CN103942964B - A kind of bicycle group locating and detecting device and method based on laser scanning - Google Patents
A kind of bicycle group locating and detecting device and method based on laser scanning Download PDFInfo
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- CN103942964B CN103942964B CN201410138521.3A CN201410138521A CN103942964B CN 103942964 B CN103942964 B CN 103942964B CN 201410138521 A CN201410138521 A CN 201410138521A CN 103942964 B CN103942964 B CN 103942964B
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Abstract
The invention discloses a kind of bicycle group locating and detecting device and method based on laser scanning, this device comprises bicycle test rod, Vehicle-borne Laser Scanning detecting unit, vehicle GPS positioning unit and data storage cell; Bicycle test rod is arranged on bicycle, and Vehicle-borne Laser Scanning detecting unit is arranged on vehicle roof together with vehicle GPS positioning unit. Method step is: the bicycle group of installation and measuring bar starts to ride and move, and the automotive vehicle that vehicle-mounted laser scanner and GPS positioning unit and data storage cell are installed at the uniform velocity travels near bicycle group, obtains detecting data; By laser scanning inspection data and GPS locator data are merged, by treatment system, the multiple bicycles of bicycle group are detected and located. The present invention have cost low, install simple and easy, portable good, be easy to demarcate and accuracy advantages of higher.
Description
Technical field
The present invention relates to traffic detection and positioner technical field, particularly a kind of based on laser scanningBicycle group locating and detecting device and method.
Background technology
Traffic behavior analysis, modeling, traffic administration, planning are carried out in the dynamic micro-data collection of bicycleBasic work. The dynamic micro-data of bicycle mainly comprises: track, speed, acceleration etc., bicycleDetection and location technology are the bases that is obtained from the dynamic micro-data of driving. Prior art to bicycle detect andLocation is main to be adopted:
1, video detection method
Utilize the equipment of video detection and image processing techniques bicycle is detected and locate, advantage is easyIn installation, precision is higher; Shortcoming is that equipment cost is high and image processing techniques software development difficulty is large. In addition,Video detector is difficult to overcome in the boisterous situation such as shadow interference, misty rain bicycle is carried out accuratelyThe problem that detects and locate.
2, Infrared Detection Method
Utilize infrared detection equipment to detect bicycle, advantage is to be easy to install, and cost is lower, is not subject toBoisterous impact; Shortcoming is that positioning precision is low, image data cannot further calculate bicycle track,Speed, acceleration etc. be micro-data dynamically, can only be used for bicycle and detect and flow detection aspect.
3, coil detection method
Coil checker can only provide the data of flow aspect, cannot accurately locate bicycle, also withoutMethod obtains the dynamic micro-data of bicycle.
4, multiport pressure detection method
The end blanket that utilization is provided with multiport pressure detection means detects bicycle, and advantage is anti-dryThe ability of disturbing is strong, can reasonablely overcome boisterous impact, and accuracy of detection is higher; Shortcoming is owing to being subject toThe size restriction (being generally 5～10m) of end blanket, can only obtain locator data and the stream of interior bicycle very among a small circleAmount data, cannot further calculate the dynamically micro-data such as track, speed, acceleration of long-time bicycle,Can only be used for bicycle detects and flow detection aspect.
5, video & pressure detection method
Utility model patent No.ZL201220317852.X discloses a kind of bicycle and has detected and positioner,Comprise end blanket, multiport pressure detector; Multiport pressure detector comprises blanket gas pressure pipe, pressure sensingProbe, microprocessor, power supply and signal cable. The utility model pneumatic tube formation rule grid is also arranged onOn end blanket, this pneumatic tube relative position is fixed, and pressure detector antijamming capability is strong, has overcome well evilThe impact of bad weather, has realized that accuracy of detection is higher, reliability is better, but this device can only be fixed at certainLocal installation, cannot carry out prolonged exercise to bicycle group and accurately locate.
Patent of invention No.201210228890.2 utilizes high-definition camera system and multiport pressure detection means togetherIn time, is detected bicycle, by data handling system, its data is carried out to fusion treatment and has reached voluntarilyThe location of car, the advantage of the method has been to merge the advantage of video detection method and multiport pressure detection method,There is flexible configuration, install simple and easy, portable good, be easy to demarcate and accuracy high, but it stillSo cannot carry out to bicycle group the dynamically micro-data such as track, speed, acceleration of long bicycleCalculate.
Therefore, only have at present video to detect and can bicycle be detected more accurately and be located, but video inspectionThe equipment cost of surveying is high and image processing techniques software development difficulty is large. In addition, video detection method is difficult to overcomeIn the boisterous problem such as shadow interference, misty rain, although combine in addition video detection method and multiport pressureThe mode of strong detection method, but still cannot calculate analysis to for a long time dynamic micro-parameter of bicycle,More cannot analyze the traffic characteristics of bicycle group, the scope of application is very limited.
Summary of the invention
Goal of the invention of the present invention is the technical deficiency detecting for existing bicycle, provides a kind of based on laserThe bicycle group locating and detecting device of scanning.
Another object of the present invention is to, a kind of bicycle group position finding and detection method based on laser scanning is provided.
In order to reach above-mentioned the first object, the present invention by the following technical solutions:
A bicycle group locating and detecting device based on laser scanning, comprises bicycle test rod, vehicle-mounted sharpOptical scanning detecting unit, vehicle GPS positioning unit and data storage cell; Bicycle test rod is arranged on certainlyIn driving, Vehicle-borne Laser Scanning detecting unit is arranged on vehicle roof together with vehicle GPS positioning unit;In the time that this device starts to detect, vehicle-mounted laser scanning inspection unit, vehicle GPS positioning unit and data are installedThe motor vehicle of memory cell stops or at the uniform velocity travelling near bicycle group, obtains detecting data; By by numberMerge according to the laser scanning inspection data in memory cell and GPS locator data, by treatment system to bicycleThe multiple bicycles of group detect and locate.
Preferably, described bicycle test rod is arranged on experiment bicycle, receives from experimental machine motor-carThe laser scanning inspection signal that laser scanning inspection unit sends, and laser scanning inspection signal reflex is gone out;
Described Vehicle-borne Laser Scanning cellular installation is at experiment vehicle roof, by continuous Emission Lasers signalWith the signal that is received from driving test rod reflection to obtain bicycle spatial position data;
Described vehicle GPS positioning unit is arranged on experiment vehicle roof, obtains testing vehicle GPS skyBetween position data;
Described data storage cell is arranged on experiment interior of motor vehicles, single by cable and vehicle GPS locationUnit, laser scanning device reflected signal receiving system are connected, real-time storage experimental machine motor-car and bicycleSpatial position data and laser scanning inspection cycle numbering; By the experimental machine motor-car of vehicle GPS positioning unitThe spatial position data fusion treatment of spatial position data and bicycle group is real to obtain the each bicycle of bicycle groupTime space position and driving trace data.
Preferably, the laser scanning inspection point on bicycle test rod apart from ground level 1.5m～1.8m itBetween.
In order to reach above-mentioned the second object, the present invention by the following technical solutions:
A bicycle group position finding and detection method based on laser scanning, comprises the steps:
1) checkout gear is installed: comprise the test rod that is arranged on bicycle, be arranged on experimental machine motor-carLaser scanning inspection unit, vehicle GPS positioning unit and data storage cell;
2) system time calibration: to being arranged on laser scanning inspection unit and the GPS of experiment vehicle roofThe system time of unit is calibrated, and ensures the two system time Complete Synchronization;
3) sample information collection: first require experimental machine motor-car as far as possible at the uniform velocity to travel; Moreover, arrive with 0.02s0.1s is a laser scanning inspection cycle, taking experimental machine motor-car as the center of circle, detects in the space of setting radius valueIn scope, gather locus coordinate, the laser scanning inspection cycle numbering of the each individual specimen of bicycle group;Simultaneously with gps coordinate and the gps data collection of the frequency Real-time Collection experimental machine motor-car of 1s/ time or 5s/ timeCycle numbering;
4) detect data storages: use test carried on vehicle memory cell with the laser scanning inspection cycle for depositingStorage file unit stores the locus coordinate of the each individuality of bicycle group, with gps data collection periodFor storage file unit carries out real-time storage to experimental machine motor-car locus coordinate;
5) system coordinates parameter calibration: be that absolute coordinate system calibration experiment motor vehicle is each with GPS space coordinatesLocus coordinate in gps data collection period, then to the GPS space bit in gps data collection periodPutting coordinate, to adopt linear differential computing rule to calculate experiment corresponding in each laser scanning inspection cycle motor-drivenCar locus coordinate, sets up respectively relative coordinate system and calculates each laser and sweep taking this locus coordinate as initial pointRetouch the each individual space position coordinates of the bicycle group collecting in sense cycle;
6) bicycle location: adopt travelling of the artificial or simple intelligent algorithm identification each individual specimen of bicycleTrack to be to complete the work of bicycle location, can obtain the locator data of bicycle and driving trace, speed,The parameters such as the traffic stream characteristics of acceleration and bicycle group.
Preferably, the bicycle group in each laser scanning inspection cycle of sample information parameter described in step (3)The experiment of relative tertiary location coordinate, laser scanning inspection cycle numbering and each gps data collection period is motor-drivenCar gps coordinate and gps data collection period numbering.
Preferably, system coordinates parameter calibration described in step (5) comprises that adopting GPS locator data to set up isSystem absolute coordinate system, and it is motor-driven to obtain experiment in each laser scanning inspection cycle through linear differential algorithmCar gps coordinate, then taking this as initial point, the locus coordinate of the each individual specimen of bicycle group being markedFixed.
Preferably, use artificial or corresponding simple intelligent algorithm to each bicycle individual specimen driving traceIdentify, carry out based on this other information parameter analysis.
Preferably, described computer data processing system comprises the steps:
(11) system time calibration: the system time to laser scanning inspection unit and GPS detecting unit entersRow calibration, ensures that they reach Complete Synchronization;
(12) gps coordinate data importing: by the gps coordinate data importing of experimental machine motor-car in database;
(13) set up absolute coordinate system: to the GPS sky of the test vehicle in each gps data collection periodBetween position coordinates to adopt linear differential algorithm to calculate experiment corresponding in each laser scanning inspection cycle motor-drivenCar locus coordinate, sets up absolute coordinate system;
(14) set up relative coordinate system: the phase of setting up each laser scanning inspection cycle taking GPS position as initial pointTo coordinate system;
(15) in bicycle group, individual space position data imports: will according to laser scanning inspection cycle orderThe data importing of corresponding bicycle group individual specimen, obtains relative coordinate, and calculates absolutely according to gps coordinateTo coordinate;
(16) data analysis processing: adopt the each individual specimen of artificial or simple intelligent algorithm identification bicycleDriving trace figure, bicycle group detection and localization is disposed.
Preferably, in step (16), obtain bicycle operation rail by described artificial or intelligent algorithm identificationThe traffic parameter of mark figure, speed, the dynamic micro-data of acceleration and bicycle flow; This traffic parameter comprisesThe place speed of a motor vehicle of bicycle flow, flow, density.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
1, the present invention adopts special bicycle to detect and positioner, and it is fixed that this bicycle detects with positionerPosition accuracy formation higher, setting device according to demand, experiment equipment obtain easily, easily carry andInstall; Therefore, the present invention has that cost is low, flexible configuration, installation are simple and easy, portable good, be easy to demarcateWith accuracy advantages of higher;
2, the present invention adopts bicycle test rod, Vehicle-borne Laser Scanning detecting unit, vehicle GPS location are singleUnit and data storage cell are not strict with, and easily obtain, have stable, economical, lay simple and easy, justThe property taken is good, is highly suitable for the work of bicycle Dynamic Data Acquiring, and therefore the present invention has very large actual pushing awayWide value.
3, the bicycle group that the present invention adopts detects and positioner, is arranged on experimental machine motor-car top laser and sweepsRetouch checkout gear, by periodic transmitting 360 spend detection laser cover taking experimental machine motor-car as the center of circle onePiece region, not disconnecting receives to the reflection laser of bicycle test rod, and by respective wire by bicycleBar reflection laser signal is stored in vehicle-mounted memory cell, and vehicle GPS positioning unit is also by each gps dataThe spatial positional information of the experimental machine motor-car in collection period is stored in vehicle-mounted memory cell, this checkout gearConfigure perfectly, antijamming capability is strong, can adapt under any bad weather, under any unfavorable road environmentWork, can realize the advantage that accuracy of detection is high, reliability is high; In addition this cover bicycle group detection and localization,Device can in officely be what is the need on the section that will detect and be tested, and it not only can study single property bicycle winkTime, long traffic characteristics, can also study the traffic characteristics of crowded groups of bicycles, such as traffic densityDeng, contribute to the research of the mutual interference problem of bicycle.
4, cost of the present invention is low, and good economy performance is easy to promotion and application.
Brief description of the drawings
Fig. 1 is the structural representation of the bicycle group locating and detecting device based on laser scanning;
Fig. 2 is that embodiment is the structural representation of the locating and detecting device connection outer computer in Fig. 1;
Fig. 3 is the structured flowchart of embodiment locating and detecting device motor vehicle end;
Fig. 4 is the bicycle group locating and detecting device mounting structure block diagram based on laser scanning of embodiment;
Fig. 5 is the flow chart that the present invention is based on the bicycle group position finding and detection method of laser scanning.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, goal of the invention of the present invention is described in further detail, realExecuting example can not repeat one by one at this, but therefore embodiments of the present invention are not defined in following examples. RemoveNon-special instruction, material and processing method that the present invention adopts are the art conventional material and processing method.
Embodiment
As shown in Figure 1, a kind of bicycle group detects and positioner, comprises bicycle test rod 1, vehicle-mounted sharpOptical scanning detecting unit 2, vehicle GPS positioning unit 3, data storage cell 4, first data transmission cable5, the data output interface 7 of the second data cable 6, data storage cell. The reflection of bicycle test rodCome to the laser scanning inspection signal of laser scanning inspection unit transmitting, laser scanning inspection unit receives extremelyThe reflected signal of bicycle test rod, and by the locus coordinate of the each individual specimen of bicycle group receivingSend data storage cell 4, vehicle GPS with laser scanning cycle numbering to by first data transmission cable 5Positioning unit and laser scanning inspection units synchronization are started working, at interval of certain hour (1s or 5s), and willThe current spatial positional information of experimental machine motor-car and gps data collection period numbering are by the second data cable6 send data storage cell 4 to, and data storage cell is provided with the data output interface being connected with outer computer7。
As shown in Figure 3, bicycle group locating and detecting device comprises that laser scanning inspection unit (comprises that signal sends outPenetrate and receive), bicycle test rod, vehicle GPS positioning unit, vehicle-mounted memory cell be (containing calculating with outsideThe RS232 interface that machine is connected).
This device can be realized detection and the location to bicycle group. In general be, that this device is placed in to earth's surfaceTo detecting and locate by the bicycle of whole bicycle lane, so as accordingly data calculate single fromThe traffic characteristics research (interference) of driving movement locus, speed and acceleration and bicycle group motion.
Wherein, bicycle test rod 1 can be made up of materials such as aluminium, iron, wood, and diameter is 3cm left and right,Only require and can reflect laser scanning signal.
Vehicle-borne Laser Scanning detecting unit and vehicle GPS positioning unit adopt conventional vehicle-mounted 3 D laser scanningInstrument, its system sensor is partially integrated in one can firmly be connected to common roof-rack or custom componentOn rebound, support can be adjusted respectively the appearance of laser sensor head, digital camera, IMU and gps antennaState or position. High-intensity structure is enough to ensure relative attitude and the pass, position between sensor head and navigatorSystem stablizes constant.
As shown in Figure 2, this locating and detecting device is treated as whole system, comprise motor vehicle end 10,Bicycle end 20 and outer computer 30, bicycle end comprises bicycle and bicycle test rod; Motor-drivenCar end comprises Vehicle-borne Laser Scanning detecting unit, GPS location and memory cell; Outer computer 30 is for locatingReason external data. Bicycle test rod makes by the reflection of the detection signal to laser scanning inspection unitObtain the locus coordinate that Vehicle-borne Laser Scanning unit obtains bicycle, Vehicle-borne Laser Scanning detecting unit, carCarry GPS positioning unit by bicycle locus coordinate, laser scanning cycle numbering (system time) andExperimental machine motor-car locus coordinate (GPS), gps data collection period numbered transmission are to external data processingUnit, positions analysis by a series of data processing of external data processing unit to bicycle group.
As shown in Figure 4, in this locating and detecting device, laser scanning inspection unit transmitting detection signal, fromDriving test rod reflection detection signal, laser detection unit receives the reflected signal to bicycle test rod,And believe together with GPS locus receiving reflected signal, the laser scanning cycle numbering (system time) comeBreath is transferred to vehicle-mounted memory cell, is computer phase by RS232 interface circuit and external data treatment systemConnect.
As shown in Figure 5, the present invention adopts bicycle group laser scanning inspection and localization method comprise following stepRapid:
1) checkout gear is installed: comprise the test rod that is arranged on bicycle, be arranged on experimental machine motor-carLaser scanning inspection unit, vehicle GPS positioning unit and data storage cell;
2) system time calibration: to being arranged on laser scanning inspection unit and the GPS of experiment vehicle roofThe system time of unit is calibrated, and ensures the two system time Complete Synchronization;
3) sample information collection: first require experimental machine motor-car as far as possible at the uniform velocity to travel; Moreover, arrive with 0.02s0.1s is a laser scanning inspection cycle, with the experimental machine motor-car center of circle, radius 80m(or according to realitySituation is adjusted) space be detection range, gather bicycle group each individual specimen locus coordinate,Laser scanning inspection cycle numbering (system time); Simultaneously with the frequency Real-time Collection reality of 1s/ time or 5s/ timeTest gps coordinate and the gps data collection period numbering (system time) of motor vehicle.
4) detect data storages: use test carried on vehicle memory cell with the laser scanning inspection cycle for depositingStorage file unit stores the locus coordinate of the each individuality of bicycle group, with gps data collection periodFor storage file unit carries out real-time storage to experimental machine motor-car locus coordinate;
5) system coordinates parameter calibration: be that absolute coordinate system calibration experiment motor vehicle is each with GPS space coordinatesLocus coordinate in gps data collection period, then to the GPS space bit in gps data collection periodPutting coordinate, to adopt linear differential computing rule to calculate experiment corresponding in each laser scanning inspection cycle motor-drivenCar locus coordinate, sets up relative coordinate system to each laser scanning taking this locus coordinate as initial point respectivelyThe each individual space position coordinates of bicycle group collecting in sense cycle is demarcated;
6) bicycle location: adopt travelling of the artificial or simple intelligent algorithm identification each individual specimen of bicycleTrack to be to complete the work of bicycle location, can obtain the locator data of bicycle and driving trace, speed,The parameters such as the traffic stream characteristics of acceleration and bicycle group.
Wherein, experimental machine motor-car locus coordinate and gps data collection period numbering are located by vehicle GPSUnit obtains, and bicycle locus coordinate, laser scanning cycle number by Vehicle-borne Laser Scanning detecting unitObtain. First experimental machine motor-car spatial positional information is numbered to distinguish with gps data collection period and believes at geographyIn the absolute coordinate system that breath systems soft ware builds, demarcate, then to the GPS sky in gps data collection periodBetween position coordinates adopt linear differential computing rule to calculate experiment corresponding in each laser scanning inspection cycleMotor vehicle locus coordinate, sets up relative coordinate system to each laser taking this locus coordinate as initial point respectivelyThe each individual space position coordinates of bicycle group collecting in scanning sense cycle is demarcated
Above-described embodiment is preferably embodiment of the present invention, but embodiments of the present invention are not subject to above-mentioned realityExecute routine restriction, other any do not deviate from the change done under Spirit Essence of the present invention and principle, modification,Substitute, combine, simplify, all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (7)
1. the bicycle group locating and detecting device based on laser scanning, is characterized in that, comprises bicycleTest rod, Vehicle-borne Laser Scanning detecting unit, vehicle GPS positioning unit and data storage cell; BicycleTest rod is arranged on bicycle, and Vehicle-borne Laser Scanning detecting unit is installed together with vehicle GPS positioning unitAt vehicle roof; In the time that this device starts to detect, vehicle-mounted laser scanning inspection unit, vehicle GPS are installedThe motor vehicle of positioning unit and data storage cell stops or at the uniform velocity travelling near bicycle group, is detectedData; By the laser scanning inspection data in data storage cell and GPS locator data are merged, by locatingReason system detects and locates the multiple bicycles of bicycle group;
Described bicycle test rod is arranged on experiment bicycle, receives from laser scanning on experimental machine motor-carThe laser scanning inspection signal that detecting unit sends, and laser scanning inspection signal reflex is gone out;
Described Vehicle-borne Laser Scanning cellular installation is at experiment vehicle roof, by continuous Emission Lasers signalWith the signal that is received from driving test rod reflection to obtain bicycle spatial position data;
Described vehicle GPS positioning unit is arranged on experiment vehicle roof, obtains testing vehicle GPS skyBetween position data;
Described data storage cell is arranged on experiment interior of motor vehicles, single by cable and vehicle GPS locationUnit, laser scanning device reflected signal receiving system are connected, real-time storage experimental machine motor-car and bicycleSpatial position data and laser scanning inspection cycle numbering; By the experimental machine motor-car of vehicle GPS positioning unitThe spatial position data fusion treatment of spatial position data and bicycle group is real to obtain the each bicycle of bicycle groupTime space position and driving trace data.
2. the bicycle group locating and detecting device based on laser scanning according to claim 1, its featureBe, the laser scanning inspection point on bicycle test rod apart from ground level between 1.5m～1.8m.
3. the bicycle group position finding and detection method based on laser scanning, is characterized in that, comprises following stepRapid:
1) checkout gear is installed: comprise the test rod that is arranged on bicycle, be arranged on experimental machine motor-carLaser scanning inspection unit, vehicle GPS positioning unit and data storage cell;
2) system time calibration: to being arranged on laser scanning inspection unit and the GPS of experiment vehicle roofThe system time of unit is calibrated, and ensures the two system time Complete Synchronization;
3) sample information collection: first require experimental machine motor-car as far as possible at the uniform velocity to travel; Moreover, arrive with 0.02s0.1s is a laser scanning inspection cycle, taking experimental machine motor-car as the center of circle, detects in the space of setting radius valueIn scope, gather locus coordinate, the laser scanning inspection cycle numbering of the each individual specimen of bicycle group;Simultaneously with gps coordinate and the gps data collection of the frequency Real-time Collection experimental machine motor-car of 1s/ time or 5s/ timeCycle numbering;
4) detect data storages: use test carried on vehicle memory cell with the laser scanning inspection cycle for depositingStorage file unit stores the locus coordinate of the each individuality of bicycle group, with gps data collection periodFor storage file unit carries out real-time storage to experimental machine motor-car locus coordinate;
5) system coordinates parameter calibration: be that absolute coordinate system calibration experiment motor vehicle is each with GPS space coordinatesLocus coordinate in gps data collection period, then to the GPS space bit in gps data collection periodPutting coordinate, to adopt linear differential computing rule to calculate experiment corresponding in each laser scanning inspection cycle motor-drivenCar locus coordinate, sets up respectively relative coordinate system and calculates each laser and sweep taking this locus coordinate as initial pointRetouch the each individual space position coordinates of the bicycle group collecting in sense cycle;
6) bicycle location: adopt travelling of the artificial or simple intelligent algorithm identification each individual specimen of bicycleTrack to be to complete the work of bicycle location, can obtain the locator data of bicycle and driving trace, speed,The parameters such as the traffic stream characteristics of acceleration and bicycle group.
4. the bicycle group position finding and detection method based on laser scanning according to claim 3, its featureBe step 3) described in sample information gather the bicycle group space in each laser scanning inspection cycleThe experiment vehicle GPS of position coordinates, laser scanning inspection cycle numbering and each gps data collection period is satMark and gps data collection period numbering.
5. the bicycle group position finding and detection method based on laser scanning according to claim 3, its feature existsIn, step 5) described in system coordinates parameter calibration comprise that adopting GPS locator data to set up system definitely sitsMark system, and the experiment vehicle GPS obtaining in each laser scanning inspection cycle through linear differential algorithm is satMark, then taking this as initial point, the locus coordinate of the each individual specimen of bicycle group being demarcated.
6. the bicycle group position finding and detection method based on laser scanning according to claim 5, its feature existsIn, use artificial or corresponding simple intelligent algorithm to identify each bicycle individual specimen driving trace,Carry out based on this other information parameter analysis.
7. the bicycle group position finding and detection method based on laser scanning according to claim 3, its featureBe step 6) in by described artificial or simple intelligent algorithm identification obtain bicycle running orbit figure,The traffic parameter of speed, the dynamic micro-data of acceleration and bicycle flow; This traffic parameter comprises bicycleThe place speed of a motor vehicle, flow, the density of stream.
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| CN201410138521.3A CN103942964B (en) | 2014-04-08 | 2014-04-08 | A kind of bicycle group locating and detecting device and method based on laser scanning |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1064167A (en) * | 1991-03-12 | 1992-09-02 | 公安部城市交通管理科学研究所 | A kind of detection method of throughput of crowded groups of bicycles |
| CN102248947A (en) * | 2010-05-12 | 2011-11-23 | 通用汽车环球科技运作有限责任公司 | Object and vehicle detecting and tracking using a 3-D laser rangefinder |
| CN102466564A (en) * | 2010-11-17 | 2012-05-23 | 天津东方威尔科技有限公司 | Fixation fastness detector of bicycle reflector |
| CN102779409A (en) * | 2012-07-03 | 2012-11-14 | 华南理工大学 | Bicycle detecting and positioning device and detecting and positioning method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004280372A (en) * | 2003-03-14 | 2004-10-07 | Natl Inst For Land & Infrastructure Management Mlit | Detection method of moving body |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1064167A (en) * | 1991-03-12 | 1992-09-02 | 公安部城市交通管理科学研究所 | A kind of detection method of throughput of crowded groups of bicycles |
| CN102248947A (en) * | 2010-05-12 | 2011-11-23 | 通用汽车环球科技运作有限责任公司 | Object and vehicle detecting and tracking using a 3-D laser rangefinder |
| CN102466564A (en) * | 2010-11-17 | 2012-05-23 | 天津东方威尔科技有限公司 | Fixation fastness detector of bicycle reflector |
| CN102779409A (en) * | 2012-07-03 | 2012-11-14 | 华南理工大学 | Bicycle detecting and positioning device and detecting and positioning method |
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