CN102663893A - Method for acquiring road information based on laser ranging node system - Google Patents
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Abstract
The invention relates to a method for acquiring road information based on a laser ranging node system. A node device realizes laser ranging in a certain inclination mode, an internal data processor can recognize vehicle information according to related information of a distance value, accordingly, the functions of vehicle speed measurement, vehicle behavior trigger, vehicle contour tracing, vehicle flow counting and the like can be realized, and a bayonet server can acquire the road information according to the vehicle information of the laser ranging node device to release road service information and road supervision instructions. The method for acquiring the road information based on the laser ranging node system can be used for efficiently acquiring the road information, and can effectively overcome the shortcomings of complicated laying, low sampling rate, incapability of effectively identifying vehicle types and the like of a detection device in the prior art. Moreover, the method for acquiring the road information based on the laser ranging node system is simple and convenient in application, low in cost, excellent in application effect, fine in application expansibility and wide in application range.
Description
Technical field
The present invention relates to traffic information collection method and technology field, particularly utilize the traffic information collection method and technology field of Laser Distance Measuring Equipment, specifically be meant a kind of method that realizes the road information collection based on the laser ranging node system.
Background technology
Laser distance sensor (claiming laser range finder again) is the instrument that utilizes laser that the distance of target is accurately measured.Laser distance sensor relies on the identification that reflects of target: sensor penetrates pulse laser to target; By the pulse of photovalve receiving target laser light reflected; Time is differentiated and measures laser beam from being transmitted into the pulse flight time of reception, just can draw from the sensor range-to-go.The laser radar that on the laser distance sensor basis, grows up can not only be found range, but also can the measurement target orientation, movement velocity and acceleration etc.Laser distance sensor is the integrated application of multidisciplinary technology such as laser, precision optical machinery, embedded technology and optoelectronics.Because laser has advantages such as high directivity, high monochromaticity and high power; Laser distance sensor is because range finding is far away, conveniently judge advantages such as target azimuth, degree of accuracy and resolution are high, antijamming capability is strong, and application constantly enlarges, industry requirement is numerous.
Why intelligent transportation has huge development potentiality and becomes the major fields that Internet of Things develops, and is inseparable with the national conditions of China.Flourish along with China's economic construction, city size constantly enlarges, the maintaining sustained and rapid growth of automobile quantity, the traffic congestion phenomenon is on the rise, and traffic hazard happens occasionally.Traffic problems have become the great social concern in the city management work.Utilize the intelligent transportation system of technical development China such as advanced electronics, communication, strengthen the transportation management of existing road traffic, the traffic capacity and the transport services quality that improve road network are extremely important.
Highway in China traffic information collection at present mainly contains ground induction coil, microwave sounding, ultrasonic listening, video image identification and piezoelectricity monitoring mode such as weigh, more than these modes its limitation is separately all arranged.For example effect is single, and a cover instrument can only detect single transport information characteristic; It is not high to detect accuracy rate, and when the nearer or situation of blocking each other of vehicle distances was arranged, the part speed of a motor vehicle and flow information can produce to be lost or judge by accident; Cost is higher, and the construction trouble need be carried out the road surface in advance like ground induction coil and buried underground, and the video analytics server cost is high always.
In the related application field that laser technology is used for traffic information collection; One Chinese patent application 200810079778.0 discloses a kind of employing infrared light transducer[sensor and has cooperated the road surfacing reflective tape; And the laser intelligence gathering-device that transmits and receives along reflective tape length direction point by point scanning mode; Two groups of such infrared light transducer[sensors are at a distance of the position of d, can measure the length of vehicle, travel speed etc.But such information acquisition has a lot of shortcomings, for example need use two cover light sensor systems; Reflective tape need be set on the road surface; Want that the effect that reaches, sensor come the speed of flyback retrace need reach hundreds of even go up KHz if reach this patent, so the mechanical scanning structure of sweep limit is difficult to accomplish.One Chinese patent application 200910092596.1 has been introduced a kind of laser ranging or ultrasonic range finder road pavement vehicle that utilizes vertical road surface to place and has been monitored; Can reach the purpose that road vehicle type is discerned; The change point of adjusting the distance in the time of identification is monitored; But the sampling rate that this patented method is discerned vehicle is on the low side, can not accomplish careful examination to vehicle; Another shortcoming of this patent is because this patent is not considered the influence of the speed of vehicle to height of car point sampling rate, and therefore very low to the discrimination of vehicle vehicle, effect is relatively poor.
Summary of the invention
The objective of the invention is to have overcome above-mentioned shortcoming of the prior art; A kind of many functions such as vehicle speed measurement, vehicle behavior triggering, vehicle ' s contour are described, vehicle flowrate that realize based on single laser ranging node are provided; And the laser ranging node system with multinode capable of using obtains road information; Be convenient to the collection and the issue of road information, and equipment lays and use easy, realize with low cost; Effect is preferable, and the method based on the collection of laser ranging node system realization road information that has wide range of applications.
Described laser ranging node system comprises a plurality of laser ranging node apparatus and connects the bayonet socket server of said each device; The data processor that described laser ranging node apparatus comprises laser distance sensor and is built in described laser distance sensor; Described laser distance sensor is the wide-angle laser transmitting-receiving range sensor that is set up in the top in a track on the road; Described data processor has the information of vehicles identification module; The input end of described information of vehicles identification module connects described laser distance sensor, and the output terminal of this information of vehicles identification module connects described bayonet socket server.
In order to realize above-mentioned purpose, the method based on the collection of laser ranging node system realization road information of the present invention may further comprise the steps:
(1) laser ranging that continues for the fixed position on the said track of the wide-angle laser transmitting-receiving range sensor of described each laser ranging node apparatus;
(2) described wide-angle laser transmitting-receiving range sensor is sent to described data processor with the distance value D that records;
(3) the information of vehicles identification module of described data processor is discerned information of vehicles according to the relevant information of the distance value D that obtains;
(4) the information of vehicles identification module of described each laser ranging node apparatus sends the bayonet socket server with the information of vehicles that is obtained;
(5) described bayonet socket server obtains road information based on each the laser ranging node apparatus information of vehicles analysis that is obtained;
(6) described bayonet socket server is issued described road information, and instructs to the supervision of outside road supervisory systems issue road according to described road information.
Should realize in the method for road information collection based on the laser ranging node system; The information of vehicles identification module of described data processor is discerned information of vehicles according to the relevant information of the distance value D that obtains, is specially: the operation that the information of vehicles identification module is added up vehicle flowrate according to the variation delta D of the distance value that obtains.
Should realize in the method for road information collection based on the laser ranging node system; The operation that described information of vehicles identification module is added up vehicle flowrate according to the variation delta D of the distance value that obtains; Be specially: the variation delta D that judges described distance value when described information of vehicles identification module then calculates vehicle flowrate+1 during greater than preset variable quantity threshold value.
Should realize in the method for road information collection based on the laser ranging node system; The information of vehicles identification module of described data processor is discerned information of vehicles according to the relevant information of the distance value D that obtains, also comprises: the information of vehicles identification module is confirmed the operation of the speed of a motor vehicle according to the variation delta D of the distance value that obtains.
Should realize in method that road information gathers that described information of vehicles identification module was confirmed the operation of the speed of a motor vehicle according to the variation delta D of the distance value that obtains based on the laser ranging node system, be specially: described information of vehicles identification module confirms that car speed V is:
Wherein, t is the time, and θ is the Laser emission direction of described wide-angle laser transmitting-receiving range sensor and the angle between the carriageway surfacing of place.
Should realize in the method for road information collection based on the laser ranging node system; The information of vehicles identification module of described data processor is discerned information of vehicles according to the relevant information of the distance value D that obtains, also comprises: the operation that the information of vehicles identification module is discerned the car vehicle according to the distance value D that obtains.
Should realize that in the method for road information collection, described information of vehicles identification module specifically may further comprise the steps according to the operation that the distance value D that obtains discerns the car vehicle based on the laser ranging node system:
(3-1) described information of vehicles identification module obtains car speed V based on the operation that the variation delta D of described distance value carries out described definite speed of a motor vehicle;
(3-2) described information of vehicles identification module is confirmed height of car h according to the variation delta D of described distance value;
(3-3) described information of vehicles identification module is drawn vehicle ' s contour figure according to described height of car h and car speed V;
(3-4) described information of vehicles identification module is discerned type of vehicle according to described vehicle ' s contour figure.
Should realize that described information of vehicles identification module is confirmed height of car h according to the variation delta D of described distance value, is specially: described information of vehicles identification module confirmed that height of car h is in the method for road information collection based on the laser ranging node system:
h＝H-Dsinθ，
Wherein, H is that described laser ranging node apparatus is to the vertical range between its place carriageway surfacing.
Should realize in the method for road information collection based on the laser ranging node system; Described information of vehicles identification module comprises the model data storehouse; Described information of vehicles identification module is discerned type of vehicle according to described vehicle ' s contour figure; Be specially: described information of vehicles identification module is confirmed and the corresponding type of vehicle of this vehicle ' s contour figure according to the vehicle in described vehicle ' s contour figure and the described model data storehouse is compared.
Should realize in the method for road information collection based on the laser ranging node system; Described system also comprises a plurality of video cameras; The data processor of described each laser ranging node apparatus all connects a video camera; Described each video camera also connects described bayonet socket server, and described method is further comprising the steps of afterwards in step (4):
(4-1) the information of vehicles identification module of described each laser ranging node apparatus sends triggering command to described video camera;
(4-2) described video camera is taken automobile image after receiving triggering command;
(4-3) described video camera is sent to described bayonet socket server with automobile image.
Should realize that described road information comprised information of vehicle flowrate on road, jam situation information and vehicle distributed intelligence in the method for road information collection based on the laser ranging node system.
That has adopted this invention realizes the method that road information is gathered based on the laser ranging node system; Data processor in each node apparatus can obtain the distance value that range sensor records, and according to the relevant information of distance value information of vehicles is discerned, thereby realizes many functions such as vehicle speed measurement, vehicle behavior triggering, vehicle ' s contour are described, vehicle flowrate; The bayonet socket server can obtain road information according to the information of vehicles of each laser ranging node apparatus; And then carry out the issue of road information issue and road supervision instruction, and it is loaded down with trivial details effectively to have overcome in the prior art sniffer laying, and sampling rate is low; Can't effectively identification vehicle etc. shortcoming; And method of gathering based on laser ranging node system realization road information of the present invention is used easy, with low cost, and effect is good; Application scalability is good, and range of application is also comparatively extensive.
Description of drawings
Fig. 1 is the application mode synoptic diagram of realizing the node system that method adopted of road information collection based on the laser ranging node system of the present invention.
Fig. 2 is the principle schematic that realizes the node apparatus that method adopted of road information collection based on the laser ranging node system of the present invention.
Fig. 3 is the flow chart of steps that realizes the method that road information is gathered based on the laser ranging node system of the present invention.
Fig. 4 is the structural representation of realizing the node system that method adopted of road information collection based on the laser ranging node system of the present invention.
Fig. 5 scans the design sketch of identification for what utilize invention based on the road vehicle information acquisition node apparatus of laser ranging to pony car.
Fig. 6 scans the design sketch of identification for what utilize invention based on the road vehicle information acquisition node apparatus of laser ranging to taxi.
Fig. 7 scans the design sketch of identification for what utilize invention based on the road vehicle information acquisition node apparatus of laser ranging to container car.
Fig. 8 scans the design sketch of identification for what utilize invention based on the road vehicle information acquisition node apparatus of laser ranging to truck.
Fig. 9 scans the design sketch of identification for what utilize invention based on the road vehicle information acquisition node apparatus of laser ranging to trucd mixer.
Embodiment
In order more to be expressly understood technology contents of the present invention, the special following examples of lifting specify.
See also shown in Figure 1ly, be the application mode synoptic diagram of realizing the node system that method adopted of road information collection based on the laser ranging node system of the present invention.
This system comprises a plurality of laser ranging node apparatus 1 and connects said 1 the bayonet socket server 4 that respectively installs that node apparatus 1 is set up on the top portal frame 2 in a track on the road 6, and passes through cable 5 Connection Card mouth servers 4.The data processor that described laser ranging node apparatus 1 comprises laser distance sensor and is built in described laser distance sensor.Described laser distance sensor is the wide-angle laser transmitting-receiving range sensor that is set up in the top in a track on the road; Described laser range sensor is a wide-angle laser transmitting-receiving distance measuring sensor; As shown in Figure 2; This wide-angle laser transmitting-receiving distance measuring sensor comprises control circuit, pulse laser radiating circuit and laser pick-off circuit, and described pulse laser radiating circuit all is connected described control circuit with the laser pick-off circuit, and described control circuit also connects described data processor.Described data processor has the information of vehicles identification module, and the input end of described information of vehicles identification module connects described laser distance sensor, and the output terminal of this information of vehicles identification module connects described bayonet socket server.The Laser emission direction of described pulse laser radiating circuit is met the direction to the car (shown in arrow among Fig. 1) to the track, place, and between described Laser emission direction and track the angle of angle between 20 ° to 60 °.This pulse laser radiating circuit emitted laser forms 2.5 meters * 1 meter rectangular light spot 3 on described track.Distance between this hot spot 3 and the described laser distance sensor is 25 meters.The receiving aperture angle of described wide-angle laser transmitting-receiving distance measuring sensor is between 20 milliradian to 100 milliradians.The range of receiving of described laser pick-off circuit is the circular scope of 2.7 meters of diameters.
In one embodiment, method of gathering of the present invention based on laser ranging node system realization road information, as shown in Figure 3, may further comprise the steps:
(1) laser ranging that continues for the fixed position on the said track of the wide-angle laser transmitting-receiving range sensor of described each laser ranging node apparatus;
(2) described wide-angle laser transmitting-receiving range sensor is sent to described data processor with the distance value D that records;
(3) the information of vehicles identification module of described data processor is discerned information of vehicles according to the relevant information of the distance value D that obtains;
(4) the information of vehicles identification module of described each laser ranging node apparatus sends the bayonet socket server with the information of vehicles that is obtained;
(5) described bayonet socket server obtains road information based on each the laser ranging node apparatus information of vehicles analysis that is obtained, and this road information comprises information of vehicle flowrate on road, jam situation information and vehicle distributed intelligence etc.;
(6) described bayonet socket server is issued described road information, and instructs to the supervision of outside road supervisory systems issue road according to described road information.
Wherein, the information of vehicles identification module of the described data processor of step (3) is discerned information of vehicles according to the relevant information of the distance value D that obtains, can specifically comprise:
The operation that the information of vehicles identification module is added up vehicle flowrate according to the variation delta D of the distance value that obtains;
The information of vehicles identification module is confirmed the operation of the speed of a motor vehicle according to the variation delta D of the distance value that obtains; And
The operation that the information of vehicles identification module is discerned the car vehicle according to the distance value D that obtains.
In embodiment more preferably, the above-mentioned operation that vehicle flowrate is added up is specially: the variation delta D that judges described distance value when described information of vehicles identification module then calculates vehicle flowrate+1 during greater than preset variable quantity threshold value.
Confirm the operation of the speed of a motor vehicle, be specially: described information of vehicles identification module confirms that car speed V is:
Wherein, t is the time, and θ is the Laser emission direction of described wide-angle laser transmitting-receiving range sensor and the angle between the carriageway surfacing of place.
And the described operation that the car vehicle is discerned specifically may further comprise the steps:
(3-1) described information of vehicles identification module obtains car speed V based on the operation that the variation delta D of described distance value carries out described definite speed of a motor vehicle;
(3-2) described information of vehicles identification module is confirmed height of car h according to the variation delta D of described distance value;
(3-3) described information of vehicles identification module is drawn vehicle ' s contour figure according to described height of car h and car speed V;
(3-4) described information of vehicles identification module is discerned type of vehicle according to described vehicle ' s contour figure.
Wherein, the described information of vehicles identification module of step (3-2) is confirmed height of car h according to the variation delta D of described distance value, is specially: described information of vehicles identification module confirms that height of car h is:
h＝H-Dsinθ，
H is that described laser ranging node apparatus is to the vertical range between its place carriageway surfacing.
And described information of vehicles identification module comprises the model data storehouse; The described information of vehicles identification module of step (3-4) is discerned type of vehicle according to described vehicle ' s contour figure; Be specially: described information of vehicles identification module is confirmed and the corresponding type of vehicle of this vehicle ' s contour figure according to the vehicle in described vehicle ' s contour figure and the described model data storehouse is compared.
In preferred embodiment; As shown in Figure 4; Described system also comprises a plurality of video cameras; The data processor of described each laser ranging node apparatus all connects a video camera, and described each video camera also connects described bayonet socket server, and described method is further comprising the steps of afterwards in step (4):
(4-1) the information of vehicles identification module of described each laser ranging node apparatus sends triggering command to described video camera;
(4-2) described video camera is taken automobile image after receiving triggering command;
(4-3) described video camera is sent to described bayonet socket server with automobile image.
In an application of the invention, the method for road information collection of the present invention can be used for the highway section to highway, traffic block port or the special control of some needs.Can be with reference to shown in Figure 1: on each track of road, put the range finding node apparatus is set, spend to the angle of 60 degree with 20 and set up in face of the direction that car arrives.The range finding node apparatus according to certain frequency (>=1KHz) to road surface (distance about 25 meters) emission range finding laser pulse to monitoring through the vehicle at this place, track; Can make the every 5cm of automobile body of 200Km/h speed survey a point like this, can ensure effectively describing vehicle ' s contour.The laser of range finding node apparatus adopts wide-angle emission receive mode, and the place forms the hot spot about a 2.5m * 1m on the road surface, and this hot spot is the information acquisition search coverage.When vehicle arrives; Probe node at first judges that according to one group of variable in distance vehicle arrives; Transmit to other interlock sensing device like the trigger pulse of first-class emission of making a video recording, this vehicle response time constantly that arrives is very short, about 10 milliseconds; When vehicle license plate gets into search coverage, consider to pass through formula at the component of laser direction according to the comprehensive vehicle gait of march of the change of car plate distance:
Wherein θ is the angle on laser direction and road surface, can calculate the speed that vehicle is advanced thus.
When vehicle is complete pass through after, according to the range finding node measurement variable in distance composite measurement angle θ and car speed V restore vehicle ' s contour, height of car can be reduced into:
h＝H-Dsinθ
Wherein H sets up the height apart from ground for the range finding node, and h value cooperation speed V can depict the contour feature of vehicle thus, through the identification of comparing of the vehicle ' s contour characteristic that obtains and sample vehicle external physical characteristic, thereby obtain the type through vehicle.Extremely shown in Figure 9 like Fig. 5; Be followed successively by and utilize the road information acquisition node system based on laser ranging of the present invention that pony car, taxi, container car, truck and trucd mixer are scanned the vehicle ' s contour characteristic effect figure that the identification back produces; Horizontal ordinate 50 points/lattice among the figure, ordinate are the 0.6m/ lattice.Utilize the vehicle storehouse data that presets in this vehicle ' s contour characteristic pattern and the node apparatus to compare the type of vehicle information that can obtain to confirm.
The present invention adopts infrared light as surveying media, can not receive the influence of ambient light that transport information is carried out round-the-clock collection; Also need not road pavement and construct or lay cooperative target, and compare with ground induction coil, it is more accurate that the arrival of vehicle is differentiated constantly; Method of the present invention can realize wall scroll track vehicle speed measurement; Reduced the interference of vehicle between different tracks, the wrong report of having avoided information of vehicles with fail to report, be convenient to the candid photograph evidence obtaining in track with distinguish; And because car speed is measured as a reference, identification provides effective foundation to vehicle; And the present invention only needs a single sensing node, just can survey numerous transport information, and is totally with low cost, can be fit to the high density check point and lay; Front end transport information node has intelligent processing feature, can detect essential informations such as car speed, vehicle, on the basis of front-end functionality node advantage, realizes the multinode networking, thereby can make analysis-by-synthesis to the information of whole road.
All the vehicle of bayonet socket sensing nodes passes to the backstage through information such as information flip-flop number, car speed, type of vehicle and carries out the information such as vehicle flowrate, jam situation, vehicle distribution that data analysis can obtain whole road surface; Cooperate like other information acquisition means such as video cameras; Can the road pavement situation have more comprehensively to get information about, for traffic dispersion, vehicle supervision, information issue etc. provide foundation.
That has adopted this invention realizes the method that road information is gathered based on the laser ranging node system; Data processor in each node apparatus can obtain the distance value that range sensor records, and according to the relevant information of distance value information of vehicles is discerned, thereby realizes many functions such as vehicle speed measurement, vehicle behavior triggering, vehicle ' s contour are described, vehicle flowrate; The bayonet socket server can obtain road information according to the information of vehicles of each laser ranging node apparatus; And then carry out the issue of road information issue and road supervision instruction, and it is loaded down with trivial details effectively to have overcome in the prior art sniffer laying, and sampling rate is low; Can't effectively identification vehicle etc. shortcoming; And method of gathering based on laser ranging node system realization road information of the present invention is used easy, with low cost, and effect is good; Application scalability is good, and range of application is also comparatively extensive.
In this instructions, the present invention is described with reference to its certain embodiments.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, instructions and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (11)
1. realize the method that road information is gathered based on the laser ranging node system for one kind; Described system comprises a plurality of laser ranging node apparatus and connects the bayonet socket server of said each device; The data processor that described laser ranging node apparatus comprises laser distance sensor and is built in described laser distance sensor; Described laser distance sensor is the wide-angle laser transmitting-receiving range sensor that is set up in the top in a track on the road; Described data processor has the information of vehicles identification module, and the input end of described information of vehicles identification module connects described laser distance sensor, and the output terminal of this information of vehicles identification module connects described bayonet socket server; It is characterized in that described method may further comprise the steps:
(1) laser ranging that continues for the fixed position on the said track of the wide-angle laser transmitting-receiving range sensor of described each laser ranging node apparatus;
(2) described wide-angle laser transmitting-receiving range sensor is sent to described data processor with the distance value D that records;
(3) the information of vehicles identification module of described data processor is discerned information of vehicles according to the relevant information of the distance value D that obtains;
(4) the information of vehicles identification module of described each laser ranging node apparatus sends the bayonet socket server with the information of vehicles that is obtained;
(5) described bayonet socket server obtains road information based on each the laser ranging node apparatus information of vehicles analysis that is obtained;
(6) described bayonet socket server is issued described road information, and instructs to the supervision of outside road supervisory systems issue road according to described road information.
2. the method that realizes the road information collection based on the laser ranging node system according to claim 1; It is characterized in that; The information of vehicles identification module of described data processor is discerned information of vehicles according to the relevant information of the distance value D that obtains, is specially:
The operation that the information of vehicles identification module is added up vehicle flowrate according to the variation delta D of the distance value that obtains.
3. according to claim 2ly realize the method that road information is gathered, it is characterized in that described information of vehicles identification module is specially according to the operation that the variation delta D of the distance value that obtains adds up vehicle flowrate based on the laser ranging node system:
The variation delta D that judges described distance value when described information of vehicles identification module then calculates vehicle flowrate+1 during greater than preset variable quantity threshold value.
4. the method that realizes the road information collection based on the laser ranging node system according to claim 3; It is characterized in that; The information of vehicles identification module of described data processor is discerned information of vehicles according to the relevant information of the distance value D that obtains, also comprises:
The information of vehicles identification module is confirmed the operation of the speed of a motor vehicle according to the variation delta D of the distance value that obtains.
5. method of gathering based on laser ranging node system realization road information according to claim 4 is characterized in that described information of vehicles identification module is specially according to the operation that the variation delta D of the distance value that obtains confirms the speed of a motor vehicle:
Described information of vehicles identification module confirms that car speed V does
Wherein, t is the time, and θ is the Laser emission direction of described wide-angle laser transmitting-receiving range sensor and the angle between the carriageway surfacing of place.
6. the method that realizes the road information collection based on the laser ranging node system according to claim 5; It is characterized in that; The information of vehicles identification module of described data processor is discerned information of vehicles according to the relevant information of the distance value D that obtains, also comprises:
The operation that the information of vehicles identification module is discerned the car vehicle according to the distance value D that obtains.
7. method of gathering based on laser ranging node system realization road information according to claim 6 is characterized in that described information of vehicles identification module specifically may further comprise the steps according to the operation that the distance value D that obtains discerns the car vehicle:
(3-1) described information of vehicles identification module obtains car speed V based on the operation that the variation delta D of described distance value carries out described definite speed of a motor vehicle;
(3-2) described information of vehicles identification module is confirmed height of car h according to the variation delta D of described distance value;
(3-3) described information of vehicles identification module is drawn vehicle ' s contour figure according to described height of car h and car speed V;
(3-4) described information of vehicles identification module is discerned type of vehicle according to described vehicle ' s contour figure.
8. method of gathering based on laser ranging node system realization road information according to claim 7 is characterized in that described information of vehicles identification module is confirmed height of car h according to the variation delta D of described distance value, is specially:
Described information of vehicles identification module confirms that height of car h is:
h＝H-Dsinθ，
Wherein, H is that described laser ranging node apparatus is to the vertical range between its place carriageway surfacing.
9. the method that realizes the road information collection based on the laser ranging node system according to claim 7; It is characterized in that; Described information of vehicles identification module comprises the model data storehouse, and described information of vehicles identification module is discerned type of vehicle according to described vehicle ' s contour figure, is specially:
Described information of vehicles identification module is confirmed and the corresponding type of vehicle of this vehicle ' s contour figure according to the vehicle in described vehicle ' s contour figure and the described model data storehouse is compared.
10. the method that realizes the road information collection based on the laser ranging node system according to claim 1; It is characterized in that; Described system also comprises a plurality of video cameras; The data processor of described each laser ranging node apparatus all connects a video camera, and described each video camera also connects described bayonet socket server, and described method is further comprising the steps of afterwards in step (4):
(4-1) the information of vehicles identification module of described each laser ranging node apparatus sends triggering command to described video camera;
(4-2) described video camera is taken automobile image after receiving triggering command;
(4-3) described video camera is sent to described bayonet socket server with automobile image.
11. method of gathering based on laser ranging node system realization road information according to claim 1 is characterized in that described road information comprises information of vehicle flowrate on road, jam situation information and vehicle distributed intelligence.
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| CN108765974A (en) * | 2018-06-15 | 2018-11-06 | 江西路通科技有限公司 | Traffic condition monitoring equipment, monitoring method and system |
| CN109598947A (en) * | 2018-12-26 | 2019-04-09 | 武汉万集信息技术有限公司 | A kind of vehicle identification method and system |
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| CN110629647B (en) * | 2019-09-25 | 2021-06-08 | 武汉滨湖电子有限责任公司 | Method for acquiring road surface elevation data at any speed based on time triggering |
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