CN108061905A

CN108061905A - A kind of pavement behavior detection method and device

Info

Publication number: CN108061905A
Application number: CN201711487583.5A
Authority: CN
Inventors: 刁心玺
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-12-30
Filing date: 2017-12-30
Publication date: 2018-05-22

Abstract

The present invention provides a kind of pavement behavior detection method and device, the described method includes：It is allowed to irradiate to road surface scanned in regions using optical mirror or optics tuning lens adjustment the laser beam direction being laid on non-moving supporter, at least one of the shape of the laser beam and beam angle change with control；Reflected signal of the object to the laser beam is received, at least one of light spot shape information and the hot spot range information of the laser beam are obtained using the reflected signal；It is identified using at least one of the light spot shape information of the laser beam and hot spot range information road pavement abnormality or vehicle running state.The pavement behavior monitoring in real time in big section section and vehicle traveling monitoring can be achieved, it is at low cost, efficient.

Description

A kind of pavement behavior detection method and device

Technical field

The present invention relates to automatic measurement field more particularly to a kind of pavement behavior detection methods and device.

Background technology

Autonomous driving vehicle（Autonomous vehicles；Self-piloting automobile ）At the beginning of 21 century It shows close to practical trend, for example, Google's autonomous driving vehicle obtains the first automatic Pilot in the U.S. in May, 2012 Vehicle licencing is demonstrate,proved.

Autonomous driving vehicle is closed by artificial intelligence, vision calculating, radar, monitoring device and global positioning system collaboration Make, allow computer that can operate motor vehicles under the operation of nobody class active automatic safe.Under in 12 months 2014 Ten days, Google's rollout automatic Pilot prototype vehicle finished product, the vehicle can global function operations.

Automatic driving technology understands the friendship of surrounding including video camera, radar sensor and airborne laser range finder Logical situation, and pass through a detailed map (map gathered by manned automobile) and navigate to the road in front. Everything all realizes that the data center of Google can handle a large amount of letters that automobile is collected about surrounding terrain by data center Breath.In this regard, autonomous driving vehicle is equivalent to the remote-control car or intelligent automobile of data center.Automatic driving technology One of technology of Internet of things application.

Volvo has distinguished four unpiloted stages according to the height of automatization level：Drive auxiliary, part automatically Change, increasingly automated, full automation.

At present, the traffic information collection that automatic Pilot needs relies primarily on onboard sensor, part prior art It is listed below：

Application No. CN201410374852.7, it is entitled " a kind of Multi-sensor Fusion intelligent vehicle based on magnetic navigation Automated driving system disclosed in automated driving system ", which includes intelligent vehicle, onboard sensor and operation track, onboard sensor, to be included Magnetic Sensor, laser sensor, ultrasonic sensor, laser radar, GPS antenna and camera, intelligent vehicle include car-mounted terminal, Car-mounted terminal, Magnetic Sensor laser sensor, ultrasonic sensor, laser radar, GPS antenna and camera are installed in intelligence Che Shang, car-mounted terminal are connected with all the sensors in onboard sensor, run and magnetic nail is embedded on track；Car-mounted terminal is according to magnetic The magnetic signal strength for the magnetic nail that sensor detects judges the relative position of vehicle body and lane center, and is adjusted according to location information Intelligent vehicle direction is allowed to traveling in operation track, and car-mounted terminal also understands week by other sensors data in onboard sensor Wing condition and the operating status for adjusting intelligent vehicle.

Application No. CN201610641770.3, it is entitled " for dangerous road condition advisory laser radar system and Laser radar system disclosed in method ", including Monitoring by Lidar device and control centre, Monitoring by Lidar device and control Center connects, and Monitoring by Lidar device includes laser emitting module, laser pick-off module and rotary module；Control centre includes Governor circuit module, control module and signal lamp alarm module.The method that dangerous road condition advisory is carried out using laser radar system, Including step：By Monitoring by Lidar device and governor circuit module scans obtain in monitoring region the distance of monitoring objective and Angle information, and it is sent to control module；Control module receive monitoring objective distance and angle information, and with the safety of setting Threshold value is compared, judges and sends control instruction, and monitoring objective receives signal lamp alarm module prompt message.Enter in vehicle When in the Monitoring by Lidar region of dangerous road conditions, current road conditions can be reminded to driving personnel in time, is conducive to prevention and hands over The generation of interpreter's event.

Application No. CN200720083415.5, entitled " vehicle road conditions real time scan automatic collision controlling alarm Real time scan automatic collision alarm control system disclosed in system ", it is characterised in that it includes laser range sensor (1), takes the photograph As head (2), embedded microprocessor (3), vehicle speed sensor (4), audible-visual annunciator (5), liquid crystal display (6), laser ranging Sensor (1) is connected by data cable with embedded microprocessor (3) for connecting the UART interface of laser range sensor, is taken the photograph Picture head (2) is connected by the USB interface for being used to connect camera of data cable and embedded microprocessor (3), vehicle speed sensor (4), audible-visual annunciator (5) and vehicle braking mechanism and accelerator mechanism (7) are respectively by data cable and embedded microprocessor (3) GPIO digital interfaces are connected, and liquid crystal display (6) is by data cable and embedded microprocessor (3) for connecting liquid crystal display LCD interfaces be connected.

In existing pavement behavior Detection Techniques, the shortcomings that camera surveillance technology is to know in night surveillance apart from small, target The shortcomings that difficult and target range acquisition of information difficulty is big, mobile lidar surveillance technology be of high cost and monitoring scope because It is limited by height of car and is difficult to realize obtain remote road condition information.

The content of the invention

The present invention provides a kind of pavement behavior detection method and device, for overcoming existing for existing camera surveillance technology Night surveillance is difficult apart from small, target identification and target range acquisition of information difficulty is big and mobile lidar surveillance technology Existing of high cost and monitoring scope is difficult to obtain remote road condition information these shortcomings because being limited by height of car At least one of.

The present invention provides a kind of pavement behavior detection method, includes the following steps：

Using optical mirror or optics tuning lens adjustment the laser beam direction being laid on non-moving supporter be allowed to Road surface scanned in regions irradiation, at least one of the shape of the laser beam and beam angle change with control；

Reflected signal of the object to the laser beam is received, the light spot shape of the laser beam is obtained using the reflected signal At least one of information and hot spot range information；

Using at least one of the light spot shape information of the laser beam and hot spot range information road pavement abnormality or Vehicle running state is identified；

Wherein, the laser beam is cross wave beam under at least one of scanning, tracking and ranging working condition or is Linear type wave beam.

The present invention provides a kind of pavement behavior detection device, includes following module：

Laser beam tuning module, laser beam Shaping Module, optical imagery module, range finder module and pavement behavior identification mould Block；Wherein,

Laser beam tuning module, for using the optical mirror being laid on non-moving supporter or optics tuning lens tune Whole laser beam direction is allowed to irradiate to road surface scanned in regions, including optical reflection mirror module or optics tuning lens submodule Block；

Laser beam Shaping Module is used to implement at least one of shape and beam angle of laser beam and becomes with control Change, including expanding at least one of shaping lens submodule, pack shaping lens submodule and deformable lens submodule；

Optical imagery module, for receiving reflected signal of the object to the laser beam, using described in reflected signal acquisition The light spot shape information of laser beam, including optical array sensor or optical imaging sensor；

For receiving reflected signal of the object to the laser beam, the laser is obtained using the reflected signal for range finder module The range information of the hot spot of wave beam, including receiving light path submodule, time delay estimation submodule and distance estimations submodule；

Pavement behavior identification module uses at least one of the light spot shape information of the laser beam and hot spot range information Road pavement abnormality or vehicle running state are identified, and submodule or vehicle running state are identified including road surface abnormality Identify at least one of submodule；

The method and device that the embodiment of the present invention provides can overcome night surveillance existing for existing camera surveillance technology And target range acquisition of information difficulty difficult apart from small, target identification be big and mobile lidar surveillance technology it is existing into This height and monitoring scope are difficult to obtain in remote road condition information these shortcomings at least because being limited by height of car It is a kind of.It is at low cost, precision is high, efficient, have practicability.

Other features and advantages of the present invention will be illustrated in the following description.

Description of the drawings

Fig. 1 is a kind of pavement behavior detection method flow chart that the embodiment of the present invention provides；

Fig. 2 is a kind of pavement behavior detection device composition schematic diagram that the embodiment of the present invention provides.

Embodiment

Understand to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention Embodiment be described in detail.It should be noted that in the case where there is no conflict, in the embodiment and embodiment in the application Feature can mutually be combined.

Below in conjunction with the accompanying drawings, pavement behavior detection method provided by the invention, device citing are illustrated.

Embodiment one, a kind of pavement behavior detection method citing

Shown in Figure 1, a kind of pavement behavior detection method embodiment provided by the invention includes the following steps：

Step S110 adjusts laser beam side using the optical mirror or optics tuning lens being laid on non-moving supporter To be allowed to road surface scanned in regions irradiate, at least one of the shape of the laser beam and beam angle with control occur Variation；

Step S120, receives reflected signal of the object to the laser beam, and the laser beam is obtained using the reflected signal Light spot shape information and at least one of hot spot range information；

Step S130, it is different using at least one of the light spot shape information of the laser beam and hot spot range information road pavement Normal state or vehicle running state are identified；

Specifically, in the present embodiment, linear type wave beam is also referred to as a wordline shape wave beam or a wordline wave beam, the i.e. wave beam Cross sectional shape in the plane perpendicular with its optical axis or beam position for linear type or the wave beam with its optical axis or wave beam The cross sectional shape being directed toward in perpendicular plane is strip；

Cross wave beam is also referred to as cross hairs wave beam or the linear wave beam of cross, i.e., the wave beam with its optical axis or beam position phase Cross sectional shape in vertical plane is cross.

Specifically, the non-moving supporter is laid in the outside in road surface region middle rolling car road along road extending direction；

A kind of installation position is that the non-moving supporter is laid in curb region, alternatively, being laid near cliff road；

The a kind of of non-moving supporter is achieved in that the external cloth that road surface region middle rolling car road is laid in along road extending direction If the supporting rack of certain height, supporting rod or support tower or support base；

The another kind of non-moving supporter is achieved in that, by the trees of trackside, lighting standard, advertisement pillar, mobile communication base Any one in pylon, cable pillar, bridge frame and the tunnel wall of standing is the non-moving supporter.

Specifically, it is that co-located laying and different location are laid between the optical imaging sensor and the transmitting light source of the laser beam At least one of；

The mode that optical imaging sensor obtains hot spot includes following at least one：

When co-located laying between optical imaging sensor and the transmitting light source of the laser beam, optical imaging sensor obtains The hot spot of the laser beam of local laser light emitting light source transmitting；

When co-located laying between optical imaging sensor and the transmitting light source of the laser beam, optical imaging sensor obtains The hot spot of the laser beam of local laser light emitting light source transmitting, and obtain the laser laid with the different location of the optical imaging sensor Emit the hot spot of the laser beam of light source transmitting；

When different location is laid between optical imaging sensor and the transmitting light source of the laser beam, optical imaging sensor obtains The hot spot of the laser beam for the laser light emitting light source transmitting that at least one location different therewith is laid.

The method that the present embodiment provides, wherein,

It is described to be made using the optical mirror being laid on non-moving supporter or optics tuning lens adjustment laser beam direction To road surface scanned in regions irradiate, including it is following at least one step：

Laser beam direction is adjusted using an optical mirror to be allowed in a dimension scan irradiation into search coverage；

Laser beam direction is adjusted using two optical mirrors to be allowed in two dimensions scan irradiation into search coverage；

Along the laser beam optical path direction move optics tuning lens adjustment laser beam direction be allowed in a dimension to Scanning irradiation in search coverage；

The first optics tuning lens adjustment laser beam direction is moved along the laser beam optical path direction to be allowed in the first dimension On into search coverage scan irradiation, move the second optics tuning lens along the vertical direction of the laser beam light path, adjust Laser beam direction is allowed in the second dimension scan irradiation into search coverage.

Wherein,

It is described to be allowed in a dimension scan photograph into search coverage using an optical mirror adjustment laser beam direction It penetrates, including：

One-dimensional scanning step, it is the first reflector space on the first optical mirror of shaft by incident laser to use using X-axis For beams reflected to road surface region, the deflection angle of the first optical mirror is adjusted using X-axis as shaft makes laser beam be swept first The side of retouching scans up, wherein, first reflector space has form corresponding with the hot spot of laser beam and its central point It is consistent with X-axis；

It is described to be allowed in two dimensions scan photograph into search coverage using two optical mirrors adjustment laser beam directions It penetrates, including：

Two-dimensional scan step, it is the first reflector space on the first optical mirror of shaft by incident laser to use using X-axis Beams reflected uses the second light using Y-axis as shaft to using Y-axis as the second reflector space on the second optical mirror of shaft The laser beam is reflexed to search coverage by the second reflector space learned on speculum；Wherein, X-axis is vertical with Y-axis, and described One reflector space has form corresponding with the hot spot of laser beam and its central point is consistent with X-axis, second echo area Scanning area of the domain for the laser beam after the reflection of the first optical mirror on the second optical mirror, the second echo area The center line in domain is consistent with Y-axis.

In the present embodiment, first reflector space has form corresponding with the hot spot of laser beam and its central point Consistent with X-axis, concrete methods of realizing includes：

The first reflector space laser beam being radiated on the first optical mirror, and make the optical axis of laser beam or first The facula mass center of reflector space is overlapped with the axis of X-axis；Or

The first reflector space laser beam being radiated on the first optical mirror, and make the optical axis of laser beam or first Offset between the facula mass center of reflector space and the axis of X-axis is less than the X-axis offset thresholding subscribed；

Preferably, the X-axis offset gate of the reservation is limited to the real number that absolute value is less than 10 millimeters；

It is highly preferred that the X-axis offset gate of the reservation is limited to the real number that absolute value is less than 1 millimeter；

More preferably, the X-axis offset gate of the reservation is limited to the real number that absolute value is less than 0.1 millimeter.

In the present embodiment, the center line of second reflector space is consistent with Y-axis, and concrete methods of realizing includes：

The laser beam that first optical mirror reflects is radiated at the second reflector space, and makes the optical axis of laser beam or the The facula mass center of two reflector spaces is overlapped with the axis of Y-axis；Or

The laser beam that first optical mirror reflects is radiated at the second reflector space, and makes the optical axis of laser beam or the Offset between the facula mass center of two reflector spaces and the axis of Y-axis is less than the Y-axis offset thresholding subscribed；

Preferably, the Y-axis offset gate of the reservation is limited to the real number that absolute value is less than 10 millimeters；

It is highly preferred that the Y-axis offset gate of the reservation is limited to the real number that absolute value is less than 1 millimeter；

More preferably, the Y-axis offset gate of the reservation is limited to the real number that absolute value is less than 0.1 millimeter.

The scanning radiation modality includes resident between continuous angle scan mode, discontinuous angle scanning mode and twice sweep At least two modes in mode；

As a kind of realization method of continuous angle scanning, the reflecting face of the optical mirror angle in an angular range At the uniform velocity variation or optics tuning lens position a position in section at the uniform velocity variation；

As a kind of realization method of discontinuous angle scanning, the reflecting face of optical mirror produces between two angle values Raw kick or corresponding optics tuning lens position are in a position kick in section；

As resident a kind of specific implementation between twice sweep, scanning is opened for the second time after first time scanning mode In a time interval before beginning, laser beam keeps irradiating state on special angle or keeps irradiation to tracked target State；

In general, laser beam is in scanning mode during target is searched for, in tracking target or to being in during object ranging Resident state；Alternatively, when laser beam is resided on specific objective, to target into line trace and ranging at least one of, When laser beam is in scanning mode, target is scanned for.

As a kind of specific implementation of optical mirror, the optical mirror is the speculum of galvanometer motor driving The reflecting optics of piece or fine motion Mechanical Driven, the galvanometer motor are electromagnetic type or piezoelectric ceramic type motor；

As a kind of specific implementation of beam steering lens, the beam steering lens are the convex lens of electromagnetic coil driving Or concavees lens.

As a kind of specific implementation, under search pattern, laser beam uses the first beam shape, in tracking or ranging mould Under formula, laser beam uses the second beam shape;

The beam angle of first beam shape is more than the beam angle of the second wave beam book shape or the light of the first beam shape Power density is less than the optical power density of the second wave beam book shape, the first beam shape and the second wave beam book shape be same type or Different type.

Specifically, as a kind of realization method, first beam shape and the second wave beam book shape are for same type or not Same type in same type includes：

Shown in Figure 2, it is one that the laser beam 250 as irradiation wave beam has the first beam shape 251 under search condition Font shape, the first beam shape form linear type hot spot on planar reflector, and the hot spot is identical with the first beam shape 251, Laser beam has the second beam shape under tracking or distance measuring states, and the second wave beam book shape is shorter linear type shape 261, the Two beam shapes form shorter linear type hot spot on planar reflector, and the hot spot is identical with the second beam shape 251；First Projection of shape of the beam shape 251 for irradiation wave beam 250 in the plane, the second beam shape 261 are irradiation wave beam 260 flat Projection of shape on face；

First beam shape is cross shape, and the second wave beam book shape is shorter cross shape；

First beam shape includes with the second wave beam book shape for the different type in same type or different type：

First beam shape is linear type shape, and the second wave beam book shape is shorter cross shape；

First beam shape is cross shape, and the second wave beam book shape is shorter linear type shape；

First beam shape is linear type shape, and the second wave beam book shape is circular or ellipse；

First beam shape is cross shape, and the second wave beam book shape is circular or ellipse；

Beam shape described herein refers to cross sectional shape in the vertical plane in beam propagation direction or beam in plane On light spot shape.

The wavelength of the first laser wave beam and second laser wave beam is in visible wavelength range or in infrared light wavelength In the range of.

When the first laser wave beam or second laser wave beam are the common optical axis that is made of two or more wavelength During compound wave beam, wherein at least one wavelength is in visible-range or near infrared range；Wavelength is in visible-range Or the wavelength near infrared range is easy to use common optical imaging sensor to obtain its light spot image, therefore, is made with it For the instruction wave beam of the light beam of non-visible wavelengths.

The method that the present embodiment provides, wherein,

At least one of the shape of the laser beam and beam angle change with control, including following at least one control Mode processed：

Control mode one is set at least in lasing light emitter between optical mirror or in lasing light emitter between beam steering lens Two expand integer lens, are raised in the optical axis direction of first laser wave beam and at least one direction in optical axis vertical direction Whole at least one position for expanding shaping lens in the light path, makes the beam angle of first laser wave beam change；Or, In lasing light emitter at least one integer lens are expanded between optical mirror or in lasing light emitter to being set between beam steering lens With at least one pack integer lens, first laser wave beam optical axis direction and at least one side in optical axis vertical direction At least one position in the light path expanded in shaping lens and pack integer lens is adjusted upward, makes first laser wave beam Beam angle change；

Control mode two is expanded in lasing light emitter between optical mirror or in lasing light emitter to setting between beam steering lens One or more during road pavement sector scanning, is expanded shaping lens and is arranged on the first laser by integer lens In the transmitting light path of wave beam, during to object ranging, at least one shaping lens that expand are moved to described first Outside the transmitting light path of laser beam；

Control mode three is expanded in lasing light emitter between optical mirror or in lasing light emitter to setting between beam steering lens Integer lens and pack integer lens, before road pavement sector scanning or during scanning, by least one pack integer Lens remove the transmitting light path of the first laser wave beam；Or, before to object ranging, to expand integer saturating by least one Mirror removes the transmitting light path of the first laser wave beam；Or, before to object ranging, at least one pack integer lens are moved Enter the transmitting light path of the first laser wave beam;And

Control mode four sets shape between optical mirror or in lasing light emitter in lasing light emitter between beam steering lens Variable lens are imitated into anamorphic effect and photic anamorphic effect at least by electricity to anamorphic effect, thermal-induced deformation effect, magnetic A kind of shape for the lens for making shape variable changes, and makes the shape of light beam or wave beam wide by the shape change of the lens Degree changes.

Specifically, control mode one and control mode four can realize the consecutive variations of shape and beam angle；

Control mode two and control mode three can realize the discontinuous variation of shape and beam angle.

Preferably, before pulse ranging signal or phase ranging signal is sent to illuminated target, servo mechanism is used At least one shaping lens that expand are removed into the light path of the laser beam to reduce the irradiation hot spot to target, improve ranging essence Degree and the energy density for improving laser beam, alternatively, at least one condenser lens is moved into the laser wave using servo mechanism The light path of beam to reduce the irradiation hot spot to target, improves range accuracy and improves the energy density of laser beam.

In the present embodiment, the pack shaping lens are used to carry out convergence process to the laser beam after expanding, and make to expand The beam angle of laser beam afterwards becomes smaller, and the optical energy density of wave beam improves.

The method that the present embodiment provides, wherein,

It is described to receive reflected signal of the object to the laser beam, the hot spot of the laser beam is obtained using the reflected signal At least one of shape information and hot spot range information, wherein,

The light spot shape information for obtaining illuminated target, includes the following steps：

The hot spot of laser beam is obtained with the optical imaging sensor that location deployment or different location are disposed using the light source with laser beam Shape information, the hot spot are generated by the reflection or scattering of illuminated target, and the shape of the hot spot reflects the shape of illuminated target At least one of shape, structural form, material optical characteristics characteristic；

The acquisition hot spot range information, for using the first optical mirror ranging or using the first and second optical mirrors Ranging, wherein,

Corresponding to the first optical mirror ranging is used, the acquisition hot spot range information includes the following steps：

It uses and incident laser beam is reflexed into road surface using X-axis as the first reflector space on the first optical mirror of shaft Region, the deflection angle of the first optical mirror is adjusted using X-axis as shaft makes laser beam be pointed into target, wherein, described first Reflector space has form corresponding with the hot spot of laser beam and its central point is consistent with X-axis；

It receives and pulse ranging signal or the phase ranging signal that illuminated target is sent is reflected towards by the first optical mirror, The distance measuring signal is reflected by the illuminated target, is received the reflected signal of the distance measuring signal, is used the reflection of distance measuring signal The biography that at least one of signal and local time reference signal is locally coupled and obtains distance measuring signal of signal and distance measuring signal Sowing time prolongs, and determines ranging datum mark P0 to the distance D1 of illuminated target using the propagation delay；

By the incidence point of laser beam optical axis or the reflected light of laser beam in the first reflector space of the first optical mirror Spot barycenter as ranging reference point p0, from the ranging datum mark P0 of laser beam subtracted into the distance D1 of illuminated target p0 to The distance d0 of the ranging datum mark P0 obtains illuminated target to the distance D0 of ranging reference point p0；

Corresponding to the first and second optical mirror rangings are used, the acquisition hot spot range information includes the following steps：

It uses and reflexes to incident laser beam with Y using X-axis as the first reflector space on the first optical mirror of shaft Axis is the second reflector space on the second optical mirror of shaft, is used using Y-axis as on the second optical mirror of shaft The laser beam is reflexed to target by the second reflector space；Wherein, X-axis is vertical with Y-axis, first reflector space have with The corresponding form of hot spot of laser beam and its central point is consistent with X-axis, second reflector space are the laser beam Scanning area after the reflection of the first optical mirror on the second optical mirror, the center line and Y-axis of the second reflector space Unanimously；

It receives and is reflected towards pulse ranging signal or the phase survey that illuminated target is sent by the first and second optical mirrors Away from signal, which is reflected by the illuminated target, receives the reflected signal of the distance measuring signal, uses distance measuring signal Reflected signal and distance measuring signal be locally coupled at least one of signal and local time reference signal obtain ranging letter Number propagation delay, determine ranging datum mark P0 to the distance D1 of illuminated target using the propagation delay；

By the incidence point of laser beam optical axis or the reflected light of laser beam in the first reflector space of the first optical mirror Spot barycenter as ranging reference point p0, from the ranging datum mark P0 of laser beam subtracted into the distance D1 of illuminated target p0 to The distance d0 of the ranging datum mark P0 obtains illuminated target to the distance De of ranging reference point p0, alternatively, from laser beam Ranging datum mark P0 the distance d0 of p0 to the ranging datum mark P0 subtracted into the distance D1 of illuminated target obtain being shone Target is penetrated to be modified to the distance De of ranging reference point p0 and to the additional path error that De is included；

The additional path error that the described couple of distance De for penetrating target to ranging reference point p0 is included is modified, including：

Light path monitoring step obtains angle, the second optics of the reflecting surface of the first optical mirror using optical imaging sensor At least one of facula position information of the angle and laser beam of the reflecting surface of speculum on the second optical mirror use In the distance of definite target to ranging reference point or the correction amount of the definite target range obtained to measurement；

Distance determines step, and the additional path error that De is included is modified using look-up table or analytic method, obtains penetrating target To the estimate of the air line distance of ranging reference point p0.

In the present embodiment, the position of the ranging datum mark P0 of the laser beam is one of following：

The light source point of laser beam；

With ranging reference point p0 with the point of position；

The point of location determination outside the light source point of laser beam.

In the present embodiment, the position of the ranging datum mark p0 of the laser beam is reflected for the first of the first optical mirror The incidence point of laser beam optical axis in region or the flare barycenter of laser beam, the incidence point of laser beam optical axis or sharp The flare barycenter of light beam is overlapped with the axis of X-axis or, the reflected light of the incidence point of laser beam optical axis or laser beam Offset between spot barycenter and the axis of X-axis is less than the X-axis offset thresholding subscribed；

The optical mirror reflection point position is located in first reflector space and position is consistent with X-axis, including：

Light path monitoring step described in the present embodiment is optional step, for determining target to ranging in an alternate manner The distance of reference point determines the correction amount of target range obtained to measurement, refers to by laser beam from the first optical mirror Range error caused by the additional path error introduced by the non-rectilinear propagation path of the second optical mirror to target needs Amendment of the target to the distance of ranging reference point or the definite target range obtained to measurement is just determined using the step during amendment Amount, what is introduced by laser beam from the first optical mirror by the non-rectilinear propagation path of the second optical mirror to target When range error need not be corrected, the step is not used to be modified the distance of object ranging reference point.

The light path monitoring step that the present embodiment provides, for detecting the change for the ranging light path that the second optical mirror introduces Change, which is passed by laser beam from the first optical mirror by the non-rectilinear of the second optical mirror to target Broadcasting path causes, also, reflection position of the laser beam on the second light reflection mirror changes with the variation of scanning angle, this is anti- Penetrating the political reform of position, cause can not be using the reflection point of the second optical mirror as ranging reference point：

In general, non-rectilinear propagation path of the laser beam from the first optical mirror Jing Guo the second optical mirror to target causes Additional range error in 0.5 centimetre to 2 cm ranges, when using the optical mirror of large scale, introducing it is non-straight Additive error meeting bigger caused by line propagation path, for example, additional range error can be in 5 centimetres to 10 cm ranges, this is attached Add range error be unsatisfactory for measurement accuracy requirement when, it is necessary to range error is added to this and is modified.

Described in the light path monitoring step that the present embodiment provides the first optical mirror is obtained using optical imaging sensor The angle of reflecting surface, the second optical mirror reflecting surface hot spot on the second optical mirror of angle and laser beam At least one of location information, wherein,

The angle of the reflecting surface that the first optical mirror is obtained using optical imaging sensor, including：It is supervised using camera Depending on the deflection angle of the angle of the reflecting surface of the first optical mirror, the optical axis of the camera is parallel with X-axis, to the first optics The angle value of plane or angular misalignment measure where the reflecting surface of speculum；

The angle of the reflecting surface that the second optical mirror is obtained using optical imaging sensor, including：It is supervised using camera Depending on the deflection angle of the angle of the reflecting surface of the second optical mirror, the optical axis of the camera is parallel with Y-axis, to the second optics The angle value of plane or angular misalignment measure where the reflecting surface of speculum；

It is described to obtain facula position information of the laser beam on the second optical mirror using optical imaging sensor, including： The facula position on the second optical mirror is monitored using camera, and the optical axis of the camera is parallel with Y-axis vertical, to second Facula position on optical mirror measures；Or

It is described to obtain facula position information of the laser beam on the second optical mirror using optical imaging sensor, including： Using partially reflecting mirror as the second optical mirror, in the opposite one side of the part reflecting face of the partially reflecting mirror, light is set Spot position measurement face, the facula position measuring surface is for being reflected or scattered to the light beam of permeation parts speculum, using taking the photograph As head monitors the facula position in the facula position measuring surface, its correspondence is estimated by the facula position in facula position measuring surface At least one of reflection direction and reflection point position of the laser beam on partially reflecting mirror.

The distance that the present embodiment provides determines step, using look-up table or analytic method to the additional path error that De is included into Row is corrected, wherein,

The look-up table, including：

Using the first optical mirror with definite relative position relation and the second optical mirror in search coverage Target measures, and obtains the first distance measurement value, the datum mark of first distance measurement value is the first ranging reference point or the first ranging ginseng According to the point of the location determination outside point, the first ranging reference point is in the first reflector space on the first optical mirror Heart point；

Range correction table is read, uses the angle of the reflecting surface of the first optical mirror, the reflecting surface of second optical mirror At least one of the facula position information of angle and laser beam on the second optical mirror is true from the range correction table The fixed correction amount to the first distance measurement value；

The correction amount is subtracted from the first distance measurement value, measured target is obtained and estimates compared with the distance of the datum mark of the first distance measurement value Evaluation.

The analytic method, including：

Using the angle-determining laser beam optical axis of the reflecting surface of the first optical mirror and the angle of the Y-axis, further according to X-axis Relative distance between Y-axis, you can ask for the intersection point of the laser beam optical axis and the Y-axis, the angle is referred to as in the present embodiment Incident angle A_x of the optical axis of the incident laser wave beam of two optical mirrors in X-axis vertical plane；

Using the second optical mirror reflecting surface the second optical mirror of angle-determining to the incident laser beams reflected The shooting angle of light beam, which determines according to the incidence angle of light reflection equal to angle of reflection law, claims in the present embodiment Angle A _ y that the angle of emergence changes the optical axis of incident laser wave beam by the second optical mirror in Y-axis vertical plane；

Incidence angle and the angle of emergence of the laser beam on the second optical mirror constitute a Spatial mask filter, the space plane Projected angle of the angle in the plane vertical with X-axis is A_x, is being degree A_y with the projected angle in Y-axis vertical plane, is using space plane Angle and the relation of its projection angle on two orthogonal planes solve the angle value of the Spatial mask filter；

The length of first side E1 of the Spatial mask filter for the first reflector space on the first optical mirror central point to the The distance of the incidence point of two optics optical mirrors is regarded using the angle-determining laser beam of the reflecting surface of the first optical mirror Relative distance between axis and the angle of the Y-axis and X-axis and Y-axis is asked for the intersection point of the laser beam optical axis and the Y-axis, is made Go out the length of the first side E1 of Spatial mask filter with the intersection point calculation；The length of second side E2 of the Spatial mask filter is described Incident laser wave beam is equal to from incidence point to the line segment of measured target, the length of E2 with first after being reflected by the second optical mirror The central point of the first reflector space on optical mirror subtracts the length of E1 as the distance value that ranging reference point obtains；It is tested Object to the ranging reference point line E3 and E1 and E2 form plane triangle, E3 to angle be the space plane Angle, the actual distance of testee to the ranging reference point are equal to the length of E3, the length of E3 by known triangle both sides Length and both sides corner dimension ask the formula on the 3rd side to be calculated.

Wherein,

The range correction table is obtained using following measuring process：

The tested target of one group of location determination is laid, this group of target includes the tested target of 2 or 2 or more, each by mark Target compared with calibration be with the distance of measurement reference point it is known that or each tested target compared with calibration measure reference point away from From being known with orientation angles；

By the first optics in the first optical mirror and the second optical mirror with the definite relative position relation The central point of the first reflector space on speculum makes the ranging reference point be located at calibration measurement as ranging reference point At reference point, it is on the tested target and right to be reflected into laser beam using the first optical mirror and the second optical mirror Target ranging obtains the measured value of specific tested target, which is subtracted the tested target and measured compared with calibration and is joined According to the known distance of point, first optical mirror and the second optical mirror with definite relative position relation is obtained Scan module to the ranging correction value Δ d of the specific tested target；

Further, interpolation is done to the ranging correction value of adjacent tested target, obtain particular orientation between adjacent tested target and Apart from corresponding ranging correction value；

One group of ranging correction value that measurement obtains is fabricated to form corresponding with particular orientation and specific range, i.e., described in composition Range correction table.Specifically, as the edge respectively of the first laser wave beam generated using first laser source described in scan mode one Road pavement region is scanned a kind of realization method of irradiation on first and second scanning directions, including：

It uses and reflexes to incident laser beam with Y using X-axis as the first reflector space on the first optical mirror of shaft Axis is the second reflector space on the second optical mirror of shaft, is used using Y-axis as on the second optical mirror of shaft The laser beam is reflexed to road surface region by the second reflector space, and the deflection of the first optical mirror is adjusted using X-axis as shaft Angle makes laser beam be scanned on the first scanning direction, and the angle of the second optical mirror is adjusted using Y-axis as shaft and makes laser Wave beam scans on the second scanning direction；Wherein, X-axis is vertical with Y-axis, and first reflector space has the light with laser beam The corresponding form of spot and its central point is consistent with X-axis, second reflector space are anti-through the first optics for the laser beam It is consistent with Y-axis to penetrate the scanning area on the second optical mirror, the center line of the second reflector space after mirror reflection.

Specifically, scanned as the first laser wave beam generated using first laser source described in scan mode two along first Road pavement region is scanned a kind of realization method of irradiation on direction, including：

It uses and incident laser beam is reflexed into road surface using X-axis as the first reflector space on the first optical mirror of shaft Region, the deflection angle of the first optical mirror is adjusted using X-axis as shaft makes laser beam be scanned on the first scanning direction, In, first reflector space has form corresponding with the hot spot of laser beam and its central point is consistent with X-axis.

Specifically, the local time reference signal is used to measure the launch time benchmark of pulse ranging signal, uses this The propagation delay of launch time reference measurement pulse ranging signal, the propagation delay are optical signal between distance measuring unit and target The half of round-trip delay or round-trip delay.

The method that the present embodiment provides, wherein,

It is described to use at least one of the light spot shape information and hot spot range information road pavement abnormality or vehicle row The state of sailing is identified, including following at least one identification step：

Identification step one according to the degreeof tortuosity for the hot spot that linear type or cross wave beam generate on illuminated road surface, judges The flatness on road surface；

Identification step two according to the degreeof tortuosity for the hot spot that linear type or cross wave beam generate on illuminated road surface, and makes With the flatness for the distance measurement result at hot spot distortion, judging road surface；

Identification step three according to the degreeof tortuosity for the hot spot that linear type or cross wave beam generate on illuminated road surface, and makes With the flatness and its position coordinates for the distance measurement result at hot spot distortion, judging road surface；

Identification step four according to the direction of twist for the hot spot that linear type or cross wave beam generate on illuminated road surface, judges Road surface is fovea superior, there are at least one of barriers on recessed and road surface；

Identification step five according to the direction of twist for the hot spot that linear type or cross wave beam generate on illuminated road surface, and makes With to the distance measurement result at hot spot distortion, judge road surface for fovea superior, there are at least one of barriers on recessed and road surface；

Identification step six according to the direction of twist for the hot spot that linear type or cross wave beam generate on illuminated road surface, and makes With to the distance measurement result at hot spot distortion, judge that road surface is simultaneously true there are at least one of barrier for fovea superior, recessed and road surface Its fixed position coordinates；

Identification step seven, the hot spot generated according to linear type or cross wave beam on the same position on illuminated road surface is not With the change in shape occurred in time interval, judge that there are mobile objects in the road surface position；

Identification step eight, the hot spot generated according to linear type or cross wave beam on the same position on illuminated road surface is not With the change in shape occurred in time interval, and using to the distance measurement result at hot spot distortion, judge exist in the road surface position Mobile object position coordinates；

Identification step nine, the hot spot generated according to linear type or cross wave beam on the same position on illuminated road surface is not With the change in shape occurred in time interval, to the vehicle body scale of vehicle in this position, if in traveling and travel direction At least one is judged；

Identification step ten, the hot spot generated according to linear type or cross wave beam on the same position on illuminated road surface is not It with the change in shape occurred in time interval, and uses to the distance measurement result on hot spot or outside hot spot at specified point, to the position On vehicle vehicle body scale, if traveling and at least one of travel direction are judged；

Identification step 11, according to the shape and shape of the hot spot that linear type or cross wave beam generate in illuminated road surface region Shape changes, and starts the ranging to specified point on hot spot, judges to generate the position coordinates of the object of hot spot using the distance measurement result, move At least one of dynamic direction, translational speed and size parameter；

Identification step 12 using the vehicle travelled on linear type or cross wave beam tracking radiation road surface, is reflected according to vehicle The change in shape that the hot spot of generation occurs, and using to the distance measurement result on hot spot or outside hot spot at specified point, identify vehicle body phase At least one of in distance, vehicle location coordinate and Vehicle Speed for lane line；

One to any one of 12 step of identification step, including following at least one processing mode：

Processing mode one, at least one in light spot shape information and hot spot range information in the processing module for being laid in trackside Kind is handled, and at least one in handling result is sent to the data processor, computer server and road of network side At least one of vehicle of road；

At least one of light spot shape information and hot spot range information are sent to the data processing of network side by processing mode two At least one of device, computer server are handled；

At least one of light spot shape information and hot spot range information are sent to the data processing of network side by processing mode three At least one of device, computer server are handled, and pass through wireless network by least one information in handling result It is sent to road vehicle.

As a kind of specific implementation, described in identification step one according to linear type or cross wave beam on illuminated road The degreeof tortuosity of the hot spot generated on face judges the method for the flatness on road surface, including：

At least one of the peak value of the hot spot generated on illuminated road surface according to linear type or cross wave beam, the degree of bias and variance As the yardstick of torsion resistance, when any one of the variance of the hot spot, peak value and degree of bias are more than predetermined threshold, road is judged Surface evenness occurs abnormal；Or

Use peak value, the degree of bias and the variance of the hot spot that the linear type or cross wave beam that gathered in the past generate on illuminated road surface At least one as historical data, the light generated according to the linear type or cross wave beam that currently obtain on illuminated road surface At least one of the peak value of spot, the degree of bias and variance judges the variation of surface evenness compared with historical data.

As a kind of specific implementation, described in identification step five according to linear type or cross wave beam on illuminated road The direction of twist of the hot spot generated on face, and using to the distance measurement result at hot spot distortion, judge road surface for fovea superior, recessed and road Face there are at least one of barrier method, including：

At least one of the peak value of the hot spot generated on illuminated road surface according to linear type or cross wave beam, the degree of bias and variance As the yardstick of torsion resistance, when any one of the variance of the hot spot, peak value and degree of bias are more than predetermined threshold, road is judged Surface evenness occurs abnormal；

After judging that exception occurs in surface evenness, ranging is carried out to abnormal point, it is recessed including judging Lower pit ranging Depth is used to upper salient point ranging judge fovea superior height or obstacle height.

As a kind of specific implementation, described in identification step seven according to linear type or cross wave beam on illuminated road The change in shape that the hot spot generated on the same position in face occurs in different time intervals judges exist in the road surface position The method of mobile object, including：

Linear type or cross wave beam are resident in the same position on illuminated road surface；

Observe the change in shape of linear type or cross wave beam hot spot；

When light spot shape becomes the second shape from first shape, show there is mobile object on road surface at hot spot, work as light After shape of spot is restored to first shape, the object moved into before showing at hot spot is had left at hot spot.

As a kind of specific implementation, according to linear type or cross wave beam on illuminated road surface described in identification step eight Same position on the change in shape that occurs in different time intervals of the hot spot that generates, and using to hot spot distortion Distance measurement result judges the method for the position coordinates of mobile object present on the road surface position, includes the following steps：

When light spot shape becomes the second shape from first shape, the appearance of second shape object is judged to and has appeared in hot spot Place starts to the ranging at the hot spot to determine the position coordinates or distance of object.

As a kind of specific implementation, described in identification step nine according to linear type or cross wave beam on illuminated road surface The change in shape that the hot spot generated on same position occurs in different time intervals, to the vehicle body ruler of vehicle in this position Degree, if the method that at least one of traveling and travel direction are judged, including：

The vehicle body scale of vehicle is judged according to the object of reference size of the outer profile size of hot spot deformation and known scale, it is described known The object of reference of scale is at least one in lane width, track line width and scarp stone width；Or

Judge longitudinally the moving direction of the hot spot deformation of linear type wave beam in the same direction or to judge cross wave beam Zhong Yu roads with road The moving direction of the longitudinal hot spot deformation of linear type wave beam in the same direction in road, vehicle movement is judged to by the moving direction of the hot spot deformation Direction；Or

When the hot spot deformation that vehicle generates does not change, judge that vehicle is in halted state.

As a kind of specific implementation, linear type or cross wave beam tracking radiation are used described in identification step 12 The vehicle travelled on road surface, the change in shape that the hot spot generated according to vehicle reflection occurs, and use is on hot spot or outside hot spot Distance measurement result at specified point, identification vehicle body is compared in the distance of lane line, vehicle location coordinate and Vehicle Speed The method of at least one, further comprises：

According to the facula position of the profile of hot spot inflection curves and lane line identification judge vehicle body compared with lane line away from From；Or

Know according at least one of in the profile of hot spot inflection curves and position and scale for known reference position and size For other vehicle compared with the distance of lane line, the object of reference of the known scale is that lane width, track line width and scarp stone are wide At least one of in degree；Or

According in object of reference known to object of reference known to the profile, distance measurement result, scale of hot spot inflection curves, position at least One judgement vehicle is compared with the position of lane line in road surface, and object of reference known to the scale is lane width, lane line At least one of in width and scarp stone width, object of reference known to the position is pavement strip, road surface word or symbol mark At least one of in knowledge.

Specifically, the data processor of the network side, computer server are intelligent transportation net, Traffic Information Any data processor or computer server in net, Vehicular automatic driving monitoring network, enterprise network and public network.

Embodiment two, a kind of pavement behavior detection device citing

It is shown in Figure 2, a kind of pavement behavior detection device embodiment provided by the invention, including：

Laser beam tuning module 210, laser beam Shaping Module 280, optical imagery module 220, range finder module 230 and road surface Situation identification module 240；Wherein,

Laser beam tuning module 210, for using the optical mirror being laid on non-moving supporter or optics tuning saturating Mirror adjustment laser beam direction is allowed to irradiate to road surface scanned in regions, including optical reflection mirror module or optics tuning lens Submodule；

Laser beam Shaping Module 280 is used to implement at least one of shape and beam angle of laser beam and is sent out with control Changing, including expanding shaping lens submodule, pack shaping lens submodule and deformable lens submodule in the block at least one Kind；

For receiving reflected signal of the object to the laser beam, institute is obtained using the reflected signal for optical imagery module 220 The light spot shape information of laser beam is stated, including optical array sensor or optical imaging sensor；

Range finder module 230 for receiving reflected signal of the object to the laser beam, is obtained described sharp using the reflected signal The range information of the hot spot of light beam, including receiving light path submodule, time delay estimation submodule and distance estimations submodule；

Pavement behavior identification module 240, using in the light spot shape information of the laser beam and hot spot range information at least A kind of road pavement abnormality or vehicle running state are identified, and submodule or vehicle traveling are identified including road surface abnormality At least one of state recognition submodule；

The cross-sectional shape for the wave beam that the laser beam uses in scanning-mode it is linear for a wordline shape or cross, institute Cross section is stated as the section vertical with beam direction.

The another kind of non-moving supporter is achieved in that, by the lighting standard of trackside, advertisement pillar, mobile communication base station tower Any one in frame, cable pillar, bridge frame and tunnel wall is the non-moving supporter.

The device that the present embodiment provides, wherein,

The laser beam tuning module 210 is performed using the optical mirror or optics tune being laid on non-moving supporter It is allowed to scan the operation of irradiation into search coverage to lens adjustment laser beam direction, including following at least one step：

Wherein,

In the present embodiment, first reflector space is with form corresponding with the hot spot of laser beam and its central point and X Axis is consistent, and concrete methods of realizing includes：

The device that the present embodiment provides, wherein,

The laser beam Shaping Module 280, for performing at least one of the shape of laser beam and beam angle with control Changed operation is made, including following at least one control mode：

As a kind of specific implementation, under search pattern, laser beam uses the first beam shape, is tracking or is surveying Away under pattern, laser beam uses the second beam shape;

Shown in Figure 2, it is one that the laser beam 250 as irradiation wave beam has the first beam shape 251 under search condition Wordline shape, the first beam shape form linear type hot spot on planar reflector, and the hot spot is identical with the first beam shape 251, Laser beam has the second beam shape under tracking or distance measuring states, and the second wave beam book shape is shorter wordline shape 261, the Two beam shapes form shorter linear type hot spot on planar reflector, and the hot spot is identical with the second beam shape 251；First Projection of shape of the beam shape 251 for irradiation wave beam 250 in the plane, the second beam shape 261 are irradiation wave beam 260 flat Projection of shape on face；

First beam shape is linear for cross, and the second wave beam book shape is linear for shorter cross；

First beam shape is a wordline shape, and the second wave beam book shape is linear for shorter cross；

First beam shape is linear for cross, and the second wave beam book shape is shorter wordline shape；

First beam shape is a wordline shape, and the second wave beam book shape is circular or ellipse；

First beam shape is linear for cross, and the second wave beam book shape is circular or ellipse；

The device that the present embodiment provides, wherein,

The optical imagery module 220, for performing the operation for the light spot shape information for obtaining illuminated target, including walking as follows Suddenly：

Range finder module 230 for performing the operation for obtaining hot spot range information, includes the use of the first optical mirror ranging or makes With the first and second optical mirror rangings, wherein,

The light source point of laser beam；

With ranging reference point p0 with the point of position；

In the present embodiment, the position of the ranging datum mark p0 of the laser beam is the first reflector space of the first optical mirror The incidence point of interior laser beam optical axis or the flare barycenter of laser beam, the incidence point or laser wave of laser beam optical axis The flare barycenter of beam is overlapped with the axis of X-axis or, the flare matter of the incidence point of laser beam optical axis or laser beam Offset between the heart and the axis of X-axis is less than the X-axis offset thresholding subscribed；

The look-up table, including：

The analytic method, including：

Wherein,

The range correction table is obtained using following measuring process：

Specifically, the pack shaping lens are used to carry out convergence process to the laser beam after expanding, and make after expanding The beam angle of laser beam becomes smaller, and the optical energy density of wave beam improves.

In the present embodiment, as a kind of specific implementation of optical imagery module 220, for performing following operating procedure：

The hot spot of laser beam is obtained with the optical imaging sensor that location deployment or different location are disposed using the light source with laser beam Shape information, the hot spot are generated by the reflection or scattering of illuminated target, and the shape of the hot spot reflects the shape of illuminated target At least one of shape, structural form, material optical characteristics characteristic.

As a kind of realization method, before pulse ranging signal or phase ranging signal is sent to illuminated target, carry At least one shaping lens that expand are removed the laser wave by the energy of high range accuracy and raising laser beam using servo mechanism The light path of beam is to reduce the irradiation hot spot metric density to target, alternatively, being moved at least one condenser lens using servo mechanism The light path of the laser beam, to reduce the irradiation hot spot to target, the energy for improving range accuracy and raising laser beam is close Degree.

The device that the present embodiment provides, wherein,

The pavement behavior identification module 240 is used in the light spot shape information and hot spot range information extremely for performing The operation that a kind of few road pavement abnormality or vehicle running state are identified performs following at least one identification step：

Observe the change in shape of linear type or cross wave beam hot spot；

Specifically, the data processor of the network side, computer server are intelligent transportation net, Traffic Information net, enterprise Any data processor or computer server in industry net and public network.

By laying device of the present invention, Traffic Information along road one or both sides in specified link section Net or intelligent traffic monitoring net can obtain pavement behavior and vehicle running state information in the road interval in real time, use this Information, Traffic Information net or intelligent traffic monitoring net can aid in realizing pavement behavior monitoring, the monitoring of vehicle traveling, vehicle Traveling monitoring, the measurement relative positioning of position, vehicle peccancy automatic prompt, vehicle peccancy in road interval are punished automatically in violation of rules and regulations With the guiding of Vehicular automatic driving.

The pavement behavior measuring device that the present embodiment provides, further includes control module 270, and the control module 270 is from optics Image-forming module 220 obtains light spot shape information, using this light spot shape information to beam scanning, target following and object ranging mistake Cheng Jinhang is controlled；

Specifically, control module 270 uses the light spot shape information from the acquisition of optical imagery module 220 to laser light source 290 Transmission power, the tuning mode of laser beam tuning module 210, the output of the light path monitoring data of laser beam tuning module 210 It is controlled at least one of the beam-shaping mode of laser beam Shaping Module 280.

Specifically, the light path monitoring of the laser beam tuning module 210 includes, and the is obtained using optical imaging sensor The angle of the reflecting surface of one optical mirror, the second optical mirror reflecting surface angle and laser beam it is anti-in the second optics At least one of facula position information penetrated on mirror is used to determine target to the distance of ranging reference point or determine to measuring The correction amount of the target range arrived.

Method and device provided in an embodiment of the present invention can use in whole or in part electronic technology, electro-optical distance measurement technology and Automatic control technology is realized；Method provided in an embodiment of the present invention, can in whole or in part by software instruction and/or Hardware circuit is realized；The module or unit that device provided in an embodiment of the present invention includes, may be employed electronic component, light- Electricity/electricity-magnetic switching device, driving/dragging motor are realized.

The preferred embodiment of the above, the simply present invention is not used for limiting protection scope of the present invention.Appoint Technical staff in what field of the present invention, do not depart from disclosed herein spirit and scope on the premise of, Ke Yi Any modification and variation, but protection scope of the present invention defining with appended claims are carried out in the form and details of implementation Subject to scope.

The present invention provides pavement behavior detection method and device, overcomes night prison existing for existing camera surveillance technology The apparent distance is small, target identification is difficult and target range acquisition of information difficulty is big and mobile lidar surveillance technology existing for Of high cost and monitoring scope is difficult to obtain in remote road condition information these shortcomings extremely because being limited by height of car Few one kind.It is at low cost, precision is high, efficient, have practicability.

Claims

1. a kind of pavement behavior detection method, including：

2. the method for claim 1, wherein

The first optics tuning lens adjustment laser beam direction is moved along the laser beam optical path direction to be allowed in the first dimension On into search coverage scan irradiation, move the second optics tuning lens along the vertical direction of the laser beam light path, adjust Laser beam direction is allowed in the second dimension scan irradiation into search coverage;

Wherein,

3. the method for claim 1, wherein

4. the method for claim 1, wherein

5. the method for claim 1, wherein

It is described to use at least one of the light spot shape information and hot spot range information road pavement abnormality or vehicle row The state of sailing is identified, including following at least one identification step：Hot spot range information

6. a kind of pavement behavior detection device, including

7. device as claimed in claim 6, wherein,

The laser beam tuning module performs saturating using the optical mirror or optics tuning that are laid on non-moving supporter Mirror adjustment laser beam direction is allowed to the operation irradiated to road surface scanned in regions, including following at least one step：

The first optics tuning lens adjustment laser beam direction is moved along the laser beam optical path direction to be allowed in the first dimension On into search coverage scan irradiation, move the second optics tuning lens along the vertical direction of the laser beam light path, adjust Laser beam direction is allowed in the second dimension scan irradiation into search coverage；

Wherein,

8. device according to claim 6, wherein,

The laser beam Shaping Module is sent out for performing at least one of the shape of laser beam and beam angle with control The operation for changing, including following at least one control mode：

Control mode three is expanded in lasing light emitter between optical mirror or in lasing light emitter to setting between beam steering lens Integer lens and pack integer lens, before road pavement sector scanning or during scanning, by least one pack integer Lens remove the transmitting light path of the first laser wave beam；Or, before to object ranging, to expand integer saturating by least one Mirror removes the transmitting light path of the first laser wave beam；Or, before to object ranging, at least one pack integer lens are moved Enter the transmitting light path of the first laser wave beam；And

9. device according to claim 6, wherein,

The optical imagery module for performing the operation for the light spot shape information for obtaining illuminated target, includes the following steps：

The range finder module, for perform obtain hot spot range information operation, include the use of the first optical mirror ranging or Using the first and second optical mirror rangings, wherein,

10. device according to claim 6, wherein,

The pavement behavior identification module, for performing using at least one in the light spot shape information and hot spot range information The operation that kind road pavement abnormality or vehicle running state are identified performs following at least one identification step：