CN106245475A - Highway that a kind of whole process identifies with lane center and using method - Google Patents
Highway that a kind of whole process identifies with lane center and using method Download PDFInfo
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- CN106245475A CN106245475A CN201610579826.7A CN201610579826A CN106245475A CN 106245475 A CN106245475 A CN 106245475A CN 201610579826 A CN201610579826 A CN 201610579826A CN 106245475 A CN106245475 A CN 106245475A
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- coded data
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- binary coded
- data bar
- track
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C1/00—Design or layout of roads, e.g. for noise abatement, for gas absorption
- E01C1/002—Design or lay-out of roads, e.g. street systems, cross-sections ; Design for noise abatement, e.g. sunken road
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
Abstract
Highway that a kind of whole process of the present invention identifies with lane center and using method, the present invention arranges the omnidistance easy to identify or tag line of detection on the lane center in each track of highway, as added the pigment of different colours in relevant coating, easily reflectorized material, or magnetic material, or metal powder material etc., so it is easy to vehicle and uses light sensor, magneto-dependent sensors etc. carry out identification and the detection of run-off-road position of center line to vehicle, consequently facilitating vehicle control system judges and adjusts vehicle position in track, realize vehicle control system the auxiliary of vehicle is driven or directly driven.
Description
Technical field
The present invention relates to the fields such as transport information process, automobile navigation, auxiliary driving technology, particularly relate to a kind of omnidistance
Highway and using method with lane center mark.
Background technology
China Transportation Industry develops quickly, and whole nation total mileage of highway reaches 4,500,000 kilometers at present, and wherein highway is total
Mileage reaches 10.8 ten thousand kilometers, and two grades and above total mileage of highway reach 650,000 kilometers；Whole nation automobile pollution reaches 1.79 hundred million,
Its middle-size and small-size passenger car reaches 1.42 hundred million；The whole nation obtains motor vehicle driving qualification number and surpasses 3.34 hundred million people.
It is understood that subway, light rail, railway have track, vehicle runs only along track, but for highway, and
There is not such track, only track, there are slow lane, fast traffic lane, fast etc. in track respectively, even if certain car is always one
Walking inside individual track, it also will not middle in track walk always, and the most to the left the most to the right, certain lane center is also
There is not the auxiliary such as uninterrupted (even if there being interruption, each interruption not should be greater than five meters) the supply vehicle navigation of a whole process to drive
The tag line being easy to identify of system.It addition, the transport information of existing highway road surface identification is mainly suitable for the visual determination of people,
If employing video processing technique, during vehicle high-speed advances, then to face big data processing problem, this can increase undoubtedly
Difficulty and cost, be also auxiliary driving technology, a big difficult point of the most unmanned technology.
Summary of the invention
In order to solve the problem of above-mentioned existence, the present invention provide highway that a kind of whole process identifies with lane center and
Using method, on highway track in addition to center identification also data message with useful binary identification, these data
Information can comprise this ramp name, current mileage, position, administrative region, highway numbering and longitude and latitude etc., it is also possible to
Bend, upward slope, descending, Interchange Terminal, service-interworking, service area, charge station, highway is had to enter at a certain distance from comprising front
Mouth (right side has car to converge entrance rightmost side runway), expressway exit etc., it is also possible to comprise any other data message, from
And it is easy to information of vehicles identification, for reaching this purpose, the present invention provides the highway that a kind of whole process identifies with lane center, institute
Stating highway both sides is roadside greenbelt, is central partition in the middle part of described highway, and described highway is by central authorities
Isolation strip is divided into two parts, and two part cars, on the contrary, are followed successively by central partition by roadside greenbelt in each part
Emergency Vehicle Lane center identification line, Emergency Vehicle Lane and runway demarcation line, right side, right side runway center identification line, right side runway
With middles lanes demarcation line, middles lanes center identification line, middles lanes and left row lane line, left driving
Road center identification line, left row track and fast demarcation line, fast center identification line and fast left side bearing, described emergent
There is row's Emergency Vehicle Lane binary coded data bar on lane center tag line, described right side runway center identification line has one
Runway binary coded data bar on the right side of row, described middles lanes center identification line has row's middles lanes binary system
Coded data bar, described left row track center identification line has row's left row track binary coded data bar, described super
Row's fast binary coded data bar is had, if highway is meeting an urgent need in the same section of bend on lane center tag line
The central point Ying Tong of the binary coded data bar of track, right side runway, middles lanes, left row track and fast
Article one, be perpendicular on the camber line in track, the midpoint of each bar code line of binary coded data bar on corresponding tag line, each bar
Code line is vertical with corresponding marking line, and the binary coded data bar often arranging track comprises lane information, road section information, mileage letter
Breath.
Further improvement of the present invention, described Emergency Vehicle Lane binary coded data bar, right side runway binary coding
Data strip, middles lanes binary coded data bar, left row track binary coded data bar and fast binary system are compiled
Code data strip is fixed in relevant lane position by coating or paster mode, the present invention can as desired by coating or
Binary coded data bar is fixed by paster mode.
Further improvement of the present invention, described Emergency Vehicle Lane center identification line, right side runway center identification line, center row
Lane center tag line, left row track center identification line and fast center identification line are respectively in the center meta in each track
Putting, for omnidistance solid line, their width determines according to corresponding traffic rules, and center identification line can enter according to actual traffic situation
Row determines.
Further improvement of the present invention, described Emergency Vehicle Lane binary coded data bar, right side runway binary coding
Data strip, middles lanes binary coded data bar, left row track binary coded data bar and fast binary system are compiled
The pigment adding traffic regulations color in the coating of code data strip is added with easy reflectorized material or magnetic material or metal powder material,
For the ease of correspondence, I opposes an induction apparatus identification, and the present invention can arrange corresponding material in coating.
Further improvement of the present invention, described Emergency Vehicle Lane binary coded data bar, right side runway binary coding
Data strip, middles lanes binary coded data bar, left row track binary coded data bar and fast binary system are compiled
Code data strip is formed by many isometric lines, and every line represents a bit, and every line length is 100 ~ 160 centimetres, wide
Elect 5 centimetres as, specifically determined by corresponding traffic rules, between line and line continuously every, without paint line with bituminous paving background color, do not have
Substantially length border represents " 0 " of binary number, and paint line represents " 1 " of binary number, specifically by corresponding traffic rules certainly
Fixed, conventional binary coded data bar length and width can use defined above, it is possible to selects according to actual rule.
Further improvement of the present invention, is divided into section one by one by highway by mileage, and each section is with 10 kilometers
Or 20 kilometers of divisions, from the beginning of the starting point in each section, comprise lane information, road often arranging mark on lane center tag line
Segment information, the binary coded data bar of mileage information, in triplicate, i.e. have three sections of identical binary coded data bars, often
The spacing of two sections of binary coded data bars, between 2 ~ 10 meters, is specifically determined by corresponding traffic rules by mask method, road
Section is general with 10 kilometers or 20 kilometers divisions, specifically can be determined according to actual traffic rule.
Further improvement of the present invention, the binary system that the abnormal section starting point increase at highway comprises abnormal information is compiled
Code data strip mark, in triplicate, i.e. has three sections of identical binary coded data bars, between every two sections of binary coded data bars
Distance, between 2 ~ 10 meters, is specifically determined by corresponding traffic rules by mask method, and abnormal information also can be carried out drawing by the present invention
Point.
Further improvement of the present invention, the abnormal section of described highway is entrance or outlet or accident easily send out section or
Bridge or tunnel, exception section of the present invention is determined by corresponding traffic rules.
The using method of the highway that a kind of whole process identifies with lane center, specifically comprises the following steps that
1) row's Emergency Vehicle Lane binary coded data bar is set as required on Emergency Vehicle Lane center identification line, at right side row
Runway binary coded data bar on the right side of one row is set on lane center tag line, middles lanes center identification line sets
Put row's middles lanes binary coded data bar, left row track center identification line arranges row's left row track two
Scale coding data strip, arranges row's fast binary coded data bar on fast center identification line；
2) stationary induction apparatus is installed below the headstock of each car；
3) vehicle travels on track, is carried out vehicle in run-off-road by induction apparatus identification track binary coded data bar
The identification of heart line position and detection；
4) corresponding signal is sent to vehicle control system judge and adjust vehicle position in track.
Further improvement of the present invention, the induction apparatus below the headstock of step 2 car is light sensor or magnetosensitive sensing
Device, the present invention can determine respective sensor according to binary coded data bar coating material.
Highway that a kind of whole process of the present invention identifies with lane center and using method, the present invention is at highway
The omnidistance easy to identify or tag line of detection is set on the lane center in each track, as added different face in relevant coating
The pigment of color, easy reflectorized material or magnetic material or metal powder material etc., be so easy to vehicle and use light sensor, magnetosensitive to pass
Sensors etc. carry out identification and the detection of run-off-road position of center line to vehicle, consequently facilitating vehicle control system judges and adjusts
Vehicle position in track, it is achieved the auxiliary of vehicle is driven or directly drives by vehicle control system.
Accompanying drawing explanation
Fig. 1 is the omnidistance highway schematic diagram with lane center mark of the present invention；
Concrete component names is as follows:
1, roadside greenbelt；2, Emergency Vehicle Lane center identification line；3, Emergency Vehicle Lane and runway demarcation line, right side；4, right side driving
Road center identification line；5, right side runway and middles lanes demarcation line；6, middles lanes center identification line；7, middle driving
Road and left row lane line；8, left row track center identification line；9, left row track and fast demarcation line；10, super
Lane center tag line；11, fast left side bearing；12, central partition；13, Emergency Vehicle Lane binary coded data bar；14、
Right side runway binary coded data bar；15, middles lanes binary coded data bar；16, left row track binary system
Coded data bar；17, fast binary coded data bar.
Detailed description of the invention
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings:
The present invention provides the highway and using method that a kind of whole process identifies with lane center, except band on highway track
Having outside center identification the data message also with useful binary identification, these data messages can comprise this ramp name, current
Mileage, position, administrative region, highway numbering and longitude and latitude etc., it is also possible to have at a certain distance from comprising front bend, on
(right side has car to converge entrance rightmost side row for slope, descending, Interchange Terminal, service-interworking, service area, charge station, expressway access
Track), expressway exit etc., it is also possible to comprise any other data message, consequently facilitating information of vehicles identification.
As an embodiment of the present invention, the present invention provides the highway that a kind of whole process identifies, institute with lane center
Stating highway both sides is roadside greenbelt 1, is central partition 12, during described highway passes through in the middle part of described highway
Isolation strip 12, centre is divided into two parts, and two part cars are on the contrary, in each part by roadside greenbelt 1 to central partition 12
Be followed successively by Emergency Vehicle Lane center identification line 2, Emergency Vehicle Lane and runway demarcation line, right side 3, right side runway center identification line 4,
Right side runway divides with left row track with middles lanes demarcation line 5, middles lanes center identification line 6, middles lanes
Boundary line 7, left row track center identification line 8, left row track and fast demarcation line 9, fast center identification line 10 and super
Track left side bearing 11, described Emergency Vehicle Lane center identification line 2 has row's Emergency Vehicle Lane binary coded data bar 13, the described right side
Having runway binary coded data bar 14 on the right side of a row on skidding lane center tag line 4, described middles lanes center is marked
Know and have row's middles lanes binary coded data bar 15 on line 6, described left row track center identification line 8 has a row left
Skidding track binary coded data bar 16, described fast center identification line 10 has row's fast binary coded data
Bar 17, if highway be the Emergency Vehicle Lane in the same section of bend, right side runway, middles lanes, left row track and
The central point of the binary coded data bar of fast should be perpendicular on the camber line in track at same, binary coded data bar
The midpoint of each bar code line on corresponding tag line, each bar code line is vertical with corresponding marking line, often arranges the binary system volume in track
Code data strip comprises lane information, road section information, mileage information.
Emergency Vehicle Lane binary coded data bar 13 of the present invention, right side runway binary coded data bar 14, in
Between runway binary coded data bar 15, left row track binary coded data bar 16 and fast binary coded data
Bar 17 is fixed in relevant lane position by coating or paster mode, and the present invention can be as desired by coating or paster
Binary coded data bar is fixed by mode.
Emergency Vehicle Lane center identification line 2 of the present invention, right side runway center identification line 4, middles lanes center mark
Know line 6, left row track center identification line 8 and fast center identification line 10 respectively in the position, middle in each track, for
Omnidistance solid line, their width determines according to corresponding traffic rules, and center identification line can be carried out really according to actual traffic situation
Fixed.
Emergency Vehicle Lane binary coded data bar 13 of the present invention, right side runway binary coded data bar 14, in
Between runway binary coded data bar 15, left row track binary coded data bar 16 and fast binary coded data
The pigment adding traffic regulations color in the coating of bar 17 is added with easy reflectorized material or magnetic material or metal powder material, in order to
Being easy to corresponding induction apparatus identification, the present invention can arrange corresponding material in coating.
Emergency Vehicle Lane binary coded data bar 13 of the present invention, right side runway binary coded data bar 14, in
Between runway binary coded data bar 15, left row track binary coded data bar 16 and fast binary coded data
Bar 17 is formed by many isometric lines, and every line represents a bit, and every line length is 100 ~ 160 centimetres, wide elects 5 as
Centimetre, specifically determined by corresponding traffic rules, between line and line continuously every, without paint line with bituminous paving background color, not substantially
Length border represents " 0 " of binary number, and paint line represents " 1 " of binary number, is specifically determined by corresponding traffic rules, often
Can use defined above by binary coded data bar length and width, it is possible to select according to actual rule.
Highway is divided into section one by one by mileage by the present invention, and each section is drawn with 10 kilometers or 20 kilometers
Point, from the beginning of the starting point in each section, comprise lane information, road section information, mileage often arranging mark on lane center tag line
The binary coded data bar of information, in triplicate, i.e. has three sections of identical binary coded data bars, and between every two sections, two enter
The spacing of coded data bar processed, between 2 ~ 10 meters, is specifically determined by corresponding traffic rules by mask method, section typically with
10 kilometers or 20 kilometers divisions, specifically can be determined according to actual traffic rule.
Further improvement of the present invention, the binary system that the abnormal section starting point increase at highway comprises abnormal information is compiled
Code data strip mark, in triplicate, i.e. has three sections of identical binary coded data bars, binary coded data bar between every two sections
Spacing between 2 ~ 10 meters, specifically determined by corresponding traffic rules by mask method, abnormal information also can be entered by the present invention
Row divides.
The abnormal section of highway of the present invention is entrance or outlet or accident easily sends out section or bridge or tunnel, this
The abnormal section of invention is mainly entrance or outlet or accident easily sends out section or bridge or tunnel.
The using method of the highway that a kind of whole process of the present invention identifies with lane center, specifically comprises the following steps that
1) row's Emergency Vehicle Lane binary coded data bar 13 is set as required on Emergency Vehicle Lane center identification line 2, on the right side
Runway binary coded data bar 14 on the right side of one row is set on skidding lane center tag line 4, marks at middles lanes center
Know and on line 6, row's middles lanes binary coded data bar 15 is set, left row track center identification line 8 arranges a row
Left row track binary coded data bar 16, arranges row's fast binary coded number on fast center identification line 10
According to bar 17；
2) stationary induction apparatus is installed below the headstock of each car；
3) vehicle travels on track, is carried out vehicle in run-off-road by induction apparatus identification track binary coded data bar
The identification of heart line position and detection；
4) corresponding signal is sent to vehicle control system judge and adjust vehicle position in track.
Induction apparatus below the headstock of the step 2 car of the present invention is light sensor or magneto-dependent sensor, and the present invention can root
Respective sensor is determined according to binary coded data bar coating material.
As shown in Figure 1, on lane center, have, for one, the highway that (or easily detection) easy to identify identify, wherein
2 is Emergency Vehicle Lane center identification line, and 4 is right side runway center identification line, and 6 is middles lanes center identification line, and 8 is left side
Runway center identification line, 10 is fast center identification line, is labelled with car in Fig. 1 on lane center in binary form
The binary coding of track data information, wherein 13 is Emergency Vehicle Lane binary coded data, and 14 is that right side runway binary system is compiled
Code data, 15 is middles lanes binary coded data, and 16 is left row track binary coded data, and 17 is fast two
Scale coding data；These binary coded datas can comprise this ramp name, current mileage, position, administrative region, at a high speed
Highway number and longitude and latitude etc., it is also possible at a certain distance from comprising front, have bend, upward slope, descending, Interchange Terminal, service mutual
Logical, service area, charge station, expressway access (right side has car to converge entrance rightmost side runway), expressway exit etc., when
So can also comprise any other data message.
The above, be only presently preferred embodiments of the present invention, is not the limit that the present invention makees any other form
System, and any amendment made according to the technical spirit of the present invention or equivalent variations, still fall within present invention model required for protection
Enclose.
Claims (10)
1. the highway that whole process identifies with lane center, described highway both sides are roadside greenbelt (1), described
Being central partition (12) in the middle part of highway, described highway is divided into two parts by central partition (12), two
Part car, on the contrary, is followed successively by Emergency Vehicle Lane center identification by roadside greenbelt (1) to central partition (12) in each part
Line (2), Emergency Vehicle Lane and runway demarcation line, right side (3), right side runway center identification line (4), right side runway are with middle
Runway demarcation line (5), middles lanes center identification line (6), middles lanes and left row lane line (7), left side
Runway center identification line (8), left row track and fast demarcation line (9), fast center identification line (10) and fast
Left side bearing (11), it is characterised in that: there is row's Emergency Vehicle Lane binary coded data on described Emergency Vehicle Lane center identification line (2)
Bar (13), described right side runway center identification line (4) has runway binary coded data bar (14) on the right side of a row, described
Row's middles lanes binary coded data bar (15), described left row track is had on middles lanes center identification line (6)
Row's left row track binary coded data bar (16), described fast center identification line (10) is had on center identification line (8)
On have row's fast binary coded data bar (17), if highway is the Emergency Vehicle Lane in the same section of bend, right side
The central point of the binary coded data bar of runway, middles lanes, left row track and fast should be vertical at same
On the camber line in track, the midpoint of each bar code line of binary coded data bar is on corresponding tag line, and each bar code line is with right
Answering marking line vertical, the binary coded data bar often arranging track comprises lane information, road section information, mileage information.
The highway that a kind of whole process the most according to claim 1 identifies with lane center, it is characterised in that: described should
Anxious track binary coded data bar (13), right side runway binary coded data bar (14), middles lanes binary system are compiled
Code data strip (15), left row track binary coded data bar (16) and fast binary coded data bar (17) are by being coated with
Material or paster mode are fixed in relevant lane position.
The highway that a kind of whole process the most according to claim 1 identifies with lane center, it is characterised in that: described should
Anxious lane center tag line (2), right side runway center identification line (4), middles lanes center identification line (6), left driving
Road center identification line (8) and fast center identification line (10) are respectively in the position, middle in each track, for omnidistance solid line, it
Width determine according to corresponding traffic rules.
The highway that a kind of whole process the most according to claim 1 identifies with lane center, it is characterised in that: described should
Anxious track binary coded data bar (13), right side runway binary coded data bar (14), middles lanes binary system are compiled
Code data strip (15), left row track binary coded data bar (16) and the coating of fast binary coded data bar (17)
The pigment of interior addition traffic regulations color is added with easy reflectorized material or magnetic material or metal powder material.
The highway that a kind of whole process the most according to claim 1 identifies with lane center, it is characterised in that: described should
Anxious track binary coded data bar (13), right side runway binary coded data bar (14), middles lanes binary system are compiled
Code data strip (15), left row track binary coded data bar (16) and fast binary coded data bar (17) are by many
The line composition that root is isometric, every line represents a bit, and every line length is 100 ~ 160 centimetres, wide elects 5 centimetres as, specifically
Determined by corresponding traffic rules, between line and line continuously every, without paint line with bituminous paving background color, do not have obvious length border come
Representing " 0 " of binary number, paint line represents " 1 " of binary number, is specifically determined by corresponding traffic rules.
Binary coded data bar the most according to claim 1, it is characterised in that: highway is divided into one by mileage
Each and every one section, each section is with 10 kilometers or 20 kilometers divisions, from the beginning of the starting point in each section, is often arranging lane center mark
Know the binary coded data bar that on line, mark comprises lane information, road section information, mileage information, in triplicate, i.e. have three sections
Identical binary coded data bar, the spacing of every two sections of binary coded data bars is between 2 ~ 10 meters, specifically by marking
Method is determined by corresponding traffic rules.
Binary coded data bar the most according to claim 1, it is characterised in that: in the abnormal section starting point of highway
Increase the binary coded data bar mark comprising abnormal information, in triplicate, i.e. have three sections of identical binary coded data bars,
The spacing of every two sections of binary coded data bars, between 2 ~ 10 meters, is specifically determined by corresponding traffic rules by mask method.
Binary coded data bar the most according to claim 7, it is characterised in that: the abnormal section of described highway is
Entrance or outlet or accident easily send out section or bridge or tunnel, and concrete abnormal pavement section is determined by corresponding traffic rules.
9. a using method for the highway that whole process identifies with lane center, comprises the following steps that, it is characterised in that:
1) row's Emergency Vehicle Lane binary coded data bar (13) is set as required on Emergency Vehicle Lane center identification line (2),
Right side runway center identification line (4) arranges runway binary coded data bar (14) on the right side of a row, drives a vehicle in centre
One row's middles lanes binary coded data bar (15) is set on road center identification line (6), at left row track center identification
One row's left row track binary coded data bar (16) is set on line (8), fast center identification line (10) arranges one
Row's fast binary coded data bar (17)；
2) stationary induction apparatus is installed below the headstock of each car；
3) vehicle travels on track, is carried out vehicle in run-off-road by induction apparatus identification track binary coded data bar
The identification of heart line position and detection；
4) corresponding signal is sent to vehicle control system judge and adjust vehicle position in track.
The using method of the highway that a kind of whole process the most according to claim 9 identifies with lane center, its feature
It is: the induction apparatus below the headstock of step 2 car is light sensor or magneto-dependent sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610579826.7A CN106245475A (en) | 2016-07-22 | 2016-07-22 | Highway that a kind of whole process identifies with lane center and using method |
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| CN201610579826.7A CN106245475A (en) | 2016-07-22 | 2016-07-22 | Highway that a kind of whole process identifies with lane center and using method |
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Cited By (7)
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| CN108239899A (en) * | 2018-02-27 | 2018-07-03 | 招商局重庆交通科研设计院有限公司 | A kind of unmanned Intelligent road of High Precision Stereo |
| CN109976348A (en) * | 2019-04-11 | 2019-07-05 | 深圳市大富科技股份有限公司 | A kind of vehicle and its motion control method, equipment, storage medium |
| CN110345967A (en) * | 2018-04-02 | 2019-10-18 | 北京四维图新科技股份有限公司 | Vehicle positioning method, apparatus and system based on mileage indicant |
| CN110402310A (en) * | 2017-03-15 | 2019-11-01 | 3M创新有限公司 | Pavement marker system for lane identification |
| CN110455298A (en) * | 2019-08-14 | 2019-11-15 | 灵动科技（北京）有限公司 | Vehicle localization method and positioning system |
| CN112307808A (en) * | 2019-07-25 | 2021-02-02 | 郑州宇通客车股份有限公司 | Vehicle experiment site and lane line detection method thereof |
| CN112735187A (en) * | 2021-01-29 | 2021-04-30 | 重庆长安汽车股份有限公司 | System and method for automatically identifying emergency lane |
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