EP1416458A1 - Device for control of vehicle speed - Google Patents
Device for control of vehicle speed Download PDFInfo
- Publication number
- EP1416458A1 EP1416458A1 EP02024161A EP02024161A EP1416458A1 EP 1416458 A1 EP1416458 A1 EP 1416458A1 EP 02024161 A EP02024161 A EP 02024161A EP 02024161 A EP02024161 A EP 02024161A EP 1416458 A1 EP1416458 A1 EP 1416458A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- speed
- determining
- viewfinder
- orientation
- 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.)
- Granted
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
- G08G1/054—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed photographing overspeeding vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
Definitions
- the present invention relates to devices for controlling the speed of vehicles, for example motor vehicles.
- This type of device is well known.
- the installation of such devices requires time relatively long.
- control should be able to be done.
- the helicopter is at a constant height and remains fixed or moving in the same direction as the controlled vehicle.
- the device also includes a viewfinder associated with the optical device to direct the incident signals towards the vehicle whose speed is to be measured.
- the position determination device of the device further comprises means for determining viewfinder orientation.
- the calculating member is arranged so as to take into account the orientation of the viewfinder at each of said moments to determine said speed.
- the vehicle and its driver can be identified by means of a camera arranged to operate simultaneously with the emission of incident signals and to record an image relating to the vehicle in its together and to its driver.
- a second camera allows the capture of information arranged on an identification plate that the vehicle.
- the light source emits radiation infrared.
- the calculating member also determines the orientation of the device in relation to the terrestrial reference and the orientation of the vehicle with reference to the device.
- the speed is defined by comparing several successive instantaneous speeds and by averaging them. So advantageous, instantaneous speeds are measured within a period of time of the order of a second.
- a new measure is carried out after the first when the measured speed exceeds one limit value.
- Figure 1 shows the general framework in which the measurement is made.
- the latter relates to a motor vehicle 10 moving at a speed V a to be defined, on a road 12.
- the measurement is carried out from a helicopter 14 flying in the vicinity of road 12.
- the helicopter 14 comprises a cockpit 14a, in which the pilot, an operator and a measuring equipment 16 are located, and a frame 14b placed below the cockpit 14a and carrying a measuring head 18.
- the equipment 16 and the head 18 together form a control device intended to determine the speed V a .
- the measuring equipment 16 is formed by a control table 20, a computer 22 and a clock 24.
- the head 18 comprises several devices mounted on the same chassis 25 which can be rotated along two orthogonal axes by means of two motors 26 and 28 associated with the armature 14b and controlled by the table 20, of so that the head 18 can sweep the space below the helicopter.
- the clock 24, the viewfinder 36, the camera 38 and the apparatus 40 are connected to computer 22 so that information about when a measurement is made, at the vehicle considered and at the position of the helicopter be registered in a quasi-simultaneous and coordinated manner, in order to avoid any risk of confusion.
- all of these information is gathered on paper, as proof of the measured.
- the device 16 thus formed makes it possible to define the speed V a of the vehicle 10, as soon as we know in two successive instants the position P ti of the head 18, the distance d vi between the head 18 and the vehicle 10 as well as the orientation of the incident ray 32a. This is a simple trigonometry calculation, with no other accessible to those skilled in the art.
- the operator located in the helicopter 14, directs the viewfinder 36 to a vehicle which has decided to control the velocity V a and controls the transmission of a series of pulses emitted by the source 30a in instants t i .
- the distance d v is determined as follows. For each pulse i of the laser beam 32a sent by the source 30a, the sensor 30b receives a return signal 32b, after a time interval ⁇ t i depending on the distance d i between the head 18 and the controlled vehicle 10. Knowing the position of the head 18, the distance d i and the angles ⁇ i and ⁇ i , it is possible to determine an instantaneous position p vi of the vehicle 10, with reference to the helicopter 14. The position P vi of the vehicle defined with respect to on the ground can then be deduced from P ti and p vi .
- the distance D v between two successive positions P vi and P vi + 1 can be calculated and, knowing the time ⁇ necessary to pass from one to the other of these positions, the average speed of the vehicle V v can be deduced by calculation using the computer 22, by dividing the distance traveled D v by the time ⁇ between two measurements.
- the speed can then be determined as indicated above.
- D v can be obtained by adding vectorially the distance traveled by the vehicle 10 and by the helicopter 14.
- the pulses emitted by the source 32a are emitted within a period of time less than one second, so that the instantaneous speed of the vehicle hardly changes. If the computer highlights strong variations, it informs the operator, who can then start a new package.
Abstract
Description
La présente invention se rapporte aux dispositifs de contrôle de la vitesse de véhicules, par exemple de véhicules automobiles. Ce type de dispositif est bien connu. Il existe particulièrement des dispositifs fixes, disposés à demeure ou sporadiquement en un lieu donné, comportant conjointement un radar pour mesurer la vitesse et une caméra vidéo ou photographique, pour identifier le véhicule. La mise en place de tels dispositifs nécessite un temps relativement long. Par ailleurs, il est nécessaire qu'il soit disposé en un lieu discret pour présenter une certaine efficacité. Or, c'est parfois en des lieux très dégagés que le contrôle devrait pouvoir se faire.The present invention relates to devices for controlling the speed of vehicles, for example motor vehicles. This type of device is well known. There are particularly fixed devices, arranged at remains or sporadically in a given place, jointly comprising a radar to measure speed and a video or photographic camera, to identify the vehicle. The installation of such devices requires time relatively long. Furthermore, it is necessary that it be arranged in a place discreet to present a certain efficiency. However, it is sometimes in places very clear that control should be able to be done.
Certaines polices ont équipé des hélicoptères de matériel photographique et disposé des marques sur les routes à contrôler. De la sorte, il est possible de déterminer la vitesse d'un véhicule par deux photos successives. Cette solution nécessite des aménagements au sol, ce qui implique aussi obligatoirement que le contrôle se fait en des endroits précis.Some police have equipped helicopters with photographic equipment and placed marks on the roads to be checked. In this way, it is possible to determine the speed of a vehicle by two successive photos. This solution requires ground fittings, which also involves it is compulsory that the control is done in precise places.
Le but de la présente invention est de permettre un contrôle de la vitesse de manière à pouvoir l'effectuer en n'importe quel endroit découvert. Ce but est atteint grâce au fait que le dispositif comporte, en combinaison :
- un appareil de détermination de la position du dispositif par radiogoniométrie,
- un appareil optique muni d'une source de lumière à rayonnement laser, engendrant une succession de signaux incidents en des instants donnés, et d'un capteur des signaux réfléchis par le véhicule, et
- un organe de calcul agencé pour déterminer la vitesse instantanée
du véhicule entre deux instants voisins correspondant à l'émission
de deux signaux incidents en prenant en compte :
- la position du dispositif à chacun desdits moments, et
- la distance comprise entre le dispositif et le véhicule à chacun desdits instants.
- an apparatus for determining the position of the device by direction-finding,
- an optical device provided with a laser radiation light source, generating a succession of incident signals at given times, and a sensor for the signals reflected by the vehicle, and
- a calculation unit arranged to determine the instantaneous speed of the vehicle between two neighboring times corresponding to the emission of two incident signals by taking into account:
- the position of the device at each of said moments, and
- the distance between the device and the vehicle at each of said times.
Pour pouvoir effectuer une mesure sur la base de ces seules informations, il est nécessaire que l'hélicoptère se trouve à une hauteur constante et reste fixe ou qu'il se déplace dans la même direction que le véhicule contrôlé.To be able to make a measurement on the basis of this information only, it it is necessary that the helicopter is at a constant height and remains fixed or moving in the same direction as the controlled vehicle.
Afin de permettre des conditions de travail permettant une meilleure adaptation à l'environnement, le dispositif comporte, en outre, un viseur associé à l'appareil optique pour diriger les signaux incidents vers le véhicule dont la vitesse doit être mesurée. L'appareil de détermination de la position du dispositif comporte, en outre, des moyens de détermination de l'orientation du viseur. De plus, l'organe de calcul est agencé de manière à prendre en compte l'orientation du viseur à chacun desdits moments pour déterminer ladite vitesse.In order to allow working conditions allowing better adaptation to the environment, the device also includes a viewfinder associated with the optical device to direct the incident signals towards the vehicle whose speed is to be measured. The position determination device of the device further comprises means for determining viewfinder orientation. In addition, the calculating member is arranged so as to take into account the orientation of the viewfinder at each of said moments to determine said speed.
L'identification du véhicule et de son conducteur peut être réalisée au moyen d'une caméra agencée pour fonctionner simultanément à l'émission des signaux incidents et pour enregistrer une image relative au véhicule dans son ensemble et à son conducteur. Une seconde caméra permet la saisie d'informations disposées sur une plaque d'identification que porte le véhicule.The vehicle and its driver can be identified by means of a camera arranged to operate simultaneously with the emission of incident signals and to record an image relating to the vehicle in its together and to its driver. A second camera allows the capture of information arranged on an identification plate that the vehicle.
De manière avantageuse, la source de lumière émet un rayonnement infrarouge.Advantageously, the light source emits radiation infrared.
La présente invention se rapporte également à un procédé mettant en oeuvre le dispositif défini ci-dessus. Selon ce procédé, l'organe de calcul détermine la vitesse à partir des opérations suivantes :
- déterminer, à la réception des signaux réfléchis, la distance du véhicule en référence au dispositif,
- déterminer, au moment de ladite réception, la position du dispositif par rapport à une référence terrestre,
- calculer la distance parcourue par le véhicule entre deux réceptions successives, et
- déterminer la vitesse instantanée du véhicule en divisant la distance parcourue par le temps mis pour la parcourir.
- determining, on reception of the reflected signals, the distance from the vehicle with reference to the device,
- determine, at the time of said reception, the position of the device with respect to a terrestrial reference,
- calculate the distance traveled by the vehicle between two successive receptions, and
- determine the instantaneous speed of the vehicle by dividing the distance traveled by the time taken to travel it.
De manière avantageuse, l'organe de calcul détermine, en outre, l'orientation du dispositif par rapport à la référence terrestre et l'orientation du véhicule en référence au dispositif.Advantageously, the calculating member also determines the orientation of the device in relation to the terrestrial reference and the orientation of the vehicle with reference to the device.
Afin d'éviter toute ambiguïté, la vitesse est définie en comparant plusieurs vitesses instantanées successives et en les moyennant. De manière avantageuse, les vitesses instantanées sont mesurées dans un laps de temps de l'ordre de la seconde.In order to avoid any ambiguity, the speed is defined by comparing several successive instantaneous speeds and by averaging them. So advantageous, instantaneous speeds are measured within a period of time of the order of a second.
Pour s'assurer qu'aucune contestation ne soit possible, une nouvelle mesure est effectuée à la suite de la première lorsque la vitesse mesurée dépasse une valeur limite.To ensure that no dispute is possible, a new measure is carried out after the first when the measured speed exceeds one limit value.
D'autres avantages et caractéristiques de l'invention ressortiront de la description qui va suivre, faite en regard du dessin annexé, dans lequel:
- La figure 1 représente, de manière schématique, la situation générale dans laquelle s'effectue une mesure de vitesse de véhicule ;
- La figure 2 montre la configuration générale du dispositif selon l'invention ; et
- La figure 3 est un diagramme montrant les paramètres pris en compte dans le calcul de la vitesse d'un véhicule.
- FIG. 1 schematically represents the general situation in which a vehicle speed measurement is carried out;
- Figure 2 shows the general configuration of the device according to the invention; and
- FIG. 3 is a diagram showing the parameters taken into account in the calculation of the speed of a vehicle.
La figure 1 montre le cadre général dans lequel s'effectue la mesure. Cette
dernière se rapporte à un véhicule automobile 10 en mouvement à une vitesse
Va à définir, sur une route 12. La mesure est effectuée à partir d'un
hélicoptère 14 volant dans le voisinage de la route 12. Figure 1 shows the general framework in which the measurement is made. The latter relates to a
L'hélicoptère 14 comprend un cockpit 14a, dans lequel se trouvent le pilote,
un opérateur ainsi qu'un équipement de mesure 16, et une armature 14b
disposée en dessous du cockpit 14a et portant une tête de mesure 18.
L'équipement 16 et la tête 18 forment ensemble un dispositif de contrôle
destiné à déterminer la vitesse Va.The
L'équipement de mesure 16 est formé d'une table de commande 20, d'un
ordinateur 22 et d'une horloge 24.The
La tête 18 comporte plusieurs appareils montés sur un même châssis 25
lequel peut être tourné selon deux axes orthogonaux au moyen de deux
moteurs 26 et 28 associés à l'armature 14b et commandés par la table 20, de
manière à ce que la tête 18 puisse balayer l'espace se trouvant en dessous de
l' hélicoptère.The
Comme le montre la figure 2, la tête 18 comprend plus précisément :
- un appareil optique 30 muni d'une source de
lumière 30a émettant unrayon laser 32a et d'uncapteur 30b agencé pour recevoir un signal réfléchi 32b généré par la réflexion durayon 32a sur levéhicule 10, - un
viseur 36, par exemple une caméra vidéo, accouplé rigidement à l'appareil optique 30, dont l'image est affichée sur la table decommande 20, qui permet à l'opérateur d'orienter lerayon laser 32a sur levéhicule 10 dont la vitesse doit être mesurée, - une caméra d'identification 38 permettant d'enregistrer par voie
optique des informations optiques agrandies, relatives au
véhicule 10, par exemple une photographie de la plaque minéralogique, et - un
appareil 40 de détermination par radiogoniométrie de la position Pt de latête 18, avantageusement du type connu sous l'abréviation de GPS, agencé pour permettre de déterminer en tout temps sa longitude Lt, sa latitude lt et son altitude ht, ainsi que l'orientation durayon 32a en référence au nord, définie par l'angle αt, et en référence à l'horizontal, définie par l'angle βt.
- an
optical device 30 provided with alight source 30a emitting alaser beam 32a and asensor 30b arranged to receive a reflectedsignal 32b generated by the reflection of thebeam 32a on thevehicle 10, - a
viewfinder 36, for example a video camera, rigidly coupled to theoptical device 30, the image of which is displayed on the control table 20, which allows the operator to orient thelaser beam 32a on thevehicle 10 whose speed must be measured, - an
identification camera 38 making it possible to record enlarged optical information relating tovehicle 10, for example a photograph of the license plate, by optical means, and - an
apparatus 40 for determining the position P t of thehead 18 by direction-finding, advantageously of the type known by the abbreviation of GPS, arranged to make it possible to determine at any time its longitude L t , its latitude l t and its altitude h t , as well as the orientation of theradius 32a with reference to the north, defined by the angle α t , and with reference to the horizontal, defined by the angle β t .
L'horloge 24, le viseur 36, la caméra 38 et l'appareil 40 sont reliés à
l'ordinateur 22 de manière à ce que les informations relatives au moment où
une mesure est effectuée, au véhicule considéré et à la position de
l'hélicoptère soient enregistrées de manière quasi simultanée et coordonnée,
afin d'éviter tout risque de confusion. De manière avantageuse, toutes ces
informations sont regroupées sur un support papier, comme preuve de la
mesure.The
Le dispositif 16 ainsi constitué permet de définir la vitesse Va du véhicule 10,
dès lors qu'on connaít en deux instants successifs la position Pti de la tête 18,
la distance dvi comprise entre la tête 18 et le véhicule 10 ainsi que
l'orientation du rayon incident 32a. Il s'agit là d'un simple calcul de
trigonométrie, sans autre accessible à l'homme du métier.The
Pour effectuer une mesure, l'opérateur, installé dans l'hélicoptère 14, oriente
le viseur 36 vers un véhicule dont il a décidé de contrôler la vitesse Va, puis
commande l'émission d'une série d'impulsions émises par la source 30a en
des instants ti.To perform a measurement, the operator, located in the
La détermination de la distance dv s'effectue de la manière suivante. Pour
chaque impulsion i du rayon laser 32a envoyée par la source 30a, le capteur
30b reçoit un signal de retour 32b, après un intervalle de temps Δti fonction
de la distance di comprise entre la tête 18 et le véhicule contrôlé 10.
Connaissant la position de la tête 18, la distance di et les angles αi et βi, il est
possible de déterminer une position instantanée pvi du véhicule 10, en
référence à l'hélicoptère 14. La position Pvi du véhicule définie par rapport
au sol peut être ensuite déduite de Pti et de pvi.The distance d v is determined as follows. For each pulse i of the
Si les impulsions sont données à des intervalles de temps τ, la distance Dv
comprise entre deux positions successives Pvi et Pvi+1 peut être calculée et,
connaissant le temps τ nécessaire pour passer de l'une à l'autre de ces
positions, la vitesse moyenne du véhicule Vv peut être déduite par calcul au
moyen de l'ordinateur 22, en divisant la distance parcourue Dv par le temps τ
compris entre deux mesures.If the pulses are given at time intervals τ, the distance D v between two successive positions P vi and P vi + 1 can be calculated and, knowing the time τ necessary to pass from one to the other of these positions, the average speed of the vehicle V v can be deduced by calculation using the
Comme le montre la figure 3, il est possible d'obtenir une information précise
de manière beaucoup plus simple. Dans la mesure où l'hélicoptère est fixe
durant le temps de la mesure (inférieur à la seconde), il est possible de ne
prendre en compte que la position de l'hélicoptère et sa distance d'avec le
véhicule. Plus précisément, si la hauteur de l'hélicoptère en référence au sol
reste constante, la distance Dv pour deux instant successifs t1 et t2 peut être
obtenue par la formule :
La vitesse peut alors être déterminée comme indiqué ci-dessus.The speed can then be determined as indicated above.
Si l'hélicoptère se déplace selon une même direction que le véhicule dont la
vitesse doit être mesurée, Dv peut être obtenu en additionnant
vectoriellement la distance parcourue par le véhicule 10 et par l'hélicoptère
14.If the helicopter is moving in the same direction as the vehicle whose speed is to be measured, D v can be obtained by adding vectorially the distance traveled by the
Typiquement, les impulsions émises par la source 32a le sont dans un laps de
temps inférieur à la seconde, de manière à ce que la vitesse instantanée du
véhicule ne varie pratiquement pas. Si l'ordinateur met en évidence de fortes
variations, il en informe l'opérateur qui peut alors mettre en route un
nouveau train de mesures.Typically, the pulses emitted by the
Ainsi, grâce à la structure du dispositif décrit ci-dessus et au procédé qu'il permet de mettre en oeuvre, il est possible de d'effectuer des contrôle de vitesse tout au long d'une autoroute, sans longue préparation et avec une grande précision de mesuretout en garantissant de bonnes conditions d'identification du véhicule.Thus, thanks to the structure of the device described above and to the process which it allows to implement, it is possible to perform control of speed along a highway, without long preparation and with a high accuracy of measurement while guaranteeing good conditions vehicle identification.
Claims (10)
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT02024161T ATE358311T1 (en) | 2002-10-30 | 2002-10-30 | DEVICE FOR MONITORING THE SPEED OF VEHICLES |
DE60219176T DE60219176D1 (en) | 2002-10-30 | 2002-10-30 | Device for monitoring the speed of vehicles |
EP02024161A EP1416458B1 (en) | 2002-10-30 | 2002-10-30 | Device for control of vehicle speed |
PCT/IB2003/004730 WO2004040532A1 (en) | 2002-10-30 | 2003-10-23 | Vehicle speed control device |
AU2003269420A AU2003269420A1 (en) | 2002-10-30 | 2003-10-23 | Vehicle speed control device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP02024161A EP1416458B1 (en) | 2002-10-30 | 2002-10-30 | Device for control of vehicle speed |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1416458A1 true EP1416458A1 (en) | 2004-05-06 |
EP1416458B1 EP1416458B1 (en) | 2007-03-28 |
Family
ID=32087966
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP02024161A Expired - Lifetime EP1416458B1 (en) | 2002-10-30 | 2002-10-30 | Device for control of vehicle speed |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1416458B1 (en) |
AT (1) | ATE358311T1 (en) |
AU (1) | AU2003269420A1 (en) |
DE (1) | DE60219176D1 (en) |
WO (1) | WO2004040532A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103198666A (en) * | 2013-03-19 | 2013-07-10 | 东南大学 | Highway traffic stream space average speed observation method based on fixed wing model airplane |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4988994A (en) * | 1987-08-26 | 1991-01-29 | Robot Foto Und Electronic Gmbh U. Co. Kg | Traffic monitoring device |
US5515042A (en) * | 1993-08-23 | 1996-05-07 | Nelson; Lorry | Traffic enforcement device |
US5938717A (en) * | 1996-03-04 | 1999-08-17 | Laser Technology, Inc. | Speed detection and image capture system for moving vehicles |
WO2000004524A2 (en) * | 1998-07-17 | 2000-01-27 | Siemens Aktiengesellschaft | Method for detecting a vehicle traffic status and system for detecting said traffic status |
EP1049063A2 (en) * | 1999-04-28 | 2000-11-02 | ROBOT FOTO UND ELECTRONIC GmbH | Traffic monitoring device |
WO2001043104A1 (en) * | 1999-12-10 | 2001-06-14 | David Sitrick | Methodology, apparatus, and system for electronic visualization of traffic conditions |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5359404A (en) * | 1989-03-27 | 1994-10-25 | Laser Technology, Inc. | Laser-based speed measuring device |
-
2002
- 2002-10-30 DE DE60219176T patent/DE60219176D1/en not_active Expired - Lifetime
- 2002-10-30 EP EP02024161A patent/EP1416458B1/en not_active Expired - Lifetime
- 2002-10-30 AT AT02024161T patent/ATE358311T1/en not_active IP Right Cessation
-
2003
- 2003-10-23 AU AU2003269420A patent/AU2003269420A1/en not_active Abandoned
- 2003-10-23 WO PCT/IB2003/004730 patent/WO2004040532A1/en not_active Application Discontinuation
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4988994A (en) * | 1987-08-26 | 1991-01-29 | Robot Foto Und Electronic Gmbh U. Co. Kg | Traffic monitoring device |
US5515042A (en) * | 1993-08-23 | 1996-05-07 | Nelson; Lorry | Traffic enforcement device |
US5938717A (en) * | 1996-03-04 | 1999-08-17 | Laser Technology, Inc. | Speed detection and image capture system for moving vehicles |
WO2000004524A2 (en) * | 1998-07-17 | 2000-01-27 | Siemens Aktiengesellschaft | Method for detecting a vehicle traffic status and system for detecting said traffic status |
EP1049063A2 (en) * | 1999-04-28 | 2000-11-02 | ROBOT FOTO UND ELECTRONIC GmbH | Traffic monitoring device |
WO2001043104A1 (en) * | 1999-12-10 | 2001-06-14 | David Sitrick | Methodology, apparatus, and system for electronic visualization of traffic conditions |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103198666A (en) * | 2013-03-19 | 2013-07-10 | 东南大学 | Highway traffic stream space average speed observation method based on fixed wing model airplane |
CN103198666B (en) * | 2013-03-19 | 2015-03-04 | 东南大学 | Highway traffic stream space average speed observation method based on fixed wing model airplane |
Also Published As
Publication number | Publication date |
---|---|
AU2003269420A1 (en) | 2004-05-25 |
EP1416458B1 (en) | 2007-03-28 |
WO2004040532A1 (en) | 2004-05-13 |
DE60219176D1 (en) | 2007-05-10 |
ATE358311T1 (en) | 2007-04-15 |
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