CN116385687B - Urban three-dimensional virtual scene construction method based on VR technology - Google Patents
Urban three-dimensional virtual scene construction method based on VR technology Download PDFInfo
- Publication number
- CN116385687B CN116385687B CN202310635896.XA CN202310635896A CN116385687B CN 116385687 B CN116385687 B CN 116385687B CN 202310635896 A CN202310635896 A CN 202310635896A CN 116385687 B CN116385687 B CN 116385687B
- Authority
- CN
- China
- Prior art keywords
- road
- layout
- target road
- street lamp
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005516 engineering process Methods 0.000 title claims abstract description 14
- 238000010276 construction Methods 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 28
- 238000005286 illumination Methods 0.000 claims description 87
- 230000003044 adaptive effect Effects 0.000 claims description 37
- 238000009434 installation Methods 0.000 claims description 30
- 230000006978 adaptation Effects 0.000 claims description 29
- 238000005452 bending Methods 0.000 claims description 21
- 238000004458 analytical method Methods 0.000 claims description 20
- 239000000463 material Substances 0.000 claims description 19
- 238000004364 calculation method Methods 0.000 claims description 12
- 230000004313 glare Effects 0.000 claims description 6
- 238000012512 characterization method Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 description 8
- 238000011835 investigation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 239000010426 asphalt Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/08—Construction
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/26—Government or public services
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Tourism & Hospitality (AREA)
- Human Resources & Organizations (AREA)
- Strategic Management (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- Economics (AREA)
- General Health & Medical Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Marketing (AREA)
- Primary Health Care (AREA)
- General Business, Economics & Management (AREA)
- Geometry (AREA)
- Computer Graphics (AREA)
- Development Economics (AREA)
- Educational Administration (AREA)
- Remote Sensing (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention relates to the technical field of virtual scene construction, and discloses a method for constructing an urban three-dimensional virtual scene based on a VR technology.
Description
Technical Field
The invention relates to the technical field of virtual scene construction, in particular to a method for constructing a three-dimensional virtual scene of a city based on a VR technology.
Background
In urban construction, road street lamp lighting is an engineering related to urban image, reflecting the overall level of urban public facilities and municipal construction. The reasonable urban road lighting scene layout can provide visual information such as the line shape, the direction and the like of the road ahead for drivers and passengers, and can furthest reduce night traffic accidents, thereby the importance of the urban road lighting layout can be seen.
In order to intuitively and truly reflect the urban illumination layout process on the premise of no actual construction, the current urban road illumination layout mode adopts a VR modeling mode, namely an urban road illumination scene is constructed by utilizing a VR modeling technology, illumination simulation is carried out after construction is completed, and then reasonable illumination layout of the urban road is determined through a simulation result. Under the condition, the more the constructed urban road illumination scene is matched with the urban road illumination requirement, the more the reasonable illumination layout of the urban road can be ensured to be determined rapidly.
However, in the prior art, when the urban road illumination scene is constructed, as the field investigation index of the urban road is too single, for example, only the road surface information and the traffic information of the urban road are simply investigated, the influence of the road shape on the road illumination requirement is ignored, so that the illumination requirement analysis of the urban road is too general and one-sided, the implementation is not enough, the available value of the illumination requirement analysis result is greatly reduced, the adaptation degree of the constructed urban road illumination scene and the urban road illumination requirement is fundamentally influenced, the ineffective construction of the urban road illumination scene is easily caused, and the rapid determination of the reasonable illumination layout of the target road is not facilitated.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a method for constructing the urban three-dimensional virtual scene based on the VR technology, which effectively solves the problems mentioned in the background technology.
The aim of the invention can be achieved by the following technical scheme: a city three-dimensional virtual scene construction method based on VR technology comprises the following steps: and step 1, marking a road to be constructed in an illumination scene as a target road, carrying out three-dimensional image acquisition on the target road, and simultaneously positioning the position of the target road so as to acquire road surface parameters, traffic parameters and road shapes corresponding to the target road.
And 2, determining the reference road surface illuminance corresponding to the target road according to the road surface parameters of the target road.
And 3, analyzing the illumination demand degree corresponding to the target road according to the traffic parameter corresponding to the target road, and determining the demand road surface illumination corresponding to the target road by combining the illumination demand degree corresponding to the target road with the reference road surface illumination corresponding to the target road.
And 4, judging whether the target road has a bent section according to the road shape corresponding to the target road, dividing the target road into a straight line section and a bent section if the target road has the bent section, acquiring the length of the straight line section, and acquiring the length and the bending radius of the bent section.
And 5, extracting the road surface width from the road surface parameters corresponding to the target road, and identifying the road lamp layout mode corresponding to the target road according to the road surface width, wherein the road lamp layout mode comprises single-row layout or symmetrical layout.
And 6, determining the street lamp adaptive installation height corresponding to the target road based on the street lamp layout mode corresponding to the target road and the road surface width.
And 7, respectively analyzing street lamp adaptation layout indicators of straight line segments corresponding to the target road and street lamp adaptation layout indicators of curve segments corresponding to the target road according to street lamp layout modes, street lamp adaptation installation heights and required road illuminance corresponding to the target road, wherein the street lamp adaptation layout indicators comprise street lamp adaptation layout intervals and street lamp adaptation layout elevation angles.
And 8, constructing a virtual VR lighting scene corresponding to the target road by combining the acquired three-dimensional image corresponding to the target road with the street lamp adaptive installation height corresponding to the target road, the street lamp adaptive arrangement indication of the straight line segment and the street lamp adaptive arrangement indication of the curve segment.
In one possible design, the road surface parameters include road surface width, road type, and road surface material, and the traffic parameters include average traffic flow and road speed limit values for each night time period.
In one possible design, the method needs to use an illumination information base in the practical implementation process, wherein the illumination information base is used for storing the reference road surface illumination of various road types under various road surface materials, storing the road surface width intervals corresponding to various road surface layout modes, storing the proportion value of the road surface mounting height and the road surface width corresponding to various road surface layout modes, storing the road surface layout interval representation value intervals corresponding to various road surface layout intervals, and storing the road surface illumination distance of the road lamp under the elevation angle of 0 degrees and the unit elevation angle road surface illumination distance increasing rate corresponding to the road lamp.
In one possible design, the specific implementation manner of determining the reference road surface illuminance corresponding to the target road is to extract the road type and the road surface material from the road surface parameters corresponding to the target road, and match the road type and the road surface material with the reference road surface illuminance of each road type under each road surface material in the illumination information base, so as to match the reference road surface illuminance corresponding to the target road.
In one possible design, the analyzing the lighting requirement corresponding to the target road according to the traffic parameter corresponding to the target road specifically refers to the following steps: and step 31, extracting the average traffic flow of each night period from the traffic parameters corresponding to the target road, and carrying out mean value calculation on the average traffic flow to obtain the traffic flow of the night average period corresponding to the target road.
Step 32, the average traffic flow of each night period and the traffic flow of the night average period corresponding to the target road are passed through a formulaCalculating the trend of the traffic flow of the target road at night average time period +.>WhereinAverage traffic flow expressed as night time period t, t expressed as period number, +.>Z is expressed as the number of periods present at night, < >>Expressed as night average period traffic flow corresponding to the target road,e is expressed as a natural constant.
And 33, comparing the trend of the traffic flow at the night average time period corresponding to the target road with a set threshold, if the trend of the traffic flow at the night average time period corresponding to the target road is greater than or equal to the set threshold, taking the traffic flow at the night average time period corresponding to the target road as the normal traffic flow at night corresponding to the target road, otherwise, extracting the maximum average traffic flow and the minimum average traffic flow from the average traffic flow at each night time period, forming a first traffic flow interval by the traffic flow at the night average time period and the maximum average traffic flow, forming a second traffic flow interval by the traffic flow at the minimum average traffic flow and the average traffic flow at the night, further respectively counting the average traffic flow quantity falling into the first traffic flow interval and the average traffic flow quantity falling into the second traffic flow interval in the average traffic flow at each night, comparing the average traffic flow with the first traffic flow interval, and selecting the traffic flow interval with the maximum average traffic flow quantity from the average traffic flow as the trend traffic flow interval.
And step 34, calculating the average traffic flow existing in the inclined traffic flow interval, and taking the calculation result as the night normal traffic flow corresponding to the target road.
Step 35, extracting a road speed limit value from the traffic parameters corresponding to the target road, and substituting the road speed limit value into the illumination demand formula in combination with the night normal traffic flow corresponding to the target roadCalculating the illumination demand degree corresponding to the target road>，/>、/>The night normal traffic flow and the road speed limit value corresponding to the target road are expressed, and the night normal traffic flow and the road speed limit value are expressed as +.>、/>Respectively expressed as a reference vehicle flow rate and a reference road speed limit value.
In one possible design, the specific identifying process of the road lamp layout mode corresponding to the identified target road is to match the road surface width corresponding to the target road with the road surface width intervals corresponding to various road lamp layout modes in the illumination information base, and the road lamp layout mode corresponding to the target road is matched.
In one possible design, the determining the streetlamp adaptive installation height corresponding to the target road based on the streetlamp layout mode corresponding to the target road and the road surface width refers to the following steps: step 61, matching the road lamp layout mode corresponding to the target road with road lamp installation height and road width ratio values corresponding to various road lamp layout modes stored in the illumination information base, and matching the road lamp installation height and road width ratio values corresponding to the target road.
Step 62, utilizing the formulaCalculating the adaptive mounting height of the street lamp corresponding to the target road>W is denoted as road surface width corresponding to the target road, < >>And the road lamp mounting height and road surface width ratio value corresponding to the target road is expressed.
In one possible design, the specific analysis steps of the street lamp adaptation layout indication of the analysis target road corresponding to the straight line segment are as follows: step 71, substituting the road lamp installation height, the road surface width and the required road surface illuminance corresponding to the target road into a road lamp layout interval representation value calculation formulaCalculating a street lamp layout interval characterization value of a straight line segment corresponding to the target road>Wherein->Expressed as the required road surface illuminance corresponding to the target road, < ->Expressed as a set reference required road illuminance, +.>、/>The reference road lamp installation height and the reference road surface width are respectively indicated, and A, B, C is respectively indicated as the set required road surface illuminance, the road lamp installation height and the corresponding influence weight of the road surface width.
And step 72, matching the street lamp layout interval representation value of the straight line segment corresponding to the target road with the street lamp layout interval representation value interval corresponding to various street lamp layout intervals in the illumination information base, and further taking the street lamp layout interval successfully matched as the street lamp adaptation layout interval of the straight line segment corresponding to the target road.
And 73, positioning the arrangement points of the street lamps in the straight line section corresponding to the target road on the road surface according to the street lamp arrangement mode corresponding to the target road, the street lamp adaptive arrangement interval of the straight line section and the length of the straight line section.
And 74, determining a required road surface irradiation area corresponding to each street lamp in the straight line segment corresponding to the target road based on the layout points of each street lamp in the straight line segment corresponding to the target road on the road surface, and outlining the outline of the required road surface irradiation area.
And 75, uniformly setting irradiation points on the contour lines of the irradiation areas of the required road surfaces corresponding to the street lamps to obtain a plurality of irradiation points, connecting the irradiation points arranged on the contour lines of the irradiation areas of the required road surfaces corresponding to the street lamps by the arrangement points of the street lamps on the road surfaces, acquiring the lengths of the connecting lines, and taking the maximum lengths as the irradiation distances of the required road surfaces corresponding to the street lamps.
Step 76, extracting the road surface irradiation distance of the street lamp under the elevation angle of 0 degrees and the increase rate of the road surface irradiation distance of the unit elevation angle corresponding to the street lamp from the illumination information base, and then calculating the initial layout elevation angle of each street lamp in the straight line segment corresponding to the target road by combining the required road surface irradiation distance corresponding to each street lampI is the number of the street lamp in the straight line segment corresponding to the target road,the calculation formula is ∈>，/>The irradiation distance of the road surface corresponding to the ith street lamp in the straight line section corresponding to the target road is expressed as +.>Road illumination distance, denoted street lamp at elevation angle of 0 ° +.>Road irradiation distance increase rate expressed as unit elevation angle corresponding to street lamp, < >>Expressed as a unit elevation value.
And 77, comparing the initial layout elevation angle of each street lamp in the straight line segment corresponding to the target road with the set street lamp elevation angle value in the glare state, if the initial layout elevation angle of a certain street lamp reaches the street lamp elevation angle value in the glare state, lowering the initial layout elevation angle of the street lamp by a unit elevation angle value to obtain the adaptive layout elevation angle corresponding to the street lamp, otherwise, taking the initial layout elevation angle of the street lamp as the adaptive layout elevation angle.
In one possible design, the street lamp layout indication of the curve segment corresponding to the target road specifically includes the following analysis steps: (1) Target trackThe bending radius of the road corresponding bending section is matched with the set reduction factor of each bending radius relative to the matching layout space of the straight-line section street lamp, and the reduction factor of the bending radius of the target road corresponding bending section relative to the matching layout space of the straight-line section street lamp is obtained by matching the reduction factor, and is recorded asAnd->。
(2) Using the formulaCalculating street lamp adaptation layout spacing of curve segments corresponding to target roads，/>And the street lamp adaptive layout space of the straight line section corresponding to the target road is represented.
(3) And positioning the layout points of each street lamp in the curve section corresponding to the target road on the road surface according to the layout mode of the street lamp corresponding to the target road, the street lamp adaptive layout interval of the curve section and the length of the curve section.
(4) And determining a required road surface irradiation area corresponding to each street lamp in the corresponding curve section of the target road based on the layout points of each street lamp in the corresponding curve section of the target road on the road surface, and outlining the outline of the required road surface irradiation area.
(5) And obtaining the adaptive layout elevation angle of each street lamp in the corresponding curved section of the target road according to the steps 75-77.
By combining all the technical schemes, the invention has the advantages and positive effects that:
according to the invention, the road surface information, the traffic information and the road shape are acquired for the target road, so that the multi-dimensional investigation of the actual information of the target road is realized, the illumination demand analysis of the target road is carried out in sections according to the multi-dimensional investigation, the defects of overgeneral and one-sided inadequately materialized urban road illumination demand analysis in the prior art are effectively overcome, the available value of an analysis result is improved to a certain extent, and the reliability guarantee is provided for the suitability of a target road illumination scene constructed later and the target road illumination demand, so that the occurrence rate of ineffective construction of the urban road illumination scene is greatly reduced, and the determination efficiency of reasonable illumination layout of the target road is improved.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.
FIG. 1 is a flow chart of the steps of the method of the present invention.
Fig. 2 is a schematic layout diagram of each street lamp on a road surface in a straight line segment corresponding to a target road in the present invention.
Fig. 3 is a schematic diagram of a required road surface irradiation area corresponding to each street lamp in a straight line segment corresponding to a target road in the present invention.
Fig. 4 is a schematic diagram illustrating the arrangement of irradiation points in the irradiation area of the road surface required by each street lamp in the straight line segment corresponding to the target road in the present invention.
FIG. 5 is a schematic elevation view of the street lamp of the present invention in a desired area of road illumination.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the invention provides a method for constructing a three-dimensional virtual scene of a city based on VR technology, which comprises the following steps: and 1, marking a road to be constructed in an illumination scene as a target road, carrying out three-dimensional image acquisition on the target road, and simultaneously positioning the position of the target road to obtain road surface parameters, traffic parameters and road shapes corresponding to the target road, wherein the road surface parameters comprise road surface width, road type and road surface materials, and the traffic parameters comprise average traffic flow and road speed limit values in each night time period.
By way of example, the road types mentioned above include expressways, arterial roads, secondary arterial roads, etc., and the pavement materials include, but are not limited to, concrete roads, asphalt roads.
In a specific embodiment of the present invention, the road width obtaining manner may be extracted from a three-dimensional image of the target road, the road type obtaining manner may be screened from the urban road distribution map through positioning of the target road, the road surface material obtaining manner may be extracted from the three-dimensional image of the target road, and the road surface appearance feature may be matched with appearance features corresponding to preset various road surface materials, thereby matching the road surface material corresponding to the target road.
As a further specific embodiment of the invention, the method for obtaining the average traffic flow of each night time period in the traffic parameter can be that a traffic monitoring camera is arranged at the entrance of the target road, so as to collect the traffic video of the target road in each night time period in each monitoring day, so as to obtain the traffic vehicle quantity of the target road in each night time period in each monitoring day, and calculate the average value of the traffic vehicle quantity of the target road in each night time period, and then the average traffic flow of each night time period is obtained, and the method for obtaining the road speed limit value in the traffic parameter is that the road speed limit value is screened out from the urban road distribution map based on the position location of the target road.
As an example, the above-mentioned night periods may be 20:00-22:00, 22:00-24:00, 24:00-2:00, 2:00-4:00, 4:00-6:00.
As still another specific embodiment of the present invention, the road shape is acquired by extracting the shape outline of the target road from the three-dimensional image of the target road, thereby acquiring the road shape of the target road.
And 2, determining the reference road surface illuminance corresponding to the target road according to the road surface parameters of the target road, wherein the specific implementation mode is to extract the road type and the road surface materials from the road surface parameters corresponding to the target road, match the road type and the road surface materials with the reference road surface illuminance of each road type under each road surface material in the illumination information base, and match the reference road surface illuminance corresponding to the target road.
The reference road surface illuminance mentioned above refers to road surface illuminance per unit illumination demand degree.
And 3, analyzing the illumination demand degree corresponding to the target road according to the traffic parameter corresponding to the target road, and determining the demand road surface illumination corresponding to the target road by combining the illumination demand degree corresponding to the target road with the reference road surface illumination corresponding to the target road.
In a specific embodiment of the present invention, the analyzing the lighting demand corresponding to the target road specifically refers to the following steps: and step 31, extracting the average traffic flow of each night period from the traffic parameters corresponding to the target road, and carrying out mean value calculation on the average traffic flow to obtain the traffic flow of the night average period corresponding to the target road.
Step 32, the average traffic flow of each night period and the traffic flow of the night average period corresponding to the target road are passed through a formulaCalculating the trend of the traffic flow of the target road at night average time period +.>Wherein->Average traffic flow expressed as night time period t, t expressed as period number, +.>Z is expressed as the number of periods present at night, < >>Expressed as the night average period traffic flow corresponding to the target road, e is expressed as a natural constant,the smaller the difference between the average traffic flow of each night period of the target road and the traffic flow of the night average period corresponding to the target road, the larger the trend of the traffic flow of the night average period corresponding to the target road, which indicates that the traffic flow of the night average period corresponding to the target road tends to be normal.
And 33, comparing the trend of the traffic flow at the night average time period corresponding to the target road with a set threshold, if the trend of the traffic flow at the night average time period corresponding to the target road is greater than or equal to the set threshold, taking the traffic flow at the night average time period corresponding to the target road as the normal traffic flow at night corresponding to the target road, otherwise, extracting the maximum average traffic flow and the minimum average traffic flow from the average traffic flow at each night time period, forming a first traffic flow interval by the traffic flow at the night average time period and the maximum average traffic flow, forming a second traffic flow interval by the traffic flow at the minimum average traffic flow and the average traffic flow at the night, further respectively counting the average traffic flow quantity falling into the first traffic flow interval and the average traffic flow quantity falling into the second traffic flow interval in the average traffic flow at each night, comparing the average traffic flow with the first traffic flow interval, and selecting the traffic flow interval with the maximum average traffic flow quantity from the average traffic flow as the trend traffic flow interval.
And step 34, calculating the average traffic flow existing in the inclined traffic flow interval, and taking the calculation result as the night normal traffic flow corresponding to the target road.
Step 35, extracting a road speed limit value from the traffic parameters corresponding to the target road, and substituting the road speed limit value into the illumination demand formula in combination with the night normal traffic flow corresponding to the target roadCalculating the illumination demand degree corresponding to the target road>，/>、/>The night normal traffic flow and the road speed limit value corresponding to the target road are expressed, and the night normal traffic flow and the road speed limit value are expressed as +.>、/>The vehicle speed control system is respectively expressed as a reference vehicle flow and a reference road speed limit value, wherein the influence of the night normal vehicle flow and the road speed limit value on the lighting demand degree is positive.
It should be noted that the reference traffic flow and the reference road speed limit mentioned above refer to the corresponding traffic flow and road speed limit under the reference road illuminance.
According to the invention, the influence of night traffic flow and road speed limit is comprehensively considered in the analysis of the target road illumination demand, so that the analysis result is more fit and practical, and the reliability is higher.
The specific way of determining the required road surface illuminance corresponding to the target road by combining the reference road surface illuminance corresponding to the target road is to multiply the reference road surface illuminance corresponding to the target road by the illumination requirement degree to obtain the required road surface illuminance corresponding to the target road.
And 4, judging whether the target road has a curved section according to the road shape corresponding to the target road, wherein the specific judging mode is to match the road shape corresponding to the target road with the road shape related to the predefined curved section, if so, judging that the target road has the curved section, and when judging that the target road has the curved section, dividing the target road into a straight line section and a curved section, acquiring the length of the straight line section, and acquiring the length and the bending radius of the curved section.
The method for obtaining the bending radius comprises the steps of firstly obtaining the length and radian of a bending section, and substituting the length and radian into a formulaWherein->Expressed as the curvature of the curved segment, L expressed as the length of the curved segment, < >>Expressed as a circumference ratio, takes a value of 3.14, and r is expressed as the bending radius of the bending section.
And 5, extracting the road surface width from the road surface parameters corresponding to the target road, and identifying the road lamp layout mode corresponding to the target road according to the road surface width, wherein the road lamp layout mode comprises single-row layout or symmetrical layout.
The specific identification process of the road lamp layout mode corresponding to the identified target road is to match the road surface width corresponding to the target road with the road surface width intervals corresponding to various road lamp layout modes in the illumination information base, and the road lamp layout mode corresponding to the target road is matched.
The road surface width sections corresponding to various road lamp layout modes are exemplified as the road surface width sections corresponding to the single row layout modeThe middle and lower limit values of the corresponding road surface width sections are symmetrically distributed to be 15.
Step 6, determining the street lamp adapting and installing height corresponding to the target road based on the street lamp arrangement mode corresponding to the target road and the road surface width, wherein the following steps are seen: step 61, matching the road lamp layout mode corresponding to the target road with road lamp installation height and road width ratio values corresponding to various road lamp layout modes stored in the illumination information base, and matching the road lamp installation height and road width ratio values corresponding to the target road.
The ratio value of the street lamp installation height to the road surface width corresponding to the above-mentioned various street lamp arrangement modes is specifically that when the street lamps are symmetrically arranged, the street lamp installation height is 0.5 times of the road surface width, that is, the ratio value of the street lamp installation height to the road surface width is 0.5, and when the street lamps are arranged in a single row, the street lamp installation height is consistent with the road surface width, that is, the ratio value of the street lamp installation height to the road surface width is 1.
Step 62, utilizing the formulaCalculate the purposeRoad lamp adaptive installation height corresponding to standard road>W is denoted as road surface width corresponding to the target road, < >>And the road lamp mounting height and road surface width ratio value corresponding to the target road is expressed.
And 7, respectively analyzing street lamp adaptation layout indicators of straight line segments corresponding to the target road and street lamp adaptation layout indicators of curve segments corresponding to the target road according to street lamp layout modes, street lamp adaptation installation heights and required road illuminance corresponding to the target road, wherein the street lamp adaptation layout indicators comprise street lamp adaptation layout intervals and street lamp adaptation layout elevation angles.
In a preferred embodiment, the specific analysis steps for analyzing the street lamp adaptation layout indication of the corresponding straight line segment of the target road are as follows: step 71, substituting the road lamp installation height, the road surface width and the required road surface illuminance corresponding to the target road into a road lamp layout interval representation value calculation formulaCalculating a street lamp layout interval characterization value of a straight line segment corresponding to the target road>Wherein->Expressed as the required road surface illuminance corresponding to the target road, < ->Expressed as a set reference required road illuminance, +.>、/>Respectively expressed as the set reference street lamp installation height and the reference road surface width, A, B, C respectively expressed as the set reference street lamp installation height and the set road surface widthThe road illumination, the road mounting height and the road width are required to be determined, and the corresponding influence weight is given.
The analysis of the straight line section street lamp layout spacing in the above-mentioned considers that the street lamp installation height, the road surface width and the required road surface illuminance all influence the street lamp, wherein the influence of the street lamp installation height and the road surface width on the road lamp layout spacing is positive, and the influence of the required road surface illuminance on the road lamp layout spacing is negative, so that the straight line section layout spacing corresponding to the target road is comprehensively analyzed, and the accuracy of the analysis result is improved to a certain extent.
And step 72, matching the street lamp layout interval representation value of the straight line segment corresponding to the target road with the street lamp layout interval representation value interval corresponding to various street lamp layout intervals in the illumination information base, and further taking the street lamp layout interval successfully matched as the street lamp adaptation layout interval of the straight line segment corresponding to the target road.
Step 73, referring to fig. 2, locating the layout points of each street lamp in the straight line segment corresponding to the target road on the road surface according to the layout mode of the street lamp corresponding to the target road, the street lamp adaptive layout interval of the straight line segment and the length of the straight line segment, wherein the specific locating mode is to substitute the street lamp adaptive layout interval of the straight line segment and the length of the straight line segment into the formulaObtaining the number of subsections of the target road corresponding to the straight line section division>，/>Expressed as the length of the corresponding straight line segment of the target road, < >>The street lamp adaptive layout space of the straight line segment corresponding to the target road is represented, and then street lamp layout points are arranged on each sub-segment according to the number of the sub-segments divided by the straight line segment corresponding to the target road.
Step 74, referring to fig. 3, determining a required road surface irradiation area corresponding to each street lamp in the straight line segment corresponding to the target road based on the layout points of each street lamp on the road surface in the straight line segment corresponding to the target road, and outlining the required road surface irradiation area contour line.
Step 75, referring to fig. 4, uniformly setting irradiation points on the contour line of the required road surface irradiation area corresponding to each street lamp, obtaining a plurality of irradiation points, connecting the irradiation points set on the contour line of the required road surface irradiation area corresponding to each street lamp by the arrangement points of each street lamp on the road surface, obtaining the length of each connecting line, and taking the maximum length as the required road surface irradiation distance corresponding to each street lamp.
Step 76, extracting the road surface irradiation distance of the street lamp under the elevation angle of 0 degrees and the increase rate of the road surface irradiation distance of the unit elevation angle corresponding to the street lamp from the illumination information base, and then calculating the initial layout elevation angle of each street lamp in the straight line segment corresponding to the target road by combining the required road surface irradiation distance corresponding to each street lampI is the number of the street lamp in the straight line segment corresponding to the target road,the calculation formula is ∈>，/>The irradiation distance of the road surface corresponding to the ith street lamp in the straight line section corresponding to the target road is expressed as +.>Road illumination distance, denoted street lamp at elevation angle of 0 ° +.>Road irradiation distance increase rate expressed as unit elevation angle corresponding to street lamp, < >>Expressed as a unit elevation value.
It should be noted that the elevation angle of the street lamp on the required road surface irradiation area is schematically shown in fig. 5.
And 77, comparing the initial layout elevation angle of each street lamp in the straight line segment corresponding to the target road with the set street lamp elevation angle value in the glare state, if the initial layout elevation angle of a certain street lamp reaches the street lamp elevation angle value in the glare state, lowering the initial layout elevation angle of the street lamp by a unit elevation angle value to obtain the adaptive layout elevation angle corresponding to the street lamp, otherwise, taking the initial layout elevation angle of the street lamp as the adaptive layout elevation angle.
In a preferred embodiment, the road lamp layout indication of the curve section corresponding to the target road specifically comprises the following analysis steps: (1) Matching the bending radius of the corresponding bending section of the target road with the set reduction factor of each bending radius relative to the adaptive layout space of the straight-line road lamp, and obtaining the reduction factor of the bending radius of the corresponding bending section of the target road relative to the adaptive layout space of the straight-line road lamp by matching, wherein the reduction factor is recorded asAnd->。
(2) Using the formulaCalculating street lamp adaptation layout spacing of curve segments corresponding to target roads，/>And the street lamp adaptive layout space of the straight line section corresponding to the target road is represented.
(3) And referring to step 73, positioning the arrangement points of the street lamps in the curve section corresponding to the target road on the road surface according to the street lamp arrangement mode corresponding to the target road, the street lamp adaptation arrangement interval of the curve section and the length of the curve section.
(4) And referring to step 74, determining a required road surface irradiation area corresponding to each street lamp in the corresponding curve section of the target road based on the layout points of each street lamp in the corresponding curve section of the target road on the road surface, and outlining the outline of the required road surface irradiation area.
(5) And obtaining the adaptive layout elevation angle of each street lamp in the corresponding curved section of the target road according to the steps 75-77.
And 8, constructing a virtual VR lighting scene corresponding to the target road by combining the acquired three-dimensional image corresponding to the target road with the street lamp adaptive installation height corresponding to the target road, the street lamp adaptive arrangement indication of the straight line segment and the street lamp adaptive arrangement indication of the curve segment.
According to the invention, the road surface information, the traffic information and the road shape are acquired for the target road, so that the multi-dimensional investigation of the actual information of the target road is realized, the illumination demand analysis of the target road is carried out in sections according to the multi-dimensional investigation, the defects of overgeneral and one-sided inadequately materialized urban road illumination demand analysis in the prior art are effectively overcome, the available value of an analysis result is improved to a certain extent, and the reliability guarantee is provided for the suitability of a target road illumination scene constructed later and the target road illumination demand, so that the occurrence rate of ineffective construction of the urban road illumination scene is greatly reduced, and the determination efficiency of reasonable illumination layout of the target road is improved.
In the practical implementation process, an illumination information base is needed, wherein the illumination information base is used for storing the reference road surface illumination of various road types under various road surface materials, storing road surface width sections corresponding to various road surface layout modes, storing the proportion value of the road surface mounting height and the road surface width corresponding to the various road surface layout modes, storing the road surface layout interval representation value sections corresponding to various road surface layout intervals, and storing the road surface illumination distance of the road lamp under the elevation angle of 0 degrees and the increase rate of the road surface illumination distance of the road lamp corresponding to the unit elevation angle.
The foregoing is merely illustrative of the structures of this invention and various modifications, additions and substitutions for those skilled in the art can be made to the described embodiments without departing from the scope of the invention or from the scope of the invention as defined in the accompanying claims.
Claims (9)
1. The urban three-dimensional virtual scene construction method based on the VR technology is characterized by comprising the following steps of:
step 1, marking a road to be constructed in an illumination scene as a target road, carrying out three-dimensional image acquisition on the target road, and simultaneously positioning the position of the target road so as to acquire road surface parameters, traffic parameters and road shapes corresponding to the target road;
step 2, determining the reference road surface illuminance corresponding to the target road according to the road surface parameters of the target road;
step 3, analyzing the illumination demand degree corresponding to the target road according to the traffic parameter corresponding to the target road, and determining the demand road illuminance corresponding to the target road by combining the illumination demand degree with the reference road illuminance corresponding to the target road;
step 4, judging whether a curved section exists on the target road according to the road shape corresponding to the target road, if so, dividing the target road into a straight line section and a curved section, acquiring the length of the straight line section, and acquiring the length and the curved radius of the curved section;
step 5, extracting the road surface width from the road surface parameters corresponding to the target road, and identifying the road lamp layout mode corresponding to the target road according to the road surface width, wherein the road lamp layout mode comprises single-row layout or symmetrical layout;
step 6, determining the street lamp adaptive installation height corresponding to the target road based on the street lamp layout mode corresponding to the target road and the road surface width;
step 7, respectively analyzing street lamp adaptation layout indicators of straight line segments corresponding to the target road and street lamp adaptation layout indicators of curve segments corresponding to the target road according to street lamp layout modes, street lamp adaptation mounting heights and required road illuminance corresponding to the target road, wherein the street lamp adaptation layout indicators comprise street lamp adaptation layout intervals and street lamp adaptation layout elevation angles;
and 8, constructing a virtual VR lighting scene corresponding to the target road by combining the acquired three-dimensional image corresponding to the target road with the street lamp adaptive installation height corresponding to the target road, the street lamp adaptive arrangement indication of the straight line segment and the street lamp adaptive arrangement indication of the curve segment.
2. The method for constructing the three-dimensional virtual scene in the city based on the VR technology as set forth in claim 1, wherein the parameters are as follows: the road surface parameters comprise road surface width, road type and road surface materials, and the traffic parameters comprise average vehicle flow and road speed limit values of all night time periods.
3. The method for constructing the three-dimensional virtual scene of the city based on the VR technique as set forth in claim 2, wherein: in the practical implementation process, an illumination information base is needed, wherein the illumination information base is used for storing the reference road surface illumination of various road types under various road surface materials, storing road surface width sections corresponding to various road surface layout modes, storing the proportion value of road surface installation heights and road surface widths corresponding to various road surface layout modes, storing road surface layout interval representation value sections corresponding to various road surface layout intervals, and storing the road surface illumination distance of the road lamp under the elevation angle of 0 degrees and the increase rate of the road surface illumination distance of the road lamp in the unit elevation angle.
4. The method for constructing a three-dimensional virtual scene in a city based on VR technology as set forth in claim 3, wherein: the specific implementation mode of determining the reference road surface illuminance corresponding to the target road is to extract the road type and the road surface material from the road surface parameters corresponding to the target road, match the road type and the road surface material with the reference road surface illuminance of various road types under each road surface material in the illumination information base, and match the reference road surface illuminance corresponding to the target road.
5. The method for constructing a three-dimensional virtual scene in a city based on VR technology as set forth in claim 3, wherein: the specific reference of the illumination demand corresponding to the target road according to the traffic parameter corresponding to the target road is as follows:
step 31, extracting average traffic flow of each night period from traffic parameters corresponding to the target road, and carrying out mean value calculation on the average traffic flow to obtain the traffic flow of each night period corresponding to the target road;
step 32, the average traffic flow of each night period and the traffic flow of the night average period corresponding to the target road are passed through a formulaCalculating the trend of the traffic flow of the target road at night average time period +.>Wherein->Average traffic flow expressed as night time period t, t expressed as period number, +.>Z is expressed as the number of periods present at night, < >>The night average period traffic flow corresponding to the target road is expressed, and e is expressed as a natural constant;
step 33, comparing the traffic trend of the night average time period corresponding to the target road with a set threshold, if the traffic trend of the night average time period corresponding to the target road is greater than or equal to the set threshold, taking the traffic of the night average time period corresponding to the target road as the night normal traffic corresponding to the target road, otherwise, extracting the maximum average traffic and the minimum average traffic from the average traffic of each night time period, forming a first traffic interval by the traffic of the night average time period and the maximum average traffic, forming a second traffic interval by the traffic of the minimum average traffic and the average time period at night, further respectively counting the average traffic number falling into the first traffic interval and the average traffic number falling into the second traffic interval in the average traffic of each night time period, comparing the two, and selecting the traffic interval with the maximum average traffic number as the traffic trend interval;
step 34, calculating the average traffic flow existing in the inclined traffic flow interval, and taking the calculation result as the night normal traffic flow corresponding to the target road;
step 35, extracting a road speed limit value from the traffic parameters corresponding to the target road, and substituting the road speed limit value into the illumination demand formula in combination with the night normal traffic flow corresponding to the target roadCalculating the illumination demand degree corresponding to the target road>，/>、/>The night normal traffic flow and the road speed limit value corresponding to the target road are expressed, and the night normal traffic flow and the road speed limit value are expressed as +.>、/>Respectively expressed as a reference vehicle flow rate and a reference road speed limit value.
6. The method for constructing the three-dimensional virtual scene in the city based on the VR technique as set forth in claim 5, wherein: the specific identification process of the road lamp layout mode corresponding to the identification target road is to match the road surface width corresponding to the target road with the road surface width intervals corresponding to various road lamp layout modes in the illumination information base, and the road lamp layout mode corresponding to the target road is matched.
7. The method for constructing the three-dimensional virtual scene in the city based on the VR technique as set forth in claim 6, wherein: the road lamp adapting and installing height corresponding to the target road is determined based on the road lamp arrangement mode corresponding to the target road and the road surface width, and the following steps are seen:
step 61, matching the road lamp layout mode corresponding to the target road with road lamp installation height and road width ratio values corresponding to various road lamp layout modes stored in the illumination information base, and matching the road lamp installation height and road width ratio values corresponding to the target road;
step 62, utilizing the formulaCalculating the adaptive mounting height of the street lamp corresponding to the target road>W is denoted as road surface width corresponding to the target road, < >>And the road lamp mounting height and road surface width ratio value corresponding to the target road is expressed.
8. The method for constructing the three-dimensional virtual scene in the city based on the VR technique as claimed in claim 7, wherein: the specific analysis steps of the street lamp adaptation layout indication of the straight line section corresponding to the analysis target road are as follows:
step 71, substituting the road lamp installation height, the road surface width and the required road surface illuminance corresponding to the target road into a road lamp layout interval representation value calculation formulaCalculating a street lamp layout interval characterization value of a straight line segment corresponding to the target road>Wherein->Expressed as the corresponding need of the target roadRoad illuminance determination>Expressed as a set reference required road illuminance, +.>、/>The road lamp mounting height and the road lamp width are respectively expressed as set reference road lamp mounting height and reference road width, and A, B, C are respectively expressed as set required road illumination, road lamp mounting height and corresponding influence weights of the road width;
step 72, matching the street lamp layout interval representation value of the straight line segment corresponding to the target road with the street lamp layout interval representation value interval corresponding to various street lamp layout intervals in the illumination information base, and further taking the street lamp layout interval successfully matched as the street lamp adaptation layout interval of the straight line segment corresponding to the target road;
step 73, positioning the arrangement points of the street lamps in the straight line section corresponding to the target road on the road surface according to the street lamp arrangement mode corresponding to the target road, the street lamp adaptation arrangement interval of the straight line section and the length of the straight line section;
step 74, determining a required road surface irradiation area corresponding to each street lamp in the straight line segment corresponding to the target road based on the layout points of each street lamp in the straight line segment corresponding to the target road on the road surface, and outlining the outline of the required road surface irradiation area;
step 75, uniformly setting irradiation points on the contour lines of the irradiation areas of the required road surfaces corresponding to the street lamps to obtain a plurality of irradiation points, connecting the irradiation points arranged on the contour lines of the irradiation areas of the required road surfaces corresponding to the street lamps by the arrangement points of the street lamps on the road surfaces, acquiring the lengths of the connecting lines, and taking the maximum lengths as the irradiation distances of the required road surfaces corresponding to the street lamps;
step 76, extracting the road surface irradiation distance of the street lamp under the elevation angle of 0 degrees and the increase rate of the road surface irradiation distance of the street lamp corresponding to the unit elevation angle from the illumination information base, and combining the road surfaces corresponding to the street lampsCalculating initial layout elevation angles of all street lamps in the corresponding straight line segment of the target road by using the irradiation distanceI is represented as the number of the street lamp in the straight line segment corresponding to the target road, and +.>The calculation formula is ∈>，/>The irradiation distance of the road surface corresponding to the ith street lamp in the straight line section corresponding to the target road is expressed as +.>Road illumination distance, denoted street lamp at elevation angle of 0 ° +.>Road irradiation distance increase rate expressed as unit elevation angle corresponding to street lamp, < >>Expressed as a unit elevation value;
and 77, comparing the initial layout elevation angle of each street lamp in the straight line segment corresponding to the target road with the set street lamp elevation angle value in the glare state, if the initial layout elevation angle of a certain street lamp reaches the street lamp elevation angle value in the glare state, lowering the initial layout elevation angle of the street lamp by a unit elevation angle value to obtain the adaptive layout elevation angle corresponding to the street lamp, otherwise, taking the initial layout elevation angle of the street lamp as the adaptive layout elevation angle.
9. The method for constructing the three-dimensional virtual scene in the city based on the VR technology as set forth in claim 8, wherein: the road lamp layout indication of the curve section corresponding to the target road specifically comprises the following analysis steps:
(1) Matching the bending radius of the corresponding bending section of the target road with the set reduction factor of each bending radius relative to the adaptive layout space of the straight-line road lamp, and obtaining the reduction factor of the bending radius of the corresponding bending section of the target road relative to the adaptive layout space of the straight-line road lamp by matching, wherein the reduction factor is recorded asAnd->;
(2) Using the formulaCalculating the road lamp adapting layout interval of the curve section corresponding to the target road>，The street lamp adaptive layout space of the corresponding straight line segment of the target road is represented;
(3) Positioning the layout points of each street lamp in the curve section corresponding to the target road on the road surface according to the layout mode of the street lamp corresponding to the target road, the street lamp adaptive layout interval of the curve section and the length of the curve section;
(4) Determining a required road surface irradiation area corresponding to each street lamp in the corresponding curve section of the target road based on the layout points of each street lamp in the corresponding curve section of the target road on the road surface, and outlining the outline of the required road surface irradiation area;
(5) And obtaining the adaptive layout elevation angle of each street lamp in the corresponding curved section of the target road according to the steps 75-77.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310635896.XA CN116385687B (en) | 2023-06-01 | 2023-06-01 | Urban three-dimensional virtual scene construction method based on VR technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310635896.XA CN116385687B (en) | 2023-06-01 | 2023-06-01 | Urban three-dimensional virtual scene construction method based on VR technology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116385687A CN116385687A (en) | 2023-07-04 |
| CN116385687B true CN116385687B (en) | 2023-10-03 |
Family
ID=86966013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310635896.XA Active CN116385687B (en) | 2023-06-01 | 2023-06-01 | Urban three-dimensional virtual scene construction method based on VR technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116385687B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116522694B (en) * | 2023-07-05 | 2023-11-10 | 科大乾延科技有限公司 | Track lighting design method based on three-dimensional model |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104517163A (en) * | 2015-01-16 | 2015-04-15 | 重庆大学 | Optimization method of streetlamp layout |
| CN109348185A (en) * | 2018-11-21 | 2019-02-15 | 广东领域集团有限公司 | A kind of Traffic monitoring VR camera system and the method being monitored by virtual reality |
| WO2022226603A1 (en) * | 2021-04-30 | 2022-11-03 | Visionary Machines Pty Ltd | Systems and methods for generating and/or using 3-dimensional information with one or more cameras |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11328380B2 (en) * | 2018-10-27 | 2022-05-10 | Gilbert Pinter | Machine vision systems, illumination sources for use in machine vision systems, and components for use in the illumination sources |
| CN116017818A (en) * | 2022-09-29 | 2023-04-25 | 成都秦川物联网科技股份有限公司 | Intelligent control method and system for intelligent urban road illumination based on Internet of things |
-
2023
- 2023-06-01 CN CN202310635896.XA patent/CN116385687B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104517163A (en) * | 2015-01-16 | 2015-04-15 | 重庆大学 | Optimization method of streetlamp layout |
| CN109348185A (en) * | 2018-11-21 | 2019-02-15 | 广东领域集团有限公司 | A kind of Traffic monitoring VR camera system and the method being monitored by virtual reality |
| WO2022226603A1 (en) * | 2021-04-30 | 2022-11-03 | Visionary Machines Pty Ltd | Systems and methods for generating and/or using 3-dimensional information with one or more cameras |
Non-Patent Citations (3)
| Title |
|---|
| Projecting your view attentively: Monocular road scene layout estimation via cross-view transformation;Yang W 等;Proceedings of the IEEE/CVF conference on computer vision and pattern recognition;第15536-15545页 * |
| 于泉 等.城市快速路LED照明模型及节能分析.中国交通信息化.2013,第91-94页. * |
| 基于TracePro和DIALux的LED路灯综合照明***仿真;王娟娟;;佛山科学技术学院学报(自然科学版)(02);第29-33页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116385687A (en) | 2023-07-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116385687B (en) | Urban three-dimensional virtual scene construction method based on VR technology | |
| EP2603770B1 (en) | Parking lot detection using probe data | |
| CN107851125B9 (en) | System and method for two-step object data processing through vehicle and server databases to generate, update and transmit accurate road characteristics databases | |
| US8762046B2 (en) | Creating geometry for advanced driver assistance systems | |
| CN109241069A (en) | A kind of method and system that the road network based on track adaptive cluster quickly updates | |
| CN102280031B (en) | Crossing traffic state recognition method based on floating car data | |
| CN109085821A (en) | Automatic driving vehicle localization method | |
| CN113313943B (en) | Road side perception-based intersection traffic real-time scheduling method and system | |
| CN111652060A (en) | Laser radar-based height-limiting early warning method and device, electronic equipment and storage medium | |
| CN114858214B (en) | Urban road performance monitoring system | |
| CN109587901B (en) | Intelligent control system and method for illumination | |
| CN116206426B (en) | Mobile water level monitoring alarm system based on Internet of things | |
| US12039664B2 (en) | Street lighting compliance display and control | |
| CN114708564A (en) | Parking function testing system for visual fusion | |
| CN117173895B (en) | Management monitoring system for automatic illumination adjustment of urban road | |
| CN110189419A (en) | Vehicle-mounted Lidar rail data reduction method based on broad sense neighborhood height difference | |
| CN1918610A (en) | Traffic information calculation device, traffic information calculation method, traffic information display method, and traffic information display device | |
| CN109815246B (en) | Road segment weather information acquisition tracking broadcasting method | |
| US20130243339A1 (en) | Picture data provision system | |
| CN114911891A (en) | Method, system, storage medium and device for analyzing space quality of historical street | |
| CN109147328B (en) | Traffic flow detection method based on video virtual coil | |
| CN110909099A (en) | Method for measuring and calculating center-of-gravity shift speed and angle of urban built-up area based on light data | |
| CN116665466A (en) | Intelligent traffic management platform for intelligent monitoring | |
| CN116406064B (en) | Intelligent light-operated early warning control system for bridge | |
| Hamas et al. | Performance analysis of Light Emitting Diode, High Sodium Pressure and Metal Halide Lights |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |