CN107966711A - Rail track barrier automatic identifying method based on two-dimensional laser radar - Google Patents
Rail track barrier automatic identifying method based on two-dimensional laser radar Download PDFInfo
- Publication number
- CN107966711A CN107966711A CN201711018781.7A CN201711018781A CN107966711A CN 107966711 A CN107966711 A CN 107966711A CN 201711018781 A CN201711018781 A CN 201711018781A CN 107966711 A CN107966711 A CN 107966711A
- Authority
- CN
- China
- Prior art keywords
- temporary obstructions
- obstructions
- barrier
- flat scanning
- temporary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention provides a kind of rail track barrier automatic identifying method based on two-dimensional laser radar, specifically includes：1）Reciprocal stepping flat scanning is carried out by the two-dimensional laser radar above rail track, barrier is tentatively judged whether according to the reciprocal flat scanning data of acquisition；2）If there are barrier, whether temporary obstructions are belonged to according to complex plane scan data and the background data disturbance in judgement thing that prestores, and obtains temporary obstructions rough there are angular range；3）To the rough there are the fine step-scan of single is carried out in angular range of temporary obstructions, the obstacle information of temporary obstructions is obtained；4）Whether it is train wheel according to obstacle information and the location of rail disturbance in judgement thing to prestore, and updates the obstacle information in Global obstacle thing list；5）The existence time of obstacle information in accumulative Global obstacle thing list, when accumulative existence time exceedes preset time threshold, then produces warning message.
Description
Technical field
The present invention relates to a kind of rail track barrier automatic identifying method, specifically, relate to a kind of based on two dimension
The rail track barrier automatic identifying method of laser radar.
Background technology
At present, the dangerous section of the Along Railway such as region such as tunnel face, cutting, high slope, for falling on rail track
The barriers such as stone, without effective monitoring means, entirely manually inspection and driver's report etc..For volume larger falling rocks or stagnant
The barriers such as the animal on railway are stayed in, once without finding in time, the train being easily run bumps against, and then triggers driving thing
Therefore.
In order to solve the problems, such as present on, people are seeking more satisfactory technical solution always.
The content of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, so as to provide a kind of railway based on two-dimensional laser radar
Circuitry obstacle thing automatic identifying method.
To achieve these goals, the technical solution adopted in the present invention is：A kind of railway based on two-dimensional laser radar
Circuitry obstacle thing automatic identifying method, comprises the following steps：
1）Reciprocal stepping flat scanning is carried out by the two-dimensional laser radar above rail track, obtains and is swept toward complex plane
Data are retouched, barrier is tentatively judged whether according to the reciprocal flat scanning data；
2）If preliminary judge there are barrier, the reciprocal flat scanning data and the background data that prestores are compared to sentence
Whether disconnected barrier belongs to temporary obstructions, if so, then tentatively obtain the temporary obstructions there are angular range；
3）In the temporary obstructions there are single stepping flat scanning is carried out in angular range, the temporary obstructions are obtained
Accurate obstacle information；
4）Judge that the temporary obstructions are according to the accurate obstacle information of the temporary obstructions and the location of rail to prestore
No is train wheel, if it is not, then further comparing the accurate obstacle information and Global obstacle thing row of the temporary obstructions
Whether the accurate obstacle information of existing temporary obstructions in table, judge in the Global obstacle thing list containing the interim barrier
Hinder thing information, if it does, then judge that the temporary obstructions are static, and by Global obstacle thing list with the temporary obstructions
The accurate obstacle information of inconsistent existing temporary obstructions is deleted；If not containing, it is new to judge the temporary obstructions
Increase barrier, the accurate obstacle information of existing temporary obstructions in Global obstacle thing list is deleted, and hinder described temporarily
The accurate obstacle information of thing is hindered to be added in Global obstacle thing list；
5）In accumulative Global obstacle thing list the accurate obstacle information of each temporary obstructions there are duration, when accumulative is deposited
When duration exceedes preset time threshold, then warning message is produced.
Based on above-mentioned, the reciprocal stepping flat scanning includes sequentially stepping flat scanning and inverse stepping flat scanning,
The scanning range of the sequentially stepping flat scanning is 0-180, step angle K；The scanning of the inverse stepping flat scanning
Scope is 180-0, step angle K；The scanning range of the single stepping flat scanning is the presence of the temporary obstructions
Angular range, step angle M, and M are less than K.
Based on above-mentioned, the precisely obstacle information includes the accurate boundary angles and elaborate position of the temporary obstructions
Information.
Based on above-mentioned, 1）The middle specific method that barrier is tentatively judged whether according to the reciprocal flat scanning data
For：If the sequentially stepping flat scanning and the inverse stepping flat scanning detect object in same angular range,
Then judge the object for barrier.
Based on above-mentioned, the background data that prestores is the Along Railway data obtained beforehand through reciprocal flat scanning.
Based on above-mentioned, 3）In, if by single stepping flat scanning, it is found that the number of temporary obstructions that identifies is big
In equal to two, and the range difference of the adjacent boundary of two adjacent temporary obstructions is less than pre-determined distance threshold value, then by the two
Adjacent temporary obstructions merge into a temporary obstructions, and the boundary angles of the temporary obstructions are respectively two neighboring face
When barrier outer boundary angle.
Based on above-mentioned, 4）It is middle to judge whether the temporary obstructions are that the method for train wheel is:Compare the interim barrier
Hinder the elaborate position information of thing and the location of rail to prestore, if the elaborate position information of the temporary obstructions and the rail to prestore
The error of position is less than preset error value domain, then judges the temporary obstructions for train wheel.
Based on above-mentioned, 4）The middle accurate obstacle information compared in the precisely obstacle information and Global obstacle thing list
Specific method be：Compare existing temporary obstructions in accurate boundary angles and Global obstacle the thing list of the temporary obstructions
Accurate boundary angles, if boundary angles error is less than predetermined angle error threshold, judge in the Global obstacle thing list
Contain the temporary obstructions information；Otherwise judge not contain the temporary obstructions information in the Global obstacle thing list.
Based on above-mentioned, the scan period of the reciprocal stepping flat scanning is 10 milliseconds to 30 seconds.
The present invention has prominent substantive distinguishing features and significant progress compared with the prior art, and specifically, the present invention is only
Have and just tentatively assert that the object is barrier when the twice sweep of reciprocal stepping flat scanning detects the object, it is this this
Kind of method ensure that the stability of barrier, the influence of situations such as reducing precipitation, snowfall fallen leaves or falling rocks to barrier judgment；
Judge whether the barrier belongs to temporary obstructions by more reciprocal flat scanning data and the background data that prestores, with reduce because
The influence of the fixed obstacles such as electric pole and caused by erroneous judgement；The accurate border of temporary obstructions is obtained by secondary fine scanning
Information and elaborate position information, and accurate boundary information and the elaborate position information by being based further on temporary obstructions judges
Whether the temporary obstructions are possibilities that wheel further reduces erroneous judgement；Accumulative temporary obstructions there are duration, and tired
When exceeding preset time threshold there are duration of meter, produces warning message to remind train supervision center to remove the interim barrier in time
Hinder thing, ensure the safety of train passage, there is design science, simple in structure, security performance is high.
Brief description of the drawings
Fig. 1 is the flow diagram of the present invention.
Embodiment
Below by embodiment, technical scheme is described in further detail.
As shown in Figure 1, a kind of rail track barrier automatic identifying method based on two-dimensional laser radar, including following step
Suddenly：
1）Reciprocal stepping flat scanning is carried out by the two-dimensional laser radar above rail track, obtains and is swept toward complex plane
Data are retouched, barrier is tentatively judged whether according to the reciprocal flat scanning data；
Specifically, the reciprocal stepping flat scanning includes sequentially stepping flat scanning and inverse stepping flat scanning, it is described suitable
The scanning range of secondary stepping flat scanning is 0-180, step angle K；It is described to be against time scanning range of stepping flat scanning
180-0, step angle K；If the sequentially stepping flat scanning and the inverse stepping flat scanning are in same scan angle
Object is detected in the range of degree, then judges the object for barrier；Preferably, K is 0.1 degree to 1 degree
2）If preliminary judge there are barrier, the reciprocal flat scanning data and the background data that prestores are compared to sentence
Whether disconnected barrier belongs to temporary obstructions, if so, then tentatively obtain the temporary obstructions there are angular range；Wherein,
The background data that prestores is the Along Railway data obtained beforehand through reciprocal flat scanning the preproduction phase；
3）In the temporary obstructions there are single stepping flat scanning is carried out in angular range, the temporary obstructions are obtained
Accurate obstacle information, the obstacle information includes accurate boundary angles and the elaborate position information of temporary obstructions；Institute
It is the temporary obstructions there are angular range, step angle M to state the scanning range of single stepping flat scanning, and M is small
In K；Preferably, M is 0.01 degree；
4）Judge that the temporary obstructions are according to the accurate obstacle information of the temporary obstructions and the location of rail to prestore
No is train wheel, if it is not, then further comparing the accurate obstacle information and Global obstacle thing row of the temporary obstructions
Whether the accurate obstacle information of existing temporary obstructions in table, judge in the Global obstacle thing list containing the interim barrier
Hinder thing information, if it does, then judge that the temporary obstructions are static, and by Global obstacle thing list with the temporary obstructions
The accurate obstacle information of inconsistent existing temporary obstructions is deleted；If not containing, it is new to judge the temporary obstructions
Increase barrier, the accurate obstacle information of existing temporary obstructions in Global obstacle thing list is deleted, and hinder described temporarily
The accurate obstacle information of thing is hindered to be added in Global obstacle thing list；
5）In accumulative Global obstacle thing list the accurate obstacle information of each temporary obstructions there are duration, when accumulative is deposited
When duration exceedes preset time threshold, then warning message is produced, it is preferred that the preset time threshold is 5 seconds to 20 seconds.
Preferably, the scan period of the reciprocal stepping flat scanning is 10 milliseconds to 30 seconds.
It should be noted that list is empty for Global obstacle thing described in the preproduction phase.
The present invention only just tentatively assert the thing when the twice sweep of reciprocal stepping flat scanning detects the object
Body is barrier, this stability this method ensures barrier, situations such as reducing precipitation, snowfall fallen leaves or falling rocks pair
The influence of barrier judgment；Judge whether the barrier belongs to by more reciprocal flat scanning data and the background data that prestores and face
When barrier, with reduce because the influence of the fixed obstacles such as electric pole and caused by judge by accident；Faced by secondary fine scanning
When barrier accurate boundary information and elaborate position information, and by being based further on the accurate boundary information of temporary obstructions
Judge whether the temporary obstructions are possibilities that wheel further reduces erroneous judgement with elaborate position information；Accumulative temporary obstructions
There are duration, and accumulative when exceeding preset time threshold there are duration, generation warning message is to remind in train supervision
The heart removes the temporary obstructions in time, ensures the safety of train passage.
Specifically, 3）In, if by single stepping flat scanning, the number for the temporary obstructions for finding to identify is more than
Equal to two, and the range difference of the adjacent boundary of two adjacent temporary obstructions is less than such as 2 centimetres to 10 lis of pre-determined distance threshold value
Rice, then merge into a temporary obstructions, the boundary angles point of the temporary obstructions by the two adjacent temporary obstructions
Not Wei two neighboring temporary obstructions outer boundary angle.As left temporary obstructions and right temporary obstructions adjacent boundary away from
From for 1.5 centimetres, and pre-determined distance threshold value is 3CM, it is clear that the adjacent boundary of left temporary obstructions and right temporary obstructions away from
Deviation is less than pre-determined distance threshold value, and left temporary obstructions and right temporary obstructions are merged into a big interim obstacle at this time
Thing, the left margin of the big temporary obstructions are the left margin of left temporary obstructions, and right margin is the right of right temporary obstructions
Boundary, while the interval of original left temporary obstructions and right temporary obstructions is filled completely.
Specifically, 4）It is middle to judge whether the temporary obstructions are that the method for train wheel is:Compare the interim obstacle
The elaborate position information of thing and the location of rail to prestore, if the elaborate position information of the temporary obstructions and the rail position to prestore
The error put is less than preset error value domain, then judges the temporary obstructions for train wheel.
Specifically, 4）It is middle to compare precisely obstacle information and the accurate obstacle information in Global obstacle thing list
Specific method is：Compare existing temporary obstructions in accurate boundary angles and Global obstacle the thing list of the temporary obstructions
Accurate boundary angles, if boundary angles error is less than predetermined angle error threshold, judge to contain in the Global obstacle thing list
There is the temporary obstructions information；Otherwise judge not contain the temporary obstructions information in the Global obstacle thing list.
Finally it should be noted that:The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to the embodiment of the present invention or equivalent substitution is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution, it should all cover among the claimed technical solution scope of the present invention.
Claims (9)
1. a kind of rail track barrier automatic identifying method based on two-dimensional laser radar, it is characterised in that including following step
Suddenly：
1）Reciprocal stepping flat scanning is carried out by the two-dimensional laser radar above rail track, obtains and is swept toward complex plane
Data are retouched, barrier is tentatively judged whether according to the reciprocal flat scanning data；
2）If preliminary judge there are barrier, the reciprocal flat scanning data and the background data that prestores are compared to sentence
Whether disconnected barrier belongs to temporary obstructions, if so, then tentatively obtain the temporary obstructions there are angular range；
3）In the temporary obstructions there are single stepping flat scanning is carried out in angular range, the temporary obstructions are obtained
Accurate obstacle information；
4）Judge that the temporary obstructions are according to the accurate obstacle information of the temporary obstructions and the location of rail to prestore
No is train wheel, if it is not, then further comparing the accurate obstacle information and Global obstacle thing row of the temporary obstructions
Whether the accurate obstacle information of existing temporary obstructions in table, judge in the Global obstacle thing list containing the interim barrier
Hinder thing information, if it does, then judge that the temporary obstructions are static, and by Global obstacle thing list with the temporary obstructions
The accurate obstacle information of inconsistent existing temporary obstructions is deleted；If not containing, it is new to judge the temporary obstructions
Increase barrier, the accurate obstacle information of existing temporary obstructions in Global obstacle thing list is deleted, and hinder described temporarily
The accurate obstacle information of thing is hindered to be added in Global obstacle thing list；
5）In accumulative Global obstacle thing list the accurate obstacle information of each temporary obstructions there are duration, when accumulative is deposited
When duration exceedes preset time threshold, then warning message is produced.
2. the rail track barrier automatic identifying method according to claim 1 based on two-dimensional laser radar, its feature
It is：The reciprocal stepping flat scanning includes sequentially stepping flat scanning and inverse stepping flat scanning, the sequentially stepping
The scanning range of flat scanning is 0-180, step angle K；The scanning range of the inverse stepping flat scanning is 180-0,
Step angle is K；The scanning range of the single stepping flat scanning for the temporary obstructions there are angular range, stepping
Angle is M, and M is less than K.
3. the rail track barrier automatic identifying method according to claim 1 or 2 based on two-dimensional laser radar, it is special
Sign is：The precisely obstacle information includes accurate boundary angles and the elaborate position information of the temporary obstructions.
4. the rail track barrier automatic identifying method according to claim 3 based on two-dimensional laser radar, its feature
It is, 1）It is middle tentatively to judge whether that the specific method of barrier is according to the reciprocal flat scanning data：It is if described suitable
Secondary stepping flat scanning and the inverse stepping flat scanning detect object in same angular range, then judge the object
For barrier.
5. the rail track barrier automatic identifying method according to claim 3 based on two-dimensional laser radar, its feature
It is, the background data that prestores is the Along Railway data obtained beforehand through reciprocal flat scanning.
6. the rail track barrier automatic identifying method according to claim 3 based on two-dimensional laser radar, its feature
It is, 3）In, if by single stepping flat scanning, the numbers of the temporary obstructions for finding to identify is more than or equal to two, and
The range difference of the adjacent boundary of two adjacent temporary obstructions is less than pre-determined distance threshold value, then by the two adjacent interim barriers
Thing is hindered to merge into a temporary obstructions, the boundary angles of the temporary obstructions are respectively the outer of two neighboring temporary obstructions
Boundary angles.
7. the rail track barrier automatic identifying method according to claim 3 based on two-dimensional laser radar, its feature
It is, 4）It is middle to judge whether the temporary obstructions are that the method for train wheel is:Compare the accurate position of the temporary obstructions
The location of rail that confidence is ceased and prestored, if the elaborate position information of the temporary obstructions and the error of the location of rail to prestore are small
In preset error value domain, then judge the temporary obstructions for train wheel.
8. the rail track barrier automatic identifying method according to claim 3 based on two-dimensional laser radar, its feature
It is, 4）It is middle to compare the precisely specific method of obstacle information and the accurate obstacle information in Global obstacle thing list
For：Compare the accurate border of existing temporary obstructions in accurate boundary angles and Global obstacle the thing list of the temporary obstructions
Angle, if boundary angles error is less than predetermined angle error threshold, judges containing described to face in the Global obstacle thing list
When obstacle information；Otherwise judge not contain the temporary obstructions information in the Global obstacle thing list.
9. the rail track barrier automatic identifying method according to claim 3 based on two-dimensional laser radar, its feature
It is：The scan period of the reciprocal stepping flat scanning is 10 milliseconds to 30 seconds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711018781.7A CN107966711A (en) | 2017-10-27 | 2017-10-27 | Rail track barrier automatic identifying method based on two-dimensional laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711018781.7A CN107966711A (en) | 2017-10-27 | 2017-10-27 | Rail track barrier automatic identifying method based on two-dimensional laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107966711A true CN107966711A (en) | 2018-04-27 |
Family
ID=61999701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711018781.7A Pending CN107966711A (en) | 2017-10-27 | 2017-10-27 | Rail track barrier automatic identifying method based on two-dimensional laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107966711A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110161526A (en) * | 2019-05-24 | 2019-08-23 | 河南辉煌科技股份有限公司 | A kind of circuitry obstacle object recognition methods based on three-dimensional imaging |
| CN110468633A (en) * | 2019-08-19 | 2019-11-19 | 南昌航空大学 | A kind of intelligent device that the anti-foreign matter of railway switch is stuck |
| CN111983634A (en) * | 2020-08-26 | 2020-11-24 | 中国科学院半导体研究所 | Three-dimensional radar and method for non-uniform single line scanning for railway monitoring |
| CN112009524A (en) * | 2020-07-15 | 2020-12-01 | 北京埃福瑞科技有限公司 | System and method for tramcar obstacle detection |
| CN112327847A (en) * | 2020-11-04 | 2021-02-05 | 北京石头世纪科技股份有限公司 | Method, device, medium and electronic equipment for bypassing object |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101238702B1 (en) * | 2011-06-14 | 2013-03-04 | 한국철도기술연구원 | Detection Apparatus on Railroad Crossing Using Detector For Reliability And Method Using The Apparatus |
| CN204945409U (en) * | 2015-08-29 | 2016-01-06 | 西安希德电子信息技术股份有限公司 | A kind of three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically |
| CN106249239A (en) * | 2016-08-23 | 2016-12-21 | 深圳市速腾聚创科技有限公司 | Object detection method and device |
| CN106872994A (en) * | 2017-04-14 | 2017-06-20 | 北京佳讯飞鸿电气股份有限公司 | A kind of Laser Radar Scanning method and device |
| CN106908796A (en) * | 2017-03-29 | 2017-06-30 | 西安长远电子工程有限责任公司 | A kind of high ferro roadblock detection and alarm radar asorbing paint control system |
| CN106918820A (en) * | 2017-04-14 | 2017-07-04 | 北京佳讯飞鸿电气股份有限公司 | A kind of processing method and processing device of multiple-reflection echoes |
| CN107064952A (en) * | 2017-04-21 | 2017-08-18 | 中国科学院半导体研究所 | Railway track barrier monitors the device of identification automatically |
-
2017
- 2017-10-27 CN CN201711018781.7A patent/CN107966711A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101238702B1 (en) * | 2011-06-14 | 2013-03-04 | 한국철도기술연구원 | Detection Apparatus on Railroad Crossing Using Detector For Reliability And Method Using The Apparatus |
| CN204945409U (en) * | 2015-08-29 | 2016-01-06 | 西安希德电子信息技术股份有限公司 | A kind of three-dimensional laser radar warning system of railway obstacle being carried out to monitoring automatically |
| CN106249239A (en) * | 2016-08-23 | 2016-12-21 | 深圳市速腾聚创科技有限公司 | Object detection method and device |
| CN106908796A (en) * | 2017-03-29 | 2017-06-30 | 西安长远电子工程有限责任公司 | A kind of high ferro roadblock detection and alarm radar asorbing paint control system |
| CN106872994A (en) * | 2017-04-14 | 2017-06-20 | 北京佳讯飞鸿电气股份有限公司 | A kind of Laser Radar Scanning method and device |
| CN106918820A (en) * | 2017-04-14 | 2017-07-04 | 北京佳讯飞鸿电气股份有限公司 | A kind of processing method and processing device of multiple-reflection echoes |
| CN107064952A (en) * | 2017-04-21 | 2017-08-18 | 中国科学院半导体研究所 | Railway track barrier monitors the device of identification automatically |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110161526A (en) * | 2019-05-24 | 2019-08-23 | 河南辉煌科技股份有限公司 | A kind of circuitry obstacle object recognition methods based on three-dimensional imaging |
| CN110468633A (en) * | 2019-08-19 | 2019-11-19 | 南昌航空大学 | A kind of intelligent device that the anti-foreign matter of railway switch is stuck |
| CN110468633B (en) * | 2019-08-19 | 2021-01-15 | 南昌航空大学 | Intelligent device for preventing foreign body from being stuck at railway turnout |
| CN112009524A (en) * | 2020-07-15 | 2020-12-01 | 北京埃福瑞科技有限公司 | System and method for tramcar obstacle detection |
| CN112009524B (en) * | 2020-07-15 | 2022-06-07 | 北京埃福瑞科技有限公司 | System and method for tramcar obstacle detection |
| CN111983634A (en) * | 2020-08-26 | 2020-11-24 | 中国科学院半导体研究所 | Three-dimensional radar and method for non-uniform single line scanning for railway monitoring |
| CN111983634B (en) * | 2020-08-26 | 2023-07-21 | 中国科学院半导体研究所 | Three-dimensional radar and method for non-uniform single line scanning for railway monitoring |
| CN112327847A (en) * | 2020-11-04 | 2021-02-05 | 北京石头世纪科技股份有限公司 | Method, device, medium and electronic equipment for bypassing object |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107966711A (en) | Rail track barrier automatic identifying method based on two-dimensional laser radar | |
| Wu et al. | Automatic background filtering and lane identification with roadside LiDAR data | |
| CN107657813B (en) | Highway traffic law enforcement discrimination method based on driving track | |
| Wang et al. | Automatic intersection and traffic rule detection by mining motor-vehicle GPS trajectories | |
| CN105426864B (en) | One kind being based on the matched Multi-lane Lines Detection method of equidistant marginal point | |
| CN110136447A (en) | Lane change of driving a vehicle detects and method for distinguishing is known in illegal lane change | |
| CN104809887B (en) | A kind of retrograde detection method of vehicle on expressway and autoalarm | |
| CN107424410B (en) | A kind of accident detection method calculated based on route travel time | |
| CN108416257A (en) | Merge the underground railway track obstacle detection method of vision and laser radar data feature | |
| CN108717794A (en) | A method of preventing driver's fatigue driving on highway, apparatus and system | |
| CN101916516A (en) | Lane deviation recognition method | |
| CN103832434A (en) | Traveling safety control system and method | |
| CN106856049A (en) | Crucial intersection demand clustering analysis method based on bayonet socket number plate identification data | |
| CN106017476A (en) | Method for generating indoor positioning and navigating map model | |
| CN108319284A (en) | A kind of unmanned plane downslide section trajectory design method suitable for obstacle environment | |
| Wigglesworth | Human factors in level crossing accidents | |
| CN112800166B (en) | Community correction object activity track supervision and early warning method, system and device | |
| Stein | Mobile laser scanning based determination of railway network topology and branching direction on turnouts | |
| CN109249841A (en) | A kind of vehicle mounted autopassing phase separation apparatus enhancing reliability | |
| CN109828582B (en) | Based on intelligent carriage paths planning method combined of multi-sensor information and system | |
| Easa et al. | Improved pedestrian sight-distance needs at railroad-highway grade crossings | |
| CN206545171U (en) | A kind of overflow bridge | |
| CN106054284A (en) | Automatic comprehensive disaster prevention and early warning system for railway | |
| Behrens et al. | Pedestrian crossing behaviour in Cape Town and Nairobi: observations and implications | |
| CN205068775U (en) | Branch car ware that laser rangefinder and earth magnetism are united |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180427 |
|
| RJ01 | Rejection of invention patent application after publication |