CN101281683A - Method and apparatus for detecting vehicle carriageway - Google Patents
Method and apparatus for detecting vehicle carriageway Download PDFInfo
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- CN101281683A CN101281683A CNA2007100541888A CN200710054188A CN101281683A CN 101281683 A CN101281683 A CN 101281683A CN A2007100541888 A CNA2007100541888 A CN A2007100541888A CN 200710054188 A CN200710054188 A CN 200710054188A CN 101281683 A CN101281683 A CN 101281683A
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Abstract
The invention relates to a method for detecting the roadway of the vehicle, wherein the method includes that, the vehicle communication apparatus obtains the roadway information of the section from the fixed communication apparatus, and the vehicle communication apparatus transmits the wireless electrical signal or the optical signal to the signal reflection device on the two sides of the road, and the signal reflection device reflects the wireless electrical signal or the optical signal to the vehicle communication apparatus, which computes the time delay or the phase delay between the received wireless electrical signal or the optical signal and that transmitted from the vehicle communication apparatus, then the vehicle communication apparatus respectively computes the distance of the two sides of the road according to the time delay or the phase delay, and computes the roadway of the vehicle according to the distance from the road to the vehicle and the width of the road. The invention also discloses a device for detecting the road of the vehicle, which can real time and fast detect the roadway of the vehicle.
Description
Technical field
The present invention relates to the traffic detection technique, especially a kind of method and device that detects track, vehicle place belongs to the intelligent transport technology field.
Background technology
Present many vehicles are equipped with astern radar device, can detect the distance of vehicle and back object, avoided at when reversing vehicle afterbody and the collision of other objects, but vehicle surmounts other vehicles in the process of moving and when being surmounted by other vehicles, there are two situations that vehicle travels in the same way side by side, need judge accurately track, vehicle place, but this astern radar device can not carry out the measurement of side and road edge distance to the vehicle of advancing in the road, thereby can not judge accurately track, vehicle place.
Summary of the invention
The objective of the invention is to the defective that to judge real-time and accurately the track, vehicle place in travelling at existing in prior technology, a kind of method and device that detects track, vehicle place is provided, can detect track, vehicle place real-time and accurately.
To achieve these goals, the invention provides a kind of method that detects track, vehicle place, this method may further comprise the steps:
Step 1: vehicular communication equipment will be sent to the fixed communication apparatus that the road next door is provided with after will inquiring about the request modulation of lane information;
Step 2: described fixed communication apparatus demodulates the request of described inquiry lane information, and is sent to described vehicular communication equipment after the lane information modulation with highway section, vehicle place;
Step 3: vehicular communication equipment is simultaneously to the signal reflex device transmitted radio signal or the light signal that are arranged on the road both sides;
Step 4: described signal reflex device reflexes to described vehicular communication equipment with described radio signal or described light signal;
Step 5: described vehicular communication equipment calculates the radio signal that radio signal that described vehicular communication equipment receives or light signal and described vehicular communication equipment send or the time delay or the phase delay of light signal;
Step 6: described vehicular communication equipment calculates the distance that the vehicle branch is clipped to the signal reflex device of described road both sides according to described time delay or phase delay;
Step 7: described vehicular communication equipment is clipped to the distance of signal reflex device of described road both sides and highway section, vehicle place according to the vehicle branch lane information calculates the track at vehicle place.
In technique scheme, vehicular communication equipment calculates the distance of vehicle to both sides of highway by measuring radio signal or optical signals in time delay or the phase differential that propagation causes, and judge the track at vehicle place, thereby can reach the technique effect of determining track, vehicle place real-time and accurately according to the lane information in highway section, vehicle place.
The present invention also provides a kind of device that detects track, vehicle place, comprising:
The signal reflex device is used for radio signal or the light signal received are reflected;
Vehicular communication equipment, be connected with the signal reflex device, be used to send radio signal or light signal to the signal reflex device, the radio signal or the light signal of the reflection of received signal reflection unit, calculate the radio signal that radio signal that described vehicular communication equipment receives or light signal and described vehicular communication equipment send or the time delay or the phase delay of light signal, and calculate the vehicle branch according to described time delay or phase delay and be clipped to the distance of the signal reflex device of described road both sides, and the lane information that is clipped to the distance of signal reflex device of described road both sides and highway section, vehicle place according to the vehicle branch calculates the track at vehicle place;
Fixed communication apparatus is connected with vehicular communication equipment, is used to receive the request that vehicular communication equipment is modulated the inquiry lane information that sends, and is sent to described vehicular communication equipment after the lane information modulation with highway section, vehicle place.
In technique scheme, vehicular communication equipment calculates the distance of vehicle to both sides of highway by measuring radio signal or optical signals in time delay or the phase differential that propagation causes, and judge the track at vehicle place, thereby can reach the technique effect of determining track, vehicle place real-time and accurately according to the lane information in highway section, vehicle place.
Below by the drawings and specific embodiments, technical scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 detects the process flow diagram of specific embodiment one of the method in track, vehicle place for the present invention;
Fig. 2 detects the process flow diagram of specific embodiment two of the method in track, vehicle place for the present invention;
Fig. 3 detects the process flow diagram of specific embodiment three of the method in track, vehicle place for the present invention;
Fig. 4 detects the structural representation of specific embodiment one of the device in track, vehicle place for the present invention;
Fig. 5 detects the structural representation of specific embodiment two of the device in track, vehicle place for the present invention;
Fig. 6 detects the structural representation of specific embodiment three of the device in track, vehicle place for the present invention.
Embodiment
Fig. 1 detects the process flow diagram of the method specific embodiment one in track, vehicle place for the present invention, vehicle travels on highway among this embodiment, the width of vehicle is 1.8 meters, the highway d in highway section, vehicle place is unidirectional to comprise four tracks, wherein the width of first lane and second lane all is 3.75 meters, and the width of third lane and Four-Lane Road all is 3.5 meters, and the width of the emergency stopping lane only adjacent with Four-Lane Road is 2.5 meters, each is wide 0.5 meter at the edge on highway both sides, and this embodiment may further comprise the steps:
Step 1: vehicular communication equipment will be sent to the fixed communication apparatus that the road next door is provided with after will inquiring about the request modulation of lane information;
Step 2: described fixed communication apparatus demodulates the request of described inquiry lane information, and is sent to described vehicular communication equipment after the lane information modulation with highway section, vehicle place;
Step 3: vehicular communication equipment is simultaneously to the signal reflex device transmitted radio signal or the light signal that are arranged on the road both sides;
Step 4: described signal reflex device reflexes to described vehicular communication equipment with described radio signal or described light signal;
Step 5: described vehicular communication equipment calculates the radio signal that radio signal that described vehicular communication equipment receives or light signal and described vehicular communication equipment send or the time delay or the phase delay of light signal;
Step 6: described vehicular communication equipment calculates the distance that the vehicle branch is clipped to the signal reflex device of described road both sides according to described time delay or phase delay;
Step 7: described vehicular communication equipment is clipped to the distance of signal reflex device of described road both sides and highway section, vehicle place according to the vehicle branch lane information calculates the track at vehicle place.
In the technique scheme, vehicular communication equipment calculates the distance (be respectively 4.5 meters and 11.7 meters) of vehicle to both sides of highway by measuring light signal or radio signal owing to propagate the time delay or the phase delay that cause, judge vehicle according to the information in track, current highway section again and be sitting at second lane, thereby can reach the technique effect of determining track, vehicle place real-time and accurately.
In the foregoing description one, also comprise step 8 after the described step 7: vehicular communication equipment is sent to fixed communication apparatus after with the lane information of vehicle and/or vehicle state information modulation, as shown in Figure 2, detect the process flow diagram of the method specific embodiment two in track, vehicle place for the present invention.
This embodiment two is except the technique effect that can reach the foregoing description one, vehicular communication equipment can also will be sent to the fixed communication apparatus that the road next door is provided with (for example toll station etc.) after the lane information of vehicle and/or the vehicle state information modulation, thereby makes fixed communication apparatus also can know lane information or other status informations of vehicle.
In the foregoing description one, we set the middle part that vehicular communication equipment is installed in vehicle, and the volume of vehicular communication equipment is not considered, and then described step 6 is specially:
Step 61: described vehicular communication equipment calculates the distance that described vehicular communication equipment branch is clipped to the signal reflex device of described road both sides according to described time delay or phase delay;
Step 62: described vehicular communication equipment is clipped to the signal reflex device of described road both sides according to the vehicular communication equipment branch distance and the particular location of vehicular communication equipment in vehicle calculate vehicle to the distance of dividing the signal reflex device that is clipped to described road both sides.
As shown in Figure 3, detect the process flow diagram of the method specific embodiment three in track, vehicle place for the present invention.
In the foregoing description three, vehicular communication equipment calculates the distance (be respectively 5.4 meters and 12.6 meters) of vehicular communication equipment to both sides of highway by measuring light signal or radio signal owing to propagate the time delay or the phase delay that cause, and according to the distance (be respectively 4.5 meters and 11.7 meters) of position (vehicular communication equipment to the distance of vehicle both sides be respectively 0.9 meter and 0.9 meter) the calculating vehicle of vehicular communication equipment in vehicle to both sides of highway, then judge vehicle and be sitting at second lane, thereby can reach the technique effect of determining track, vehicle place real-time and accurately according to the information in track, current highway section.
Fig. 4 detects the structural representation of specific embodiment one of the device in track, vehicle place for the present invention, comprise vehicular communication equipment a, signal reflex device b and fixed communication apparatus c, vehicular communication equipment a is connected with signal reflex device b, fixed communication apparatus c is connected with vehicular communication equipment a, signal reflex device b is used for the radio signal of receiving is reflected, vehicular communication equipment a is used to send radio signal to signal reflex device b, the radio signal of received signal reflection unit b reflection, calculate the phase delay of the radio signal that radio signal that described vehicular communication equipment a receives and described vehicular communication equipment a send, and calculate the distance that the vehicle branch is clipped to the signal reflex device b of highway d both sides according to described phase delay, and be clipped to the distance of signal reflex device b of described highway d both sides and the track that lane width calculates the vehicle place according to the vehicle branch, fixed communication apparatus c is used to receive the request that vehicular communication equipment a modulates the inquiry lane information that sends, and is sent to described vehicular communication equipment a after the lane information modulation with highway section, vehicle place.
The width of vehicle is 1.8 meters among the embodiment one of the device in the invention described above detection track, vehicle place, highway is unidirectional to comprise four tracks, wherein the width of first lane and second lane all is 3.75 meters, the width of third lane and Four-Lane Road all is 3.5 meters, the width of the emergency stopping lane only adjacent with Four-Lane Road is 2.5 meters, and each is wide 0.5 meter at the edge on highway both sides.Vehicular communication equipment a will be sent to fixed communication apparatus c after will inquiring about the request modulation of lane information, fixed communication apparatus c demodulates the request of described inquiry lane information, and be sent to described vehicular communication equipment a after the lane information modulation with highway section, vehicle place, vehicular communication equipment a is simultaneously to the signal reflex device b transmitted radio signal that is arranged on the road both sides, signal reflex device b reflexes to vehicular communication equipment a with described radio signal, the phase delay of the radio signal that radio signal that vehicular communication equipment a calculating vehicular communication equipment a receives and vehicular communication equipment a send, vehicular communication equipment a calculates vehicle according to described phase delay and is respectively 4.5 meters and 11.7 meters to the distance of the signal reflex device b of road both sides, and vehicular communication equipment a calculates vehicle according to described vehicle to the track in the distance of the signal reflex device b of road both sides and highway section, vehicle place and is positioned at second lane.
Detect among the embodiment one of device in track, vehicle place in the invention described above, vehicular communication equipment calculates the distance of vehicle to both sides of highway by measuring radio signal owing to propagate the phase differential that causes, and judge the track that vehicle is positioned at, thereby can reach the effect of determining track, vehicle place real-time and accurately according to the width in track.
The present invention detects among the embodiment one of device in track, vehicle place, and vehicular communication equipment a can be made up of signal transmitting and receiving module a1, signal processing module a2, computing module a3 and track judge module a4.As shown in Figure 6, detect the structural representation of the device specific embodiment two in track, vehicle place for the present invention, signal transmitting and receiving module a1, b is connected with the signal reflex device, signal processing module a2 is connected with signal transmitting and receiving module a1, computing module a3 is connected with signal processing module a2, and track judge module a4 is connected with computing module a3 and signal transmitting and receiving module a1.Signal transmitting and receiving module a1 is used to send radio signal to signal reflex device b, the radio signal of received signal reflection unit b reflection, be sent to fixed communication apparatus c and receive the lane information that fixed communication apparatus c modulates the highway section, vehicle place of sending after the request modulation with the inquiry lane information, signal processing module a2 is used for the radio signal sent from signal transmitting and receiving module a1 received signal transceiver module a1 and the radio signal of described signal reflex device b reflection, calculate the radio signal of described signal reflex device b reflection and the phase delay of the radio signal that described signal transmitting and receiving module a1 sends, computing module a3 is used for the radio signal of the described signal reflex device b reflection that received signal processing module a2 sends and the phase delay of the radio signal that described signal transmitting and receiving module a1 sends, and calculate the distance that the vehicle branch is clipped to the signal reflex device b of described road both sides according to described phase delay, track judge module a4 is used to receive the range information that vehicle branch that computing module a3 sends is clipped to the signal reflex device b of described road both sides, the lane information in the highway section, vehicle place that received signal transceiver module a1 sends, and the lane information that is clipped to the distance of signal reflex device b of described road both sides and highway section, vehicle place according to the vehicle branch calculates the track at vehicle place.
The invention described above detects in the device specific embodiment two in track, vehicle place, vehicular communication equipment a1 will be sent to fixed communication apparatus c after will inquiring about the request modulation of lane information, fixed communication apparatus c demodulates the request of described inquiry lane information, and be sent to described vehicular communication equipment a1 after the lane information modulation with highway section, vehicle place, signal transmitting and receiving module a1 is simultaneously to signal reflex device b that is arranged on the road both sides and signal processing module a2 transmitted radio signal, and the lane information in transmission highway section, vehicle place is to track judge module a4, signal reflex device b reflexes to signal transmitting and receiving module a1 with described radio signal, signal transmitting and receiving module a1 is sent to signal processing module a2 with the radio signal that reflects, the phase delay of the radio signal that the radio signal of signal processing module a2 signal calculated reflection unit b reflection and signal transmitting and receiving module a1 send, described phase delay is sent to computing module a3, computing module a3 calculates the distance that the vehicle branch is clipped to the signal reflex device b of described road both sides according to described phase delay, and described range information is sent to track judge module a4, track judge module a4 is clipped to the distance of signal reflex device b of described road both sides and highway section, vehicle place according to the vehicle branch lane information calculates the track at vehicle place.
The present invention detects in the device specific embodiment two in track, vehicle place, measure radio signal owing to propagate the phase differential that causes by signal processing module, computing module calculates the distance of vehicle to both sides of highway according to phase differential, then judge the track that vehicle is positioned at according to the lane information in highway section, vehicle place, thereby can reach the technique effect of determining track, vehicle place real-time and accurately by the track judge module.
It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not break away from the spirit and scope of technical solution of the present invention.
Claims (5)
1. method that detects track, vehicle place is characterized in that comprising following steps:
Step 1: vehicular communication equipment (a) will be sent to the fixed communication apparatus (c) that the road next door is provided with after will inquiring about the request modulation of lane information;
Step 2: described fixed communication apparatus (c) demodulates the request of described inquiry lane information, and is sent to described vehicular communication equipment (a) after the lane information modulation with highway section, vehicle place;
Step 3: vehicular communication equipment (a) is simultaneously to signal reflex device (b) transmitted radio signal or the light signal that are arranged on the road both sides;
Step 4: described signal reflex device (b) reflexes to described vehicular communication equipment (a) with described radio signal or described light signal;
Step 5: described vehicular communication equipment (a) calculates the radio signal that radio signal that described vehicular communication equipment (a) receives or light signal and described vehicular communication equipment (a) send or the time delay or the phase delay of light signal;
Step 6: described vehicular communication equipment (a) calculates the distance that the vehicle branch is clipped to the signal reflex device (b) of described road both sides according to described time delay or phase delay;
Step 7: described vehicular communication equipment (a) is clipped to the distance of signal reflex device (b) of described road both sides and highway section, vehicle place according to the vehicle branch lane information calculates the track at vehicle place.
2. the method in track, detection vehicle place according to claim 1 is characterized in that also comprising after the step 7:
Step 8: described vehicular communication equipment (a) is sent to fixed communication apparatus (c) after with the lane information of vehicle and/or vehicle state information modulation.
3. the method in track, detection vehicle place according to claim 1 and 2 is characterized in that step 6 comprises:
Step 61: described vehicular communication equipment (a) calculates the distance that described vehicular communication equipment (a) divides the signal reflex device (b) that is clipped to described road both sides according to described time delay or phase delay;
Step 62: described vehicular communication equipment (a) divides the distance of the signal reflex device (b) that is clipped to described road both sides and the particular location of vehicular communication equipment (a) in vehicle to calculate the distance that the vehicle branch is clipped to the signal reflex device (b) of described road both sides according to vehicular communication equipment (a).
4. device that detects track, vehicle place is characterized in that comprising:
Signal reflex device (b) is used for radio signal or the light signal received are reflected;
Vehicular communication equipment (a), (b) is connected with the signal reflex device, be used to send radio signal or light signal to signal reflex device (b), the radio signal or the light signal of received signal reflection unit (b) reflection, calculate the radio signal that radio signal that described vehicular communication equipment (a) receives or light signal and described vehicular communication equipment (a) send or the time delay or the phase delay of light signal, and calculate the vehicle branch according to described time delay or phase delay and be clipped to the distance of the signal reflex device (b) of described road both sides, and the lane information that is clipped to the distance of signal reflex device (b) of described road both sides and highway section, vehicle place according to the vehicle branch calculates the track at vehicle place;
Fixed communication apparatus (c), (a) is connected with vehicular communication equipment, is used to receive the request that vehicular communication equipment (a) is modulated the inquiry lane information that sends, and is sent to described vehicular communication equipment (a) after the lane information modulation with highway section, vehicle place.
5. the device in track, detection vehicle place according to claim 4 is characterized in that vehicular communication equipment (a) comprising:
Signal transmitting and receiving module (a1), be connected with fixed communication apparatus (c) with signal reflex device (b), be used to send radio signal or light signal to signal reflex device (b), the radio signal or the light signal of received signal reflection unit (b) reflection are sent to fixed communication apparatus (c) and receive the lane information that fixed communication apparatus (c) is modulated the highway section, vehicle place of sending after the request modulation with the inquiry lane information;
Signal processing module (a2), (a1) is connected with the signal transmitting and receiving module, be used for the radio signal sent from signal transmitting and receiving module (a1) received signal transceiver module (a1) or the radio signal or the light signal of light signal and described signal reflex device (b) reflection, calculate the radio signal that the radio signal of described signal reflex device (b) reflection or light signal and described signal transmitting and receiving module (a1) send or the time delay or the phase delay of light signal;
Computing module (a3), (a2) is connected with signal processing module, be used for the radio signal that the radio signal of described signal reflex device (b) reflection that received signal processing module (a2) sends or light signal and described signal transmitting and receiving module (a1) send or the time delay or the phase delay of light signal, and be clipped to the distance of the signal reflex device (b) of described road both sides according to described time delay or phase delay calculating vehicle branch;
Track judge module (a4), be connected with computing module (a3) and signal transmitting and receiving module (a1), be used to receive the range information that vehicle branch that computing module (a3) sends is clipped to the signal reflex device (b) of described road both sides, the lane information in the highway section, vehicle place that received signal transceiver module (a1) sends, and the lane information that is clipped to the distance of signal reflex device (b) of described road both sides and highway section, vehicle place according to the vehicle branch calculates the track at vehicle place.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100541888A CN100533505C (en) | 2007-04-06 | 2007-04-06 | Method and apparatus for detecting vehicle carriageway |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100541888A CN100533505C (en) | 2007-04-06 | 2007-04-06 | Method and apparatus for detecting vehicle carriageway |
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| CN101281683A true CN101281683A (en) | 2008-10-08 |
| CN100533505C CN100533505C (en) | 2009-08-26 |
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| CNB2007100541888A Expired - Fee Related CN100533505C (en) | 2007-04-06 | 2007-04-06 | Method and apparatus for detecting vehicle carriageway |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2010043164A1 (en) * | 2008-10-13 | 2010-04-22 | Xu Fei | Wireless traffic information indicating method and system |
| CN101393686B (en) * | 2008-10-13 | 2011-07-20 | 徐菲 | All-weather vehicle driving safety indication and control system device |
| CN102822880A (en) * | 2010-04-15 | 2012-12-12 | 三菱电机株式会社 | Driving assist device |
| CN103699870A (en) * | 2013-12-30 | 2014-04-02 | 天津中兴智联科技有限公司 | Ultrahigh radio frequency identifying-based car lane judging method and device |
| CN104094331A (en) * | 2012-02-03 | 2014-10-08 | 雷诺股份公司 | Method of determining the positioning of a vehicle in a traffic corridor of a lane, and methods for detecting alignment and risk of collision between two vehicles |
| CN104554104A (en) * | 2013-10-23 | 2015-04-29 | 丰田自动车株式会社 | Drive support apparatus |
| CN105843221A (en) * | 2016-03-09 | 2016-08-10 | 乐卡汽车智能科技（北京）有限公司 | Lane keeping method, radar, and lane keeping system |
| CN106922176A (en) * | 2014-12-10 | 2017-07-04 | 哈曼国际工业有限公司 | Lane detection |
| CN108335484A (en) * | 2017-01-19 | 2018-07-27 | 罗伯特·博世有限公司 | For the method according to lane location vehicle |
| CN109979204A (en) * | 2019-04-02 | 2019-07-05 | 浙江多普勒环保科技有限公司 | Light cuts multilane speed and acceleration detecting and its method |
| CN110501717A (en) * | 2019-08-29 | 2019-11-26 | 三一海洋重工有限公司 | Positioning device and harbor automatic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101393686B (en) * | 2008-10-13 | 2011-07-20 | 徐菲 | All-weather vehicle driving safety indication and control system device |
| WO2010043164A1 (en) * | 2008-10-13 | 2010-04-22 | Xu Fei | Wireless traffic information indicating method and system |
| CN102822880B (en) * | 2010-04-15 | 2015-07-15 | 三菱电机株式会社 | Driving assist device |
| CN102822880A (en) * | 2010-04-15 | 2012-12-12 | 三菱电机株式会社 | Driving assist device |
| CN104094331B (en) * | 2012-02-03 | 2016-12-28 | 雷诺股份公司 | The method determining vehicle location in road travel road, and for detecting the alignment between two vehicles and the method for risk of collision |
| CN104094331A (en) * | 2012-02-03 | 2014-10-08 | 雷诺股份公司 | Method of determining the positioning of a vehicle in a traffic corridor of a lane, and methods for detecting alignment and risk of collision between two vehicles |
| CN104554104A (en) * | 2013-10-23 | 2015-04-29 | 丰田自动车株式会社 | Drive support apparatus |
| CN104554104B (en) * | 2013-10-23 | 2017-08-11 | 丰田自动车株式会社 | Drive supporting device |
| CN103699870A (en) * | 2013-12-30 | 2014-04-02 | 天津中兴智联科技有限公司 | Ultrahigh radio frequency identifying-based car lane judging method and device |
| CN106922176A (en) * | 2014-12-10 | 2017-07-04 | 哈曼国际工业有限公司 | Lane detection |
| US10928524B2 (en) | 2014-12-10 | 2021-02-23 | Harman International Industries, Incorporated | Lane detection |
| CN105843221A (en) * | 2016-03-09 | 2016-08-10 | 乐卡汽车智能科技（北京）有限公司 | Lane keeping method, radar, and lane keeping system |
| CN105843221B (en) * | 2016-03-09 | 2019-04-12 | 法法汽车(中国)有限公司 | Lane keeping method and radar, Lane Keeping System |
| CN108335484A (en) * | 2017-01-19 | 2018-07-27 | 罗伯特·博世有限公司 | For the method according to lane location vehicle |
| CN108335484B (en) * | 2017-01-19 | 2022-04-26 | 罗伯特·博世有限公司 | Method for positioning a vehicle according to a lane |
| CN109979204A (en) * | 2019-04-02 | 2019-07-05 | 浙江多普勒环保科技有限公司 | Light cuts multilane speed and acceleration detecting and its method |
| CN110501717A (en) * | 2019-08-29 | 2019-11-26 | 三一海洋重工有限公司 | Positioning device and harbor automatic equipment |
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