 1 ..., tr ₁

$q=\frac{{\hat{w}}_{{\mathrm{tr}}_1}-{\hat{w}}_{{\mathrm{tr}}_0}}{{\tilde{w}}_{{\mathrm{tr}}_1}-{\tilde{w}}_{{\mathrm{tr}}_0}}---\left(10\right)$

$s={\hat{w}}_{{\mathrm{tr}}_0}-q\·{\tilde{w}}_{{\mathrm{tr}}_0}---\left(11\right)$

2.6) iteration optimization weights corrected parameter w ^* _k, k=tr wherein ₀, tr ₀+ 1 ..., tr ₁

The physical length L of the demarcation trapezoid area road behind the calculation correction, the match physical length L that obtains after the curve fit ^*, and demarcate the leg-of-mutton height H that the angle of slanted floor up and down of trapezoid area can be represented

$L=\underset{i={\mathrm{tr}}_0}{\overset{{\mathrm{tr}}_1}{\mathrm{\Σ}}}{\hat{w}}_i---\left(12\right)$

$L^{*}=\underset{i={\mathrm{tr}}_0}{\overset{{\mathrm{tr}}_1}{\mathrm{\Σ}}}{w^{*}}_i---\left(13\right)$

$H=\frac{b}{2\tan \mathrm{\θ}}---\left(14\right)$

Calculate L and L ^*Deviation e:e=|L ^*-L| if deviation e approaches 0, then need not to revise w ^* _k, k=tr ₀, tr ₀+ 1 ..., tr ₁, otherwise, carry out following judgement: if L＞H then makes a=a-Δ a, Δ a＞0, otherwise make a=a-Δ a, Δ a＜0 turns back to step 2.2) in, when obtaining minimum deviation e, iteration finishes, and thus, has obtained to demarcate weight w of trapezoidal interior all row ^* _k, k=tr ₀, tr ₀+ 1 ..., tr ₁

Step 3: the space occupancy R that calculates the track

3.1) calculate the trapezoidal part outward of demarcation in the effective monitoring visual field, the weight w of promptly demarcating trapezoidal upper section ^* _k, k=p ₀, p ₀+ 1 ..., tr ₀-1, and the weight w of demarcating trapezoidal below part ^* _kK=tr ₁+ 1, tr ₁+ 2 ..., p ₁:

${w^{*}}_k=q\·\mathrm{\ρ}\·\frac{b}{2\tan \mathrm{\θ}\·(k-{\mathrm{tr}}_0+1)+a}+s,$

K=p ₀, p ₀+ 1 ..., tr ₀-1, and k=tr ₁+ 1, tr ₁+ 2 ..., p ₁(15)

3.2) calculate the length in single track

For: ${L_{\mathrm{sr}}}^{*}=\underset{i=p_0}{\overset{p_1}{\mathrm{\Σ}}}{w^{*}}_i---\left(16\right)$

If the effective supervision track in the supervision visual field is L ^*Individual, then the total length in track is:

L _r ^*＝N·L _sr ^* (17)

3.3) calculate the road occupying length L of all vehicle targets _C ^*

If detect current time M vehicle target arranged, lay respectively at the c in the picture image _K0Walk to c _K1OK, k=1,2 ..., M calculates the road occupying length L of each vehicle target _Ck ^*For:

${L_{\mathrm{Ck}}}^{*}=\underset{i=c_{k0}}{\overset{c_{k1}}{\mathrm{\Σ}}}{w^{*}}_i,i=\mathrm{1,2},...,M---\left(18\right)$

Total road occupying length L of vehicle then _C ^*For: ${L_C}^{*}=\underset{k=1}{\overset{M}{\mathrm{\Σ}}}{L_{\mathrm{Ck}}}^{*}---\left(19\right)$

3.4) lane space occupancy R is:

Promptly obtain the actual value of lane space occupancy.

Claims (2)

1. method for supervising based on the lane space occupancy of video, it is characterized in that: this method is specifically implemented according to following steps:

Step 1: effective supervision visual field is set, obtains basic data

Delimiting zone, track be effective supervision visual field, and this supervision visual field is one trapezoidal, and the length of this visual field is trapezoidal height, is p on picture ₀Row is to p ₁Distance in the ranks, the image size of establishing monitoring image is M * N, to each the row definition effective range ident value K on the monitoring image _j, j=1,2 ..., M, for:

Ident value K then _j, j=1,2 ..., M, given effective video monitors the visual field;

Step 2: the gamma correction in track

2.1) demarcation in track

According to the road markings line of national regulation the empty ratio of line of lines is set, find out in view of the above be positioned in the picture monitor the middle part, visual field can complete imaging institute wired, empty, according to sequence arrangement from big to small, be made as

And to measure the minimum trapezoidal upper base width that comprises the line sky from picture be a, is positioned at the tr of image ₀OK and the width of going to the bottom be b, be positioned at the tr of image ₁OK, the upper base a and the b that goes to the bottom constitute trapezoidal be defined as demarcate trapezoidal;

2.2) calculate trapezoidal upper base of this demarcation and the gradient tan θ that goes to the bottom:

Wherein, h can get according to following formula for demarcating trapezoidal height:

Wherein, l _i, i=1,2 ..., n _LBe the length of i bar line on the monitoring image image on the dotted line;

b _i, i=1,2 ..., n _BBe i empty length on the monitoring image image on the dotted line;

2.3) calculate to demarcate trapezoidal in the weight w of every row _k, k=tr wherein ₀, tr ₀+ 1 ..., tr ₁:

$w_k=\frac{b}{2\tan \mathrm{\θ}\·(k-{\mathrm{tr}}_0+1)+a};---\left(4\right)$

2.4) to weight w _i, i=tr ₀, tr ₀+ 1 ..., tr ₁Carry out segmentation and proofread and correct, make adjacent line, empty than the empty ratio of the line that satisfies aforementioned setting, that is:

${\hat{w}}_i=\frac{l_1}{\underset{k\∈L_i}{\mathrm{\Σ}}{w}_k}\·w_i,$ $i\∈L_1,L_2,...,L_{n_L}---\left(5\right)$

${\hat{w}}_i=\frac{s\·l_1}{\underset{k\∈B_i}{\mathrm{\Σ}}{w}_k}\·w_i,$ $i\∈B_1,B_2,...,B_{n_B};---\left(16\right)$

S is the sky of Lane Mark, the length ratio of line;

2.5) to the weights after proofreading and correct

K=tr ₀, tr ₀+ 1 ..., tr ₁Carry out curve fitting, obtain new weights

K=tr ₀, tr ₀+ 1 ..., tr ₁, that is:

Proportionality coefficient ρ can be calculated by following formula:

$\mathrm{\ρ}=\frac{\underset{k={\mathrm{tr}}_0}{\overset{{\mathrm{tr}}_1}{\mathrm{\Σ}}}{\hat{w}}_k}{\underset{k={\mathrm{tr}}_0}{\overset{{\mathrm{tr}}_1}{\mathrm{\Σ}}}{w}_k}---\left(8\right)$

Then the correction weights that obtain by curve fit are:

Wherein, k=tr ₀, tr ₀+ 1 ..., tr ₁

$q=\frac{{\hat{w}}_{{\mathrm{tr}}_1}-{\hat{w}}_{t{r}_0}}{{\tilde{w}}_{t{r}_1}-{\tilde{w}}_{{\mathrm{tr}}_0}}---\left(10\right)$

$s={\hat{w}}_{{\mathrm{tr}}_0}-q\·{\tilde{w}}_{{\mathrm{tr}}_0}---\left(11\right)$

2.6) iteration optimization weights corrected parameter w ^* _k

The physical length L of the demarcation trapezoid area road behind the calculation correction, the match physical length L that obtains after the curve fit ^*, and demarcate the leg-of-mutton height H that the angle of slanted floor up and down of trapezoid area can be represented

$L=\underset{i={\mathrm{tr}}_0}{\overset{{\mathrm{tr}}_1}{\mathrm{\Σ}}}{\hat{w}}_i---\left(12\right)$

$L^{*}=\underset{i={\mathrm{tr}}_0}{\overset{{\mathrm{tr}}_1}{\mathrm{\Σ}}}{w^{*}}_i---\left(13\right)$

$H=\frac{b}{2\tan \mathrm{\θ}}---\left(14\right)$

Calculate L and L ^*Deviation e:e=|L ^*-L| if deviation e approaches 0, then need not to revise w ^* _k, k=tr ₀, tr ₀+ 1 ..., tr ₁, otherwise, carry out following judgement:

If L＞H then makes a=a-Δ a, Δ a＞0, otherwise make a=a-Δ a, step 2.2 is returned in Δ a＜0) in, when obtaining minimum deviation e, iteration finishes; Thus, weight w of trapezoidal interior all row have been obtained to demarcate ^* _k, k=tr ₀, tr ₀+ 1 ..., tr ₁

Step 3: the space occupancy R that calculates the track

3.1) calculate the weight w of the trapezoidal upper section of demarcation in the effective monitoring visual field ^* _k, k=p ₀, p ₀+ 1 ..., tr ₀-1, and the weight w of demarcating trapezoidal below part ^* _kK=tr ₁+ 1, tr ₁+ 2 ..., p ₁:

${w^{*}}_k=q\·\mathrm{\ρ}\·\frac{b}{2\tan \mathrm{\θ}\·(k-{\mathrm{tr}}_0+1)+a}+s,---\left(15\right)$

K=p ₀, p ₀+ 1 ..., tr ₀-1, and k=tr ₁+ 1, tr ₁+ 2 ..., p ₁

3.2) calculate the total length in track, the length L in single track _Sr ^*For

${L_{\mathrm{sr}}}^{*}=\underset{i=p_0}{\overset{p_1}{\mathrm{\Σ}}}{w^{*}}_i---\left(16\right)$

If the effective supervision track in the supervision visual field is N, then the total length in track is:

L _r ^*＝N·L _sr ^*； (17)

3.3) calculate the road occupying length L of vehicle target _C ^*

If detect current time M vehicle target arranged, lay respectively at the c in the picture image _K0Walk to c _K1OK, k=1,2 ..., M calculates the road occupying length L of each vehicle target _Ck ^*For:

${L_{\mathrm{Ck}}}^{*}=\underset{i=c_{k0}}{\overset{c_{k1}}{\mathrm{\Σ}}}{w^{*}}_i,$ k＝1，2，...，M (18)

Total road occupying length L of vehicle then _C ^*For:

3.4) lane space occupancy R is: Promptly obtain the actual value of lane space occupancy.

2. preparation method according to claim 1 is characterized in that: the sky of described Lane Mark, the length of line is than s, be provided with according to the road markings line of national regulation, and for city expressway s=3/2=1.5, other roads s=4/2=2.

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