CN102663893B - 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 collecting method technical field, particularly utilize the traffic information collecting method technical field of Laser Distance Measuring Equipment, specifically refer to a kind of method that realizes road information collection based on laser ranging node system.
Background technology
Laser distance sensor (claiming again laser range finder) is to utilize laser the distance of target to be carried out to the instrument of Accurate Determining.Laser distance sensor relies on the reflection of target to identify: sensor penetrates pulse laser to target, the laser pulse being reflected by photovalve receiving target, time is differentiated and measures laser beam from being transmitted into the pulse time-of-flight of reception, just can draw from sensor range-to-go.The laser radar growing up on laser distance sensor basis can not only be found range, but also can measurement target orientation, movement velocity and acceleration etc.Laser distance sensor is the integrated application of the multidisciplinary technology such as laser, precision optical machinery, embedded technology and optoelectronics.There is the advantages such as high directivity, high monochromaticity and high power due to laser, laser distance sensor is due to advantages such as range finding are far away, conveniently judge target azimuth, degree of accuracy and resolution is high, antijamming capability is strong, and application constantly expands, 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 expands, the maintaining sustained and rapid growth of automobile quantity, traffic congestion phenomenon is on the rise, and traffic hazard happens occasionally.Traffic problems have become the Social Events in city management work.Utilize the intelligent transportation system of the advanced technical development such as electronics, communication China, strengthen the transportation management of existing road traffic, the traffic capacity and the transport services quality that improve road network are extremely important.
At present highway in China traffic information collection mainly contains ground induction coil, microwave sounding, ultrasonic listening, video image identification and the piezoelectricity monitoring mode such as weigh, and above these modes have its limitation separately.For example effect is single, and a set of instrument can only detect single transport information feature; Detection accuracy is not high, and in the time of the situation that has vehicle distances more closely or mutually block, the part speed of a motor vehicle and flow information can produce to be lost or erroneous judgement; Cost is higher, and construction trouble, buries underground as ground induction coil need to carry out road surface in advance, and video analytics server cost is always high.
In the related application field for traffic information collection by laser technology, Chinese patent application 200810079778.0 discloses a kind of employing infrared light transducer[sensor and has coordinated road surfacing reflective tape, and the laser intelligence gathering-device transmitting and receiving along reflective tape length direction point by point scanning mode, two groups of such infrared light transducer[sensors, at a distance of the position of d, can be measured length, the travel speed etc. of vehicle.But such information acquisition has a lot of shortcomings, for example, need to use two cover light sensor systems; Reflective tape need to be set on road surface; Want if reach this patent the effect reaching, the speed that sensor carrys out flyback retrace need to reach hundreds of and even go up KHz, and so the mechanical scanning structure of sweep limit is difficult to accomplish.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 object that road vehicle type is identified, the change point of adjusting the distance when identification is monitored, but the sampling rate that this patented method is identified vehicle is on the low side, can not accomplish careful examination to vehicle; Another shortcoming of this patent is the impact of speed on height of car point sampling rate of not considering vehicle due to this patent, and therefore very low to the discrimination of vehicle vehicle, effect is poor.
Summary of the invention
The object of the invention is to have overcome above-mentioned shortcoming of the prior art, provide a kind of and realize the various functions such as vehicle speed measurement, vehicle behavior triggering, vehicle ' s contour are described, vehicle flowrate based on single laser ranging node, and can utilize the laser ranging node system with multinode to obtain road information, be convenient to collection and the issue of road information, and implantation of device and apply easy, realize with low cost, effect is better, and have wide range of applications based on laser ranging node system realize road information gather method.
Described laser ranging node system comprises multiple laser ranging node apparatus and connects the bayonet socket server of described each device, described laser ranging node apparatus comprises laser distance sensor and is built in the data processor of described laser distance sensor, described laser distance sensor is the wide-angle laser reception and transmission range sensor that is set up in the top in a track on road, described data processor has information of vehicles identification module, the input end of described information of vehicles identification module connects described laser distance sensor, the output terminal of this information of vehicles identification module connects described bayonet socket server.
In order to realize above-mentioned object, the method that realizes road information collection based on laser ranging node system of the present invention comprises the following steps:
(1) the wide-angle laser reception and transmission range sensor of described each laser ranging node apparatus carries out lasting laser ranging for the fixed position on described track;
(2) the distance value D recording is sent to described data processor by described wide-angle laser reception and transmission range sensor;
(3) the information of vehicles identification module of described data processor is identified information of vehicles according to the relevant information of the distance value D obtaining;
(4) the information of vehicles identification module of described each laser ranging node apparatus is by obtained information of vehicles sending card mouth server;
(5) the each laser ranging node apparatus information of vehicles analysis of described bayonet socket server based on obtained obtains road information;
(6) described bayonet socket server is issued described road information, and issues road supervision instruction according to described road information to outside road supervisory systems.
Should realize in the method for road information collection based on laser ranging node system, the information of vehicles identification module of described data processor is identified information of vehicles according to the relevant information of the distance value D obtaining, is specially: the operation that information of vehicles identification module is added up vehicle flowrate according to the variation delta D of the distance value obtaining.
Should realize in the method for road information collection based on 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 obtaining, be specially: in the time that the variation delta D of the described distance value of described information of vehicles identification module judgement is greater than default variable quantity threshold value, calculate vehicle flowrate+1.
Should realize in the method for road information collection based on laser ranging node system, the information of vehicles identification module of described data processor is identified information of vehicles according to the relevant information of the distance value D obtaining, also comprises: information of vehicles identification module is determined the operation of the speed of a motor vehicle according to the variation delta D of the distance value obtaining.
Should realize in the method for road information collection based on laser ranging node system, the operation that described information of vehicles identification module is determined the speed of a motor vehicle according to the variation delta D of the distance value obtaining, is specially: described information of vehicles identification module determines that car speed V is:
Wherein, t is the time, and θ is the angle between Laser emission direction and the place carriageway surfacing of described wide-angle laser reception and transmission range sensor.
Should realize in the method for road information collection based on laser ranging node system, the information of vehicles identification module of described data processor is identified information of vehicles according to the relevant information of the distance value D obtaining, also comprises: the operation that information of vehicles identification module is identified car vehicle according to the distance value D obtaining.
Should realize in the method for road information collection based on laser ranging node system, the operation that described information of vehicles identification module is identified car vehicle according to the distance value D obtaining, specifically comprises the following steps:
(3-1) the variation delta D of the distance value of described information of vehicles identification module based on described carries out the operation of described definite speed of a motor vehicle, obtains car speed V;
(3-2) described information of vehicles identification module is determined 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 identified type of vehicle according to described vehicle ' s contour figure.
Should realize in the method for road information collection based on laser ranging node system, described information of vehicles identification module is determined height of car h according to the variation delta D of described distance value, is specially: described information of vehicles identification module determines that height of car h is:
h＝H-Dsinθ，
Wherein, H is that described laser ranging node apparatus arrives the vertical range between its place carriageway surfacing.
Should realize in the method for road information collection based on laser ranging node system, described information of vehicles identification module comprises model data storehouse, described information of vehicles identification module is identified type of vehicle according to described vehicle ' s contour figure, be specially: described information of vehicles identification module, according to the vehicle in described vehicle ' s contour figure and described model data storehouse is compared, is determined and the corresponding type of vehicle of this vehicle ' s contour figure.
Should realize in the method for road information collection based on laser ranging node system, described system also comprises multiple 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 receiving after triggering command, takes automobile image;
(4-3) automobile image is sent to described bayonet socket server by described video camera.
Should realize in the method for road information collection based on laser ranging node system, described road information comprises information of vehicle flowrate on road, jam situation information and vehicle distributed intelligence.
What adopted this invention realizes based on laser ranging node system the method that road information gathers, 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 identified, thereby realize vehicle speed measurement, vehicle behavior triggers, vehicle ' s contour is described, the various functions such as vehicle flowrate, bayonet socket server can obtain road information according to the information of vehicles of each laser ranging node apparatus, and then carry out that road information is issued and road is supervised the issue of instruction, effectively having overcome sniffer in prior art lays loaded down with trivial details, sampling rate is low, cannot effectively identification vehicle etc. shortcoming, and of the present invention to realize based on laser ranging node system the method application that road information gathers easy, with low cost, effect is good, application scalability is good, range of application is also comparatively extensive.
Accompanying drawing explanation
Fig. 1 is the application mode schematic diagram of realizing the node system that the method for road information collection adopts based on laser ranging node system of the present invention.
Fig. 2 is the principle schematic that realizes the node apparatus that the method for road information collection adopts based on laser ranging node system of the present invention.
Fig. 3 is the flow chart of steps that realizes the method for road information collection based on laser ranging node system of the present invention.
Fig. 4 is the structural representation of realizing the node system that the method for road information collection adopts based on laser ranging node system of the present invention.
Fig. 5 utilizes the road vehicle information acquisition node apparatus based on laser ranging of invention pony car to be carried out to the design sketch of scanning recognition.
Fig. 6 utilizes the road vehicle information acquisition node apparatus based on laser ranging of invention taxi to be carried out to the design sketch of scanning recognition.
Fig. 7 utilizes the road vehicle information acquisition node apparatus based on laser ranging of invention container car to be carried out to the design sketch of scanning recognition.
Fig. 8 utilizes the road vehicle information acquisition node apparatus based on laser ranging of invention truck to be carried out to the design sketch of scanning recognition.
Fig. 9 utilizes the road vehicle information acquisition node apparatus based on laser ranging of invention trucd mixer to be carried out to the design sketch of scanning recognition.
Embodiment
In order more clearly to understand technology contents of the present invention, describe in detail especially exemplified by following examples.
Referring to shown in Fig. 1, is the application mode schematic diagram of realizing the node system that the method for road information collection adopts based on laser ranging node system of the present invention.
This system comprises multiple laser ranging node apparatus 1 and connects the bayonet socket server 4 of described each device 1, and node apparatus 1 is set up on the top portal frame 2 in a track on road 6, and by cable 5 Connection Card mouth servers 4.Described laser ranging node apparatus 1 comprises laser distance sensor and is built in the data processor of described laser distance sensor.Described laser distance sensor is the wide-angle laser reception and transmission range sensor that is set up in the top in a track on road, described laser range sensor is 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, described pulse laser radiating circuit is all connected described control circuit with laser pick-off circuit, and described control circuit also connects described data processor.Described data processor has 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 (as shown by the arrows in Figure 1) to track, place, and between described Laser emission direction and track the angle of angle between 20 ° to 60 °.The laser of this pulse laser radiating circuit transmitting forms the rectangular light spot 3 of 2.5 meters × 1 meter on described track.Distance between this hot spot 3 and 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, the method that realizes road information collection based on laser ranging node system of the present invention, as shown in Figure 3, comprises the following steps:
(1) the wide-angle laser reception and transmission range sensor of described each laser ranging node apparatus carries out lasting laser ranging for the fixed position on described track;
(2) the distance value D recording is sent to described data processor by described wide-angle laser reception and transmission range sensor;
(3) the information of vehicles identification module of described data processor is identified information of vehicles according to the relevant information of the distance value D obtaining;
(4) the information of vehicles identification module of described each laser ranging node apparatus is by obtained information of vehicles sending card mouth server;
(5) the each laser ranging node apparatus information of vehicles analysis of described bayonet socket server based on obtained obtains road information, 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 issues road supervision instruction according to described road information to outside road supervisory systems.
Wherein, the information of vehicles identification module of the described data processor of step (3) is identified information of vehicles according to the relevant information of the distance value D obtaining, can specifically comprise:
The operation that information of vehicles identification module is added up vehicle flowrate according to the variation delta D of the distance value obtaining;
Information of vehicles identification module is determined the operation of the speed of a motor vehicle according to the variation delta D of the distance value obtaining; And
The operation that information of vehicles identification module is identified car vehicle according to the distance value D obtaining.
In embodiment more preferably, the above-mentioned operation that vehicle flowrate is added up, is specially: in the time that the variation delta D of the described distance value of described information of vehicles identification module judgement is greater than default variable quantity threshold value, calculate vehicle flowrate+ 1.
Determine the operation of the speed of a motor vehicle, be specially: described information of vehicles identification module determines that car speed V is:
Wherein, t is the time, and θ is the angle between Laser emission direction and the place carriageway surfacing of described wide-angle laser reception and transmission range sensor.
And the described operation that car vehicle is identified, specifically comprises the following steps:
(3-1) the variation delta D of the distance value of described information of vehicles identification module based on described carries out the operation of described definite speed of a motor vehicle, obtains car speed V;
(3-2) described information of vehicles identification module is determined 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 identified type of vehicle according to described vehicle ' s contour figure.
Wherein, the described information of vehicles identification module of step (3-2) is determined height of car h according to the variation delta D of described distance value, is specially: described information of vehicles identification module determines that height of car h is:
h＝H-Dsinθ，
H is that described laser ranging node apparatus arrives the vertical range between its place carriageway surfacing.
And described information of vehicles identification module comprises model data storehouse, the described information of vehicles identification module of step (3-4) is identified type of vehicle according to described vehicle ' s contour figure, be specially: described information of vehicles identification module, according to the vehicle in described vehicle ' s contour figure and described model data storehouse is compared, is determined and the corresponding type of vehicle of this vehicle ' s contour figure.
In preferred embodiment, as shown in Figure 4, described system also comprises multiple 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 receiving after triggering command, takes automobile image;
(4-3) automobile image is sent to described bayonet socket server by described video camera.
In an application of the invention, the method for road information collection of the present invention can be used for the 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 range finding node apparatus is set, the direction arriving in face of car to the angle of 60 degree with 20 degree is set up.Range finding node apparatus according to certain frequency (>=1KHz) to road surface (distance 25 meters of left and right) transmitting range finding laser pulse to monitoring by the vehicle at this track place, can make so the every 5cm of automobile body of 200Km/h speed survey a point, can ensure effectively describing vehicle ' s contour.The laser of range finding node apparatus adopts wide-angle transmitting receive mode, forms the hot spot of a 2.5m × 1m left and right at road surface place, and this hot spot is information acquisition search coverage.In the time that vehicle arrives, first probe node judges that according to one group of change of distance vehicle arrives, transmit to other interlock sensing device as the trigger pulse of first-class transmitting of making a video recording, the response time in this vehicle arrival moment is very short, 10 millisecond left and right, in the time that vehicle license plate enters search coverage, consider to pass through formula according to the comprehensive vehicle gait of march of the change of car plate distance at the component of laser direction:
Wherein θ is the angle on laser direction and road surface, can calculate thus the speed that vehicle is advanced.
When vehicle is complete pass through after, according to range finding node measurement change of 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 is that range finding node sets up the height apart from ground, and h value cooperation speed V can depict the contour feature of vehicle thus, by the identification of comparing of the vehicle ' s contour feature that obtains and sample vehicle external physical characteristic, thereby obtain by the type of vehicle.As shown in Figures 5 to 9, be followed successively by and utilize the road information acquisition node system based on laser ranging of the present invention pony car, taxi, container car, truck and trucd mixer to be carried out to the vehicle ' s contour characteristic effect figure producing after scanning recognition, horizontal ordinate 50 points/lattice in figure, ordinate is 0.6m/ lattice.Utilize preset vehicle storehouse data in this vehicle ' s contour characteristic pattern and node apparatus to compare, can obtain definite type of vehicle information.
The present invention adopts infrared light as surveying medium, can not be subject to the impact of ambient light to carry out round-the-clock collection to transport information; Also construct without road pavement or lay cooperative target, and compared with ground induction coil, it is more accurate that the arrival moment of vehicle is differentiated; Method of the present invention can realize wall scroll track vehicle speed measurement, reduce the interference of vehicle between different tracks, avoided the wrong report of information of vehicles and failed to report, be convenient to the candid photograph evidence obtaining to track and distinguish, and because car speed is as with reference to amount, vehicle is identified effective foundation is provided; And the present invention only needs a single sensing node, just can survey numerous transport information, totally with low cost, can be applicable to high density detector layout; Front end transport information node has intelligent processing method feature, can detect the essential information such as car speed, vehicle, on the basis of front-end functionality node advantage, realizes multinode networking, thereby can make comprehensive analysis to the information of whole road.
All the vehicle of bayonet socket sensing nodes is passed to backstage and is carried out data analysis and can obtain the information such as vehicle flowrate, jam situation, vehicle distribution on overall road surface by information such as information flip-flop number, car speed, type of vehicle, coordinate as other information acquisition means such as video cameras, can road pavement situation have more comprehensively and get information about, for traffic dispersion, vehicle supervision, information issue etc. provide foundation.
What adopted this invention realizes based on laser ranging node system the method that road information gathers, 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 identified, thereby realize vehicle speed measurement, vehicle behavior triggers, vehicle ' s contour is described, the various functions such as vehicle flowrate, bayonet socket server can obtain road information according to the information of vehicles of each laser ranging node apparatus, and then carry out that road information is issued and road is supervised the issue of instruction, effectively having overcome sniffer in prior art lays loaded down with trivial details, sampling rate is low, cannot effectively identification vehicle etc. shortcoming, and of the present invention to realize based on laser ranging node system the method application that road information gathers easy, with low cost, effect is good, application scalability is good, range of application is also comparatively extensive.
In this instructions, the present invention is described with reference to its specific embodiment.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 (5)
1. realize based on laser ranging node system the method that road information gathers for one kind, described system comprises multiple laser ranging node apparatus and connects the bayonet socket server of described each device, described laser ranging node apparatus comprises laser distance sensor and is built in the data processor of described laser distance sensor, described laser distance sensor is the wide-angle laser reception and transmission range sensor that is set up in the top in a track on road, described data processor has information of vehicles identification module, the input end of described information of vehicles identification module connects described laser distance sensor, the output terminal of this information of vehicles identification module connects described bayonet socket server, it is characterized in that, described method comprises the following steps:
(1) the wide-angle laser reception and transmission range sensor of described each laser ranging node apparatus carries out lasting laser ranging for the fixed position on described track;
(2) the distance value D recording is sent to described data processor by described wide-angle laser reception and transmission range sensor;
(3) the information of vehicles identification module of described data processor is identified information of vehicles according to the relevant information of the distance value D obtaining;
(4) the information of vehicles identification module of described each laser ranging node apparatus is by obtained information of vehicles sending card mouth server;
(5) the each laser ranging node apparatus information of vehicles analysis of described bayonet socket server based on obtained obtains road information;
(6) described bayonet socket server is issued described road information, and issues road supervision instruction according to described road information to outside road supervisory systems;
The information of vehicles identification module of described data processor is identified information of vehicles according to the relevant information of the distance value D obtaining, is specially:
The operation that information of vehicles identification module is added up vehicle flowrate according to the variation delta D of the distance value obtaining;
The operation that described information of vehicles identification module is added up vehicle flowrate according to the variation delta D of the distance value obtaining, is specially:
In the time that the variation delta D of the described distance value of described information of vehicles identification module judgement is greater than default variable quantity threshold value, calculate vehicle flowrate+1;
The information of vehicles identification module of described data processor is identified information of vehicles according to the relevant information of the distance value D obtaining, also comprises:
Information of vehicles identification module is determined the operation of the speed of a motor vehicle according to the variation delta D of the distance value obtaining;
The operation that described information of vehicles identification module is determined the speed of a motor vehicle according to the variation delta D of the distance value obtaining, is specially:
Described information of vehicles identification module determines that car speed V is
Wherein, t is the time, and θ is the angle between Laser emission direction and the place carriageway surfacing of described wide-angle laser reception and transmission range sensor;
The information of vehicles identification module of described data processor is identified information of vehicles according to the relevant information of the distance value D obtaining, also comprises:
The operation that information of vehicles identification module is identified car vehicle according to the distance value D obtaining;
The operation that described information of vehicles identification module is identified car vehicle according to the distance value D obtaining, specifically comprises the following steps:
(3-1) the variation delta D of the distance value of described information of vehicles identification module based on described carries out the operation of described definite speed of a motor vehicle, obtains car speed V;
(3-2) described information of vehicles identification module is determined 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 identified type of vehicle according to described vehicle ' s contour figure.
2. the method that realizes road information collection based on laser ranging node system according to claim 1, is characterized in that, described information of vehicles identification module is determined height of car h according to the variation delta D of described distance value, is specially:
Described information of vehicles identification module determines that height of car h is:
h＝H-Dsinθ，
Wherein, H is that described laser ranging node apparatus arrives the vertical range between its place carriageway surfacing.
3. the method that realizes road information collection based on laser ranging node system according to claim 1, it is characterized in that, described information of vehicles identification module comprises model data storehouse, and described information of vehicles identification module is identified type of vehicle according to described vehicle ' s contour figure, is specially:
Described information of vehicles identification module, according to the vehicle in described vehicle ' s contour figure and described model data storehouse is compared, is determined and the corresponding type of vehicle of this vehicle ' s contour figure.
4. the method that realizes road information collection based on laser ranging node system according to claim 1, it is characterized in that, described system also comprises multiple 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 receiving after triggering command, takes automobile image;
(4-3) automobile image is sent to described bayonet socket server by described video camera.
5. the method that realizes road information collection based on laser ranging node system 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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