CN110136483B

CN110136483B - Intelligent warning equipment control method and device, intelligent warning equipment and storage medium

Info

Publication number: CN110136483B
Application number: CN201910523606.6A
Authority: CN
Inventors: 周毕兴; 张立新
Original assignee: Shenzhen Water World Co Ltd
Current assignee: Shenzhen Waterward Information Co Ltd
Priority date: 2019-06-17
Filing date: 2019-06-17
Publication date: 2021-07-20
Anticipated expiration: 2039-06-17
Also published as: CN110136483A

Abstract

The application provides an intelligent warning device control method, an intelligent warning device control device, an intelligent warning device and a storage medium, wherein the method comprises the following steps: acquiring current road condition information and a current position, wherein the current road condition information comprises first path information of a first lane path where a fault vehicle is located; determining a target position for parking the intelligent warning equipment according to the first path information, the current position and preset distance information; and moving to the target position. Intelligent warning equipment has the removal function, and can automatic acquisition road conditions information when the vehicle breaks down, and self-moving to parking target location, make when the vehicle breaks down, the driving user need not to get off the bus and manually puts warning device, has improved the convenience and the rapidity that set up the warning, simultaneously because the driving user need not to get off in trade on dangerous road, has solved and has placed the problem that warning equipment leads to the secondary accident easily through the manual work at present, has strengthened the safety guarantee.

Description

Intelligent warning equipment control method and device, intelligent warning equipment and storage medium

Technical Field

The present application relates to the field of traffic safety technologies, and in particular, to a method and an apparatus for controlling an intelligent warning device, and a storage medium.

Background

With the rapid development of highway construction and improvement of living standard of people in China, the holding amount of vehicles is continuously increased, but the accompanying traffic accidents, such as rear-end collision of vehicles, are also frequent. Generally, when a vehicle has a temporary fault or a traffic accident, a triangular warning board is usually provided on the vehicle to remind other vehicles of avoiding the temporary fault or the traffic accident in order to avoid a secondary traffic accident caused by the temporary fault or the traffic accident. The traffic department stipulates that when the driving fails, a warning device must be used for warning the vehicle behind, and the distance is 100-250 m.

In the prior art, when an automobile has a temporary fault or a traffic accident occurs, a driver needs to get off the automobile and then get out of an automobile tripod in a trunk, walks to a safe distance to place the automobile tripod so as to warn a following vehicle, and then needs to take back the tripod, and because the safe distance specified by a traffic department is 100-250 meters, the placement of the automobile tripod usually takes a long time, and researches show that: the occurrence probability of the secondary accident is in direct proportion to the placing time of the triangular frame of the automobile, namely the shorter the placing time is, the smaller the occurrence probability of the secondary accident is. Moreover, when a person walks on a road to place a triangular frame of the automobile, a larger traffic accident can be caused, and particularly, the probability of secondary accidents is greatly increased under the condition of a curve road of an expressway.

Disclosure of Invention

The application aims to provide an intelligent warning device control method, an intelligent warning device control device, an intelligent warning device and a storage medium, and aims to solve the technical problem that when a temporary fault or a traffic accident occurs on a road, a triangular frame of an automobile is placed manually at present, so that a secondary accident is easily caused.

The application provides an intelligent warning device control method, which is applied to intelligent warning devices with mobile functions, and comprises the following steps:

acquiring current road condition information and a current position, wherein the current road condition information comprises first path information of a first lane path where a fault vehicle is located;

determining a target position for parking the intelligent warning equipment according to the first path information, the current position and preset distance information;

and moving to the target position.

Further, the current traffic information further includes traffic information in a direction of a vehicle coming from behind the first vehicle road path, and the step of moving to the target position includes:

collecting vehicle condition information in the direction of a vehicle coming from the rear of a first vehicle road diameter in real time, and judging whether the vehicle condition information meets a preset safety condition or not;

and if the vehicle condition information does not meet the preset safety condition, sending out reminding information to remind the vehicle in the rear vehicle-coming direction on the first vehicle road path.

Further, according to the first path information, the current position and the preset distance information, determining a target position for parking the intelligent warning device, including:

acquiring a curve position closest to the current position in the coming direction behind the first vehicle path, and calculating the driving distance between the current position and the curve position;

if the driving distance is greater than or equal to a first preset distance, selecting a position with a second preset distance from the current position in the coming direction behind the first lane path as a target position; the second preset distance is smaller than the first preset distance, and the difference value between the second preset distance and the first preset distance is the value of the preset buffer distance;

if the driving distance is smaller than the first preset distance and is larger than or equal to the third preset distance, selecting a position with a fourth preset distance from the current position in the coming direction behind the first lane path as a target position; the fourth preset distance is smaller than the driving distance, and the difference value between the fourth preset distance and the driving distance is the value of the preset buffer distance;

if the driving distance is less than a third preset distance, selecting a position with a fifth preset distance from the current position in the coming direction behind the first lane path as a target position; the fifth preset distance is greater than or equal to the sixth preset distance and less than or equal to the second preset distance, and the difference value between the sixth preset distance and the third preset distance is the value of the preset buffer distance.

Further, the current traffic information further includes second path information of a second lane path where the intelligent warning device is located, and the step of moving to the target position includes:

generating a moving route according to the current position, the target position and the second path information;

and moving from the current position to the target position along the moving route.

Further, the vehicle condition information comprises the driving direction and the speed of a vehicle coming from the rear; the step of judging whether the vehicle condition information meets the preset safety condition comprises the following steps:

judging whether the driving direction of a vehicle coming from the rear part is changed and/or the vehicle speed is slowed down within a preset time period;

and if the driving direction is not changed and/or the vehicle speed is not slowed down within the preset time period, judging that the vehicle condition information does not meet the preset safety condition.

Further, when the intelligent warning device has a flight function, the vehicle condition information further comprises a spacing distance value between the intelligent warning device and a rear vehicle; gather the vehicle condition information of first car road footpath in the rear direction of coming to the car in real time to judge whether the step of vehicle condition information satisfies predetermined safety condition after, still include:

if the vehicle condition information meets the preset safety condition, judging whether the vehicle reaches the position above the target position in real time;

if the distance reaches the upper part of the target position, judging whether the spacing distance value is larger than a preset distance threshold value;

and if the spacing distance value is greater than or equal to the preset distance threshold value, parking to the target position.

Further, after the step of moving to the target position, the method further comprises:

after the mobile terminal is parked to the target position, judging whether a return instruction sent by a user is received or not;

if a return instruction sent by a user is received, acquiring the geographical position information of the fault vehicle and the vehicle condition information in the vehicle coming direction behind the first vehicle road path in real time;

judging whether the vehicle condition information meets a preset safety condition or not;

and if the vehicle condition information meets the preset safety condition, moving the fault vehicle according to the geographical position information of the fault vehicle.

This application has still provided an intelligence warning equipment controlling means, is applied to on the intelligence warning equipment that has the removal function, includes:

the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring current road condition information and a current position, and the current road condition information comprises first path information of a first lane path where a fault vehicle is located;

the determining module is used for determining a target position for parking the intelligent warning equipment according to the first path information, the current position and preset distance information;

and the moving module is used for moving to the target position.

The application also provides intelligent warning equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of any one of the methods when executing the computer program.

The present application also proposes a readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of any of the methods described above.

The beneficial effect of this application is: the application provides an intelligent warning device control method, an intelligent warning device control device, an intelligent warning device and a storage medium, wherein the method comprises the following steps: acquiring current road condition information and a current position, wherein the current road condition information comprises first path information of a first lane path where a fault vehicle is located; determining a target position for parking the intelligent warning equipment according to the first path information, the current position and preset distance information; and moving to the target position. Intelligent warning equipment has the removal function, and can automatic acquisition road conditions information when the vehicle breaks down, and automatic movement to parking target location, make when the vehicle breaks down, the driving user need not to get off and manually puts warning device, has improved the convenience and the rapidity that set up the warning, simultaneously because the driving user need not to get off in trade on dangerous road, has solved and has placed the problem that intelligent warning equipment leads to the secondary accident easily through the manual work at present, has strengthened the safety guarantee.

Drawings

Fig. 1 is a schematic flowchart of a control method of an intelligent warning device in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a control apparatus of an intelligent warning device in an embodiment of the present application;

FIG. 3 is a schematic structural diagram of the mobile module of FIG. 2 in an embodiment of the present application;

FIG. 4 is a schematic block diagram of the determination module of FIG. 2 according to an embodiment of the present application;

FIG. 5 is a schematic diagram of the structure of the mobile module of FIG. 2 in another embodiment of the present application;

FIG. 6 is a schematic structural diagram of the acquisition unit of FIG. 3 in an embodiment of the present application;

FIG. 7 is a schematic diagram of the structure of the mobile module of FIG. 2 in yet another embodiment of the present application;

fig. 8 is a schematic structural diagram of a control device of an intelligent warning apparatus in another embodiment of the present application;

fig. 9 is a schematic structural diagram of an intelligent warning device in an embodiment of the present application;

fig. 10 is a schematic structural diagram of a storage medium in an embodiment of the present application.

The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Referring to fig. 1, an embodiment of the present application provides an intelligent warning device control method, which is applied to an intelligent warning device, where the intelligent warning device is a tripod warning board having a self-moving function, for example, the intelligent warning device may be an intelligent tripod having a walking function, or an intelligent tripod having a flying function, and the intelligent warning device control method may meet a use requirement, and is not specifically limited thereto, and the intelligent warning device control method includes:

s1, acquiring current road condition information and a current position, wherein the current road condition information comprises first path information of a first lane path where a fault vehicle is located;

s2, determining a target position for parking the intelligent warning device according to the first path information, the current position and the preset distance information;

and S3, moving to the target position.

In above-mentioned S1, the intelligent warning device is provided with a camera capable of rotating 360 degrees, preferably an infrared camera with speed and distance measuring functions, wherein the speed and distance measuring functions of the infrared camera can be realized by arranging a speed and distance measuring sensor (such as an ultrasonic sensor). Specifically, in a specific embodiment, when a temporary fault or a traffic accident occurs on a highway, a user takes the intelligent warning device from a trunk of the automobile and places the intelligent warning device on the ground, the user turns on a power supply of the intelligent warning device, and the intelligent warning device enters a working mode; or after the power supply is turned on, the intelligent warning equipment is controlled to enter a working mode through the appointed equipment; for example, after a wireless connection between a mobile terminal (such as a smart phone) and the intelligent warning device is established (for example, a remote communication connection between the mobile terminal and the intelligent warning device can be realized by installing an APP on the mobile terminal), the mobile terminal sends a corresponding instruction to control the intelligent warning device to enter a working mode, which is not limited specifically. In another specific embodiment, since the user may stay in the middle lane when the vehicle breaks down, directly getting off the vehicle and removing the intelligent warning device from the trunk of the vehicle may increase the possibility that the user may be in danger. Therefore, the intelligent warning device can be directly fixed on a trunk or the roof and the like at ordinary times, when a vehicle breaks down, a user does not need to get off the vehicle, and directly sends a control instruction through the intelligent terminal to start the intelligent warning device, then the intelligent warning device enters a working mode and takes off from the roof or the trunk or is automatically placed on the ground, and the possibility that the user is injured is greatly reduced.

After the intelligent warning device enters a working mode, the intelligent warning device can acquire current road condition information by turning on the external infrared camera and controlling the infrared camera to rotate for 360 degrees, and acquire current position information of the intelligent warning device by turning on the internal positioning module (such as a GPS sensor). The current traffic information includes first path information of a first lane path where the faulty vehicle is located, where the first path information of the first lane path is specifically represented by a lane where the faulty vehicle is located (such as a middle lane, a left lane, an emergency lane, and the like) and a route shape of the lane (such as which places are curves and which places are straight lanes). Specifically, when the intelligent warning device acquires current position information of the intelligent warning device, the intelligent warning device uploads the current position information of the intelligent warning device to the remote server, and when the remote server receives the current position information of the intelligent warning device, the remote server can send map information, current road condition information and the like of the environment where the intelligent warning device is located to the intelligent warning device by acquiring road condition navigation information according to the current position information; of course, in other embodiments, more complete and accurate current road condition information can be obtained by combining the information collected by the infrared camera and the information returned by the remote server.

In the above S2, the traffic department stipulates that the vehicle behind must be warned by using a warning device after the vehicle has failed, and the distance is 100 m to 250 m. The preset distance information may be 100 meters, 120 meters, 150 meters, 200 meters, 250 meters, etc., which may be flexibly selected according to the specific situation of the first lane path. Specifically, because it is very fast to go up the car speed at high speed, and the bend can influence the sight of coming the car for it is probably not enough timely to come the car speed reduction, therefore the preferred should be placed on the straight road of intelligent warning equipment, prevents that the coming car from slowing down untimely, strikes the user, secondly place the position at intelligent warning equipment and also be the straight road towards the road in the certain distance of rear incoming car direction the best, prevents that the coming car from slowing down untimely, strikes intelligent warning equipment. For example, after obtaining the current position information of the intelligent warning device, a first target position point which is 100 meters away from the current position of the intelligent warning device on a first lane path is calculated through a preset algorithm, and then whether the position point is on a straight road or a curved road is judged, if the position point is on the straight road, whether a position within a specified distance range (within 30 meters and 30 meters) away from the first target position point in the coming direction is in the curved road is further judged, and if the position point is not on the curved road, the first target position point can be determined as a target position for parking the intelligent warning device; if the first target position point is located on the curve, further determining a second target position point which is 120 meters away from the current position of the intelligent warning device or determining a third target position point which is 150 meters away from the current position of the intelligent warning device; thus, until a suitable location point is determined as the target location. It is worth noting that if the placement position point of the intelligent warning device is too far away from the fault vehicle, the intelligent warning device cannot well play a role in preventing the coming vehicle from colliding with the fault vehicle; therefore, in a specific embodiment, the farthest placement position of the intelligent warning device is 100 and 250 meters, and if no suitable target position can be found within the range of 250 meters from the faulty vehicle, the intelligent warning device is placed 250 meters away from the faulty vehicle, that is, the target position is 250 meters away from the faulty vehicle.

In the above S3, when the intelligent warning device is placed, since the vehicle speed on the highway is fast, the placement position of the intelligent warning device needs to be in the same lane as the failed vehicle, and the warning and risk avoiding effect can be better achieved. Therefore, in an embodiment, if the intelligent warning device finds that the intelligent warning device and the fault vehicle are not in the same lane through the current road condition information, the intelligent warning device can be automatically adjusted to be located in the same lane as the fault vehicle before the target position is determined, or a prompt is sent to an intelligent terminal in a hand of a user, so that the user can manually adjust the intelligent warning device and the fault vehicle to be located in the same lane, and finally the intelligent warning device is driven to move from the current position to the target position. In another specific embodiment, the intelligent warning device moves from the current position to the target position along the first lane path at a certain flying height, so that the coming vehicle can better see the intelligent warning device; and when intelligent warning equipment can fly with certain flying height, for the mode of marcing along the ground, the vehicle that the rear came the car orientation can be more obvious sees intelligent warning equipment, and the marching of intelligent warning equipment then is not restricted to and must be removed along first car road footpath this moment, also can remove to the target location along other routes, as long as the target location is located first car road footpath.

The application provides an intelligent warning equipment control method, which comprises the following steps: s1, acquiring current road condition information and a current position, wherein the current road condition information comprises first path information of a first lane path where a fault vehicle is located; s2, determining a target position for parking the intelligent warning device according to the first path information, the current position and the preset distance information; and S3, moving to the target position. Intelligent warning equipment has the removal function, and can automatic acquisition road conditions information when the vehicle breaks down, and self-moving to parking target location, make when the vehicle breaks down, the driving user need not to get off the bus and manually puts warning device, has improved the convenience and the rapidity that set up the warning, simultaneously because the driving user need not to get off in trade on dangerous road, has solved and has placed the problem that warning equipment leads to the secondary accident easily through the manual work at present, has strengthened the safety guarantee.

In a preferred embodiment, the step S3 of moving the current road condition information further includes the vehicle condition information in the direction of the vehicle coming from the rear of the first vehicle road path to the target position, including:

s31, collecting vehicle condition information in the vehicle coming direction behind the first vehicle road diameter in real time, and judging whether the vehicle condition information meets preset safety conditions;

and S32, if the vehicle condition information does not meet the preset safety condition, sending out reminding information to remind the vehicle in the rear vehicle-coming direction on the first vehicle road path.

When the steps are implemented, the intelligent warning device collects the vehicle condition information of the first vehicle road in the rear vehicle coming direction in real time in the process of moving along the radial target position of the first vehicle road, and judges whether the vehicle condition information meets the preset safety condition or not. In a specific embodiment, the vehicle condition information in the vehicle-coming direction mainly includes whether there is a vehicle coming, a distance and a driving speed of the vehicle coming, whether the vehicle speed of the vehicle coming is slowed down, and the like, and whether the preset safety condition is met is judged by acquiring the vehicle condition information, so that the situation that the vehicle coming hits the intelligent warning device or a faulty vehicle to cause injury in the process that the intelligent warning device moves along the first vehicle road in the radial direction to the target position is prevented.

If the collected vehicle condition information shows that the preset safety condition is not met, the situation shows that the coming vehicle possibly collides with the intelligent warning device or the fault vehicle at the moment, and therefore the reminding information is sent out to remind the vehicle in the direction of the coming vehicle behind the first vehicle road path. In a specific embodiment, the intelligent warning device can send out more prominent warning information such as whistling sound and/or flashing light, so that the coming vehicle can pay attention to the fault information of the front vehicle more easily, and therefore the coming vehicle can decelerate or avoid in time. In another specific embodiment, the intelligent warning device may also check the state of the faulty vehicle, for example, detect whether the vehicle is in a state of parking and turning on a double flashing light (flashing yellow light), and if not, send a warning message to the vehicle user to avoid the vehicle user forgetting to turn on the double flashing light or the intelligent warning device is mistakenly started, and in addition, may also detect whether the intelligent warning device is in a certain lane of the road (or in an emergency lane).

In a preferred embodiment, the step S2 of determining the target location for parking the intelligent warning device according to the first path information, the current location and the preset distance information includes:

s21, acquiring a curve position which is closest to the current position in the coming direction behind the first vehicle path, and calculating the driving distance between the current position and the curve position;

s22, if the driving distance is greater than or equal to a first preset distance, selecting a position with a second preset distance from the current position in the direction of the vehicle coming from the rear of the first lane path as a target position; the second preset distance is smaller than the first preset distance, and the difference value between the second preset distance and the first preset distance is the value of the preset buffer distance;

s23, if the driving distance is smaller than the first preset distance and is greater than or equal to the third preset distance, selecting a position with a fourth preset distance between the current position and the rear driving direction of the first lane path as a target position; the fourth preset distance is smaller than the driving distance, and the difference value between the fourth preset distance and the driving distance is the value of the preset buffer distance;

s24, if the driving distance is smaller than a third preset distance, selecting a position with a fifth preset distance from the current position in the coming direction behind the first lane path as a target position; the fifth preset distance is greater than or equal to the third preset distance and is less than or equal to the second preset distance.

It should be noted that, in the above description, the "· · difference" is a value of the preset buffer distance ", the former" difference "and the latter" value "are approximately equal, for example, if the difference is in the range of 0-5 meters, the data of the two are also approximately considered to be the same.

When the steps are implemented, because the density of vehicles is high and the speed of the vehicles is high on a highway or some national roads, the intelligent warning equipment is placed on a straight road as much as possible, so that vehicles coming from the rear can timely notice the existence of the intelligent warning equipment, and the vehicles can timely decelerate or avoid the vehicles. If intelligent warning equipment puts in bend department, because the sight reason, the rear car is very probably unable in time to notice intelligent warning equipment, and then takes place the striking with intelligent warning equipment, greatly reduced intelligent warning equipment's warning utility, probably cause the secondary striking that the rear was come even, driving user's safety can not be ensured.

Therefore, when the intelligent warning device determines the target position, three conditions should be satisfied as much as possible: firstly, the target position is 100-250 meters away from the fault vehicle; secondly, the target position is positioned on the straight path; and thirdly, a section of enough preset buffer distance is arranged between the target position and the bend position, so that a rear vehicle is prevented from colliding with the intelligent warning equipment.

When the vehicle breaks down, after the user sends an instruction for starting the intelligent warning device:

firstly, the intelligent warning equipment acquires a curve position which is closest to the current position in the coming direction of the first lane path, and calculates the driving distance between the current position and the curve position, namely, the distance between the position of the fault vehicle and the curve position is judged.

Then, if the driving distance is greater than or equal to a first preset distance, selecting a position with a second preset distance from the current position in the coming direction of the first lane path as a target position; the second preset distance is smaller than the first preset distance. The traffic department stipulates that when the driving fails, a warning device must be used for warning the vehicle behind, and the distance is 100-250 m. In a specific embodiment, in order to prevent a rear vehicle from being unable to notice the intelligent warning device in time and causing impact damage to the intelligent warning device, the preset buffer distance between the target position of the intelligent warning device and the position of the curve is about 30 meters, and the rear vehicle is given a sufficient reaction distance. Therefore, the first preset distance is 280 meters, the second preset distance is 250 meters, the intelligent warning device firstly judges whether the driving distance is greater than or equal to 280 meters, and if the driving distance is greater than or equal to 280 meters, the target position can be selected to be placed at the farthest position of 250 meters, and the best warning effect is achieved.

Then, if the driving distance is found to be less than 280 meters but greater than or equal to a third predetermined distance, in one embodiment, the third predetermined distance is 130 meters, which is 30 meters away from the specified minimum warning position of 100 meters. In other words, if the target position is selected to be the farthest 250 meters, the preset buffer distance between the intelligent warning device and the curve position is less than 30 meters, and a rear vehicle may collide with the intelligent warning device. Therefore, when the intelligent warning device selects the fourth preset distance as the target position, the fourth preset distance should satisfy two conditions: firstly, the fourth preset distance is smaller than the driving distance; and secondly, a preset buffer distance is reserved between the fourth preset distance and the driving distance. For example, if the driving distance is 220 meters, the fourth preset distance selected as the target position is 190 meters; and if the driving distance is 130 meters, selecting the fourth preset distance as the target position as 100 meters.

Finally, if the driving distance is found to be less than a third preset distance, that is, the distance between the curve position and the fault vehicle is less than 130 meters at the moment, if the condition that the distance between the target position and the driving distance is 30 meters is met, the condition that the distance between the target position and the fault vehicle is at least 100 meters cannot be met. Therefore, a position with a fifth preset distance from the current position in the vehicle coming direction of the first lane path is selected as the target position; the fifth preset distance is greater than or equal to the sixth preset distance and less than or equal to the second preset distance, and the difference value between the sixth preset distance and the third preset distance is the value of the preset buffer distance. In a specific embodiment, the preset buffer distance is 30 meters, the third preset distance is 130 meters, and the sixth preset distance is 100 meters, that is, the distance between the curve position and the faulty vehicle is less than 130 meters, a target position is selected between 100 and 250 meters according to the specification, and the target position can be preset by the driving position, that is, under the condition that the target position of the intelligent warning device does not meet the ideal condition, the safety of the faulty vehicle and the driving user is preferentially considered, and the selection of the target position is ensured to meet the traffic specification.

In a preferred embodiment, the step S3 of moving the current traffic information further includes second path information of a second lane path where the intelligent warning device is located to the target position, including:

s33, generating a moving route according to the current position, the target position and the second path information;

and S34, moving from the current position to the target position along the moving route.

When the steps are implemented, after the target position is determined, the intelligent warning device generates a moving route according to the current position, the target position and second path information of a second lane path. The second path information of the second lane path is embodied as a lane (such as a middle lane, a left lane, an emergency lane, etc.) where the intelligent warning device is located and a route shape of the lane (such as places which are curves and places which are straight lanes).

In a specific embodiment, the intelligent warning device is a mobile device with a roller, at this time, the second lane path is consistent with the first lane path, after the intelligent warning device gets off from the faulty vehicle, the intelligent warning device moves from the current position to the target position along the second lane path (the first lane path), and meanwhile, warning reminding information such as sound and light is sent out, so that the safety of the faulty vehicle on the first lane path is guaranteed.

In another specific embodiment, the intelligent warning device is a mobile device with a flight function, for example, an unmanned aerial vehicle is used for carrying, and at this time, the second lane path may be consistent with the first lane path or may not be consistent with the first lane path. When the intelligent warning equipment moves from the current position along the radial target position of the second vehicle road, the intelligent warning equipment can fly to be close to the radial target position of the first vehicle road, the intelligent warning equipment and a fault vehicle are located on the same lane, and a rear vehicle can determine the lane where the fault vehicle is located in advance, so that timely avoidance can be carried out. The intelligent warning equipment can also fly above a green belt on the roadside or an isolation belt of a bidirectional lane to be close to a target position along a route parallel to a first lane path, at the moment, the intelligent warning equipment has a certain flying height, a rear vehicle also easily confirms that a front vehicle breaks down in advance, so that the intelligent warning equipment decelerates in advance, avoids a fault vehicle, reduces the probability that the intelligent warning equipment is impacted by the rear vehicle, and improves warning effectiveness.

In a preferred embodiment, the vehicle condition information includes the driving direction and the speed of the vehicle coming from behind; the step S31 of determining whether the vehicle condition information satisfies the preset safety condition includes:

s311, judging whether the driving direction of a rear vehicle is changed or not or whether the vehicle speed is slowed down or not within a preset time period;

and S312, if the driving direction is not changed and/or the vehicle speed is not slowed down within the preset time period, judging that the vehicle condition information does not meet the preset safety condition.

In a specific embodiment, the intelligent warning device detects whether the driving direction of the coming vehicle is changed within a preset time period, for example, within 3s, that is, whether the coming vehicle is avoided from the first road diameter, and whether the vehicle speed is slowed down, that is, whether the coming vehicle is braked. If the driving direction is not changed and/or the vehicle speed is not slowed down within the preset time period, it is indicated that the coming vehicle behind the vehicle possibly does not notice the existence of the intelligent warning device or the fault vehicle, the intelligent warning device or the fault vehicle is possibly collided, and the preset safety condition is not met.

In a preferred embodiment, when the intelligent warning device has a flight function, the vehicle condition information further includes a separation distance value between the intelligent warning device and a vehicle coming from behind; after step S31 of acquiring the vehicle condition information of the first lane path in the vehicle-coming direction in real time and determining whether the vehicle condition information meets the preset safety condition, the method further includes:

s35, if the vehicle condition information meets the preset safety condition, judging whether the vehicle reaches the position above the target position in real time;

s36, if the distance reaches the upper part of the target position, judging whether the spacing distance value is larger than a preset distance threshold value;

and S37, if the spacing distance value is larger than or equal to the preset distance threshold value, parking to the target position.

When the steps are implemented, when the intelligent warning equipment detects that the driving direction of a vehicle coming from the rear changes and deviates from the first vehicle road diameter or the speed of the vehicle coming from the rear is slowed down, the vehicle condition information is judged to meet the preset safety condition, and whether the vehicle flies to the upper part of the target position or not is judged in real time.

If fly to the top of target location, then judge that the interval distance value between target location and the rear car of coming is greater than preset distance threshold value, because if the interval distance value, just park intelligent warning equipment on target location, then intelligent warning equipment probably can suffer the striking that the rear was come, causes the damage to reduced the warning effect, made the safety of trouble vehicle can not be ensured. Therefore, a preset distance threshold value between the target position and a rear vehicle is set to ensure the parking safety of the intelligent warning device, and in a specific embodiment, the preset distance threshold value is 10-50 meters.

If the detected interval distance value is larger than or equal to the preset distance threshold value, the parking safety of the intelligent warning equipment is indicated, the intelligent warning equipment is descended from the upper part of the target position and is parked to the target position, and the safety of the fault vehicle is guaranteed. In a specific embodiment, if it is detected that the separation distance value is smaller than the preset distance threshold, the intelligent warning device reminds the coming vehicle to avoid at high altitude in a reminding manner of sound and light and the like, and the coming vehicle is parked at the target position only when the coming vehicle and the target position are larger than or equal to the preset distance threshold (for example, 150m) or the coming vehicle and the target position are not located on the same lane path.

In a preferred embodiment, after the step of moving to the target position, the method further comprises:

s01, after the vehicle is parked to the target position, whether a return instruction sent by a user is received or not is judged;

s02, if a return instruction sent by a user is received, acquiring the geographical position information of the fault vehicle and the vehicle condition information in the vehicle coming direction behind the first vehicle road path in real time;

s03, judging whether the vehicle condition information meets the preset safety condition;

and S04, if the vehicle condition information meets the preset safety condition, moving the vehicle to the fault vehicle according to the geographical position information of the fault vehicle.

When the steps are implemented, after the intelligent warning equipment is parked to the target position, whether a return instruction sent by a user is received or not is judged in real time, namely whether the maintenance of the fault vehicle is finished or not is judged; after a return instruction sent by a user is received, acquiring geographical position information of the fault vehicle and vehicle condition information in the vehicle-coming direction of the first vehicle path in real time, and then moving the fault vehicle according to the geographical position information under the condition that the vehicle condition information meets a preset safety condition. The intelligent warning equipment can also supervise the driving state (including the speed, the driving lane and the like) of the rear vehicle in the returning process, and can perform sound and light reminding when necessary so as to play a role in warning the rear vehicle, ensure the safety of a vehicle user, solve the problem that the vehicle user is likely to be collided in the manual recycling process of the warning equipment in the prior art, and further improve the safety guarantee.

Referring to fig. 2, this application embodiment provides an intelligent warning equipment controlling means, this intelligent warning equipment is for having the tripod warning sign of self-moving function, for example, can be the intelligent tripod that has the walking function, or the intelligent tripod that has the flight function again, can satisfy the user demand can, do not do specific restriction to this, this intelligent warning equipment controlling means includes:

the acquiring module 10 is configured to acquire current road condition information and a current position, where the current road condition information includes first path information of a first lane path where a faulty vehicle is located;

the determining module 20 is configured to determine a target position for parking the intelligent warning device according to the first path information, the current position, and preset distance information;

and a moving module 30 for moving to the target position.

In above-mentioned intelligent warning equipment controlling means, intelligent warning equipment is provided with the camera that can 360 rotatory outward, and is preferred, can be the infrared camera that possesses the range finding function of testing the speed, and wherein, the range finding function accessible that tests the speed of this infrared camera sets up the range finding sensor (like ultrasonic sensor etc.) and realizes. Specifically, when a temporary fault or a traffic accident occurs on a highway, in a specific embodiment, a user takes the intelligent warning device from a trunk of the automobile and places the intelligent warning device on the ground, the user turns on a power supply of the intelligent warning device, and the intelligent warning device enters a working mode; after the power is turned on, the intelligent warning device is controlled to enter the working mode through the designated device, for example, after wireless connection between a mobile terminal (such as a smart phone) and the intelligent warning device is established (for example, remote communication connection between the mobile terminal and the intelligent warning device can be realized in a mode of installing an APP on the mobile terminal), the mobile terminal sends a corresponding instruction to control the intelligent warning device to enter the working mode, and specific limitation is not imposed on the mode. In another specific embodiment, since the user may stay in the middle lane when the vehicle breaks down, directly getting off the vehicle and removing the intelligent warning device from the trunk of the vehicle may increase the possibility that the user may be in danger. Therefore, the intelligent warning device can be directly fixed on a trunk or the roof and the like at ordinary times, when a vehicle breaks down, a user does not need to get off the vehicle, and directly sends a control instruction through the intelligent terminal to start the intelligent warning device, then the intelligent warning device enters a working mode and takes off from the roof or the trunk or is automatically placed on the ground, and the possibility that the user receives injury is greatly reduced.

After the intelligent warning device enters the working mode, the intelligent warning device may turn on the external infrared camera and control the infrared camera to rotate 360 ° through the obtaining module 10 to collect current road condition information, and turn on the internal positioning module (e.g., GPS sensor) to obtain current position information of the intelligent warning device, where the current road condition information includes first path information of a first lane path where a faulty vehicle is located, and the first path information of the first lane path is specifically represented by a lane where the faulty vehicle is located (e.g., a middle lane, a left lane, an emergency lane, etc.) and a route shape of the lane (e.g., which places are curves and which places are straight lanes), where it is to be noted that, in other embodiments, the intelligent warning device may also obtain the current road condition information by being connected to a remote server, specifically, when the obtaining module 10 obtains the current position information of the intelligent warning device, the current position information of the intelligent warning device is uploaded to the remote server, when the remote server receives the current position information of the intelligent warning device, the remote server can send map information of the environment where the intelligent warning device is located, the current road condition information and the like to the intelligent warning device by obtaining road condition navigation information according to the current position information, and certainly, in other embodiments, more complete and accurate current road condition information can be obtained by combining information collected by the infrared camera and information returned by the remote server.

Due to the regulations of the traffic department, when the driving fails, a warning device is needed to warn the vehicle behind, and the distance is 100-250 meters. Therefore, the preset distance information can be 100 meters, 120 meters, 150 meters, 200 meters, 250 meters and the like, which can be flexibly selected according to the specific situation of the first lane path, specifically, because the speed of the vehicle traveling at high speed is high, and the curve can influence the sight line of the vehicle, so that the speed reduction of the vehicle is possibly not timely enough, the intelligent warning device should be preferably placed on a straight road, the condition that the vehicle is not timely decelerated and collides with a user is prevented, then the road in a certain distance towards the rear vehicle-coming direction at the placement position of the intelligent warning device is preferably also a straight road, and the condition that the vehicle is not timely decelerated and collides with the intelligent warning device is prevented. For example, after the obtaining module 10 obtains the current position information of the intelligent warning device, the determining module 20 may first calculate a first target position point on a first lane path, which is 100 meters away from the current position of the intelligent warning device, and then determine whether the position point is on a straight road or a curved road, if so, further determine whether a position within a specified distance range (e.g., within 30 meters) from the first target position point in the coming direction is on a curved road, otherwise, determine the first target position point as a target position for parking the intelligent warning device; and if the first target position point is located on the curve, further determining a second target position point which is 120 meters away from the current position of the intelligent warning device or determining a third target position point which is 150 meters away from the current position of the intelligent warning device, and the like until a proper position point is determined as the target position. It should be noted that if the placement position of the intelligent warning device is too far away from the faulty vehicle, the intelligent warning device cannot well prevent the incoming vehicle from colliding with the faulty vehicle, so in a specific embodiment, the placement position of the intelligent warning device farthest away is 100 meters and 250 meters, and if the determination module 20 cannot find a suitable target position within 250 meters from the faulty vehicle, the intelligent warning device is placed 250 meters away from the faulty vehicle, that is, the target position is 250 meters away from the faulty vehicle.

When the intelligent warning device is placed, the vehicle speed on the expressway is high, and the placing position of the intelligent warning device and the fault vehicle are required to be placed in the same lane, so that the warning and risk avoiding effects can be well achieved. Therefore, in an embodiment, if the intelligent warning device finds that the intelligent warning device and the faulty vehicle are not located in the same lane according to the current road condition information, the moving module 30 may automatically adjust the intelligent warning device and the faulty vehicle to be located in the same lane before determining the target location, or send a prompt to an intelligent terminal in the hand of the user, so that the user manually adjusts the intelligent warning device and the faulty vehicle to be located in the same lane, and finally drive the intelligent warning device to move from the current location to the target location. In another specific embodiment, the moving module 30 drives the intelligent warning device to move from the current position to the target position along the first lane path at a certain flying height, so that the coming vehicle can better see the intelligent warning device; and when intelligent warning equipment can fly with certain flying height, for the mode of marcing along the ground, the vehicle that the rear came the car orientation can be more obvious sees intelligent warning equipment, and the marching of intelligent warning equipment then is not restricted to and must be removed along first car road footpath this moment, also can remove to the target location along other routes, as long as the target location is located first car road footpath.

The application provides an intelligence warning equipment controlling means, includes: the acquiring module 10 is configured to acquire current road condition information and a current position, where the current road condition information includes first path information of a first lane path where a faulty vehicle is located; the determining module 20 is configured to determine a target position for parking the intelligent warning device according to the first path information, the current position, and preset distance information; and a moving module 30 for moving to the target position. Intelligent warning equipment has the removal function, and can automatic acquisition road conditions information when the vehicle breaks down, and self-moving to parking target location, make when the vehicle breaks down, the driving user need not to get off the bus and manually puts warning device, has improved the convenience and the rapidity that set up the warning, simultaneously because the driving user need not to get off in trade on dangerous road, has solved and has placed the problem that warning equipment leads to the secondary accident easily through the manual work at present, has strengthened the safety guarantee.

Referring to fig. 3, in a preferred embodiment, the current traffic information further includes traffic information in a direction of a vehicle coming behind the first vehicle road path, and the moving module 30 includes:

the acquisition unit 301 is configured to acquire vehicle condition information in the rear direction of an incoming vehicle in a first vehicle road diameter in real time and judge whether the vehicle condition information meets a preset safety condition;

the reminding unit 302 is configured to send out reminding information to remind a vehicle in a rear vehicle-coming direction on the first vehicle road path if the vehicle condition information does not meet a preset safety condition.

In the process that the mobile module 30 drives the intelligent warning device to move along the radial target position of the first vehicle road, the acquisition unit 301 acquires vehicle condition information of the first vehicle road in the rear vehicle coming direction in real time, and judges whether the vehicle condition information meets a preset safety condition. In a specific embodiment, the vehicle condition information in the vehicle-coming direction mainly includes whether there is a vehicle coming, a distance and a driving speed of the vehicle coming, whether the vehicle speed of the vehicle coming is slowed down, and the like, and whether the preset safety condition is met is judged by acquiring the vehicle condition information, so that the situation that the vehicle coming hits the intelligent warning device or a faulty vehicle to cause injury in the process that the intelligent warning device moves along the first vehicle road in the radial direction to the target position is prevented.

If the vehicle condition information acquired by the acquisition unit 301 is found to not meet the preset safety condition, it indicates that the coming vehicle is likely to collide with the intelligent warning device or the faulty vehicle, so the reminding unit 302 sends out the reminding information to remind the vehicle in the direction of the coming vehicle behind the first vehicle road. In a specific embodiment, the intelligent warning device can send out more prominent warning information such as whistling sound and/or flashing light, so that the coming vehicle can pay attention to the fault information of the front vehicle more easily, and therefore the coming vehicle can decelerate or avoid in time.

Referring to FIG. 4, in a preferred embodiment, the determination module 20 includes:

an obtaining unit 201, configured to obtain a curve position closest to a current position in a vehicle coming direction behind a first vehicle path, and calculate a driving distance between the current position and the curve position;

a first determining unit 202, configured to select, as a target position, a position where a distance between the current position and an incoming direction of the first lane route is a second preset distance if the driving distance is greater than or equal to a first preset distance; the second preset distance is smaller than the first preset distance, and the difference value between the second preset distance and the first preset distance is the value of the preset buffer distance;

a second determining unit 203, configured to select, as the target position, a position that is a fourth preset distance away from the current position in the direction of the vehicle coming from the rear of the first lane path if the driving distance is smaller than the first preset distance and is greater than or equal to the third preset distance; the fourth preset distance is smaller than the driving distance, and the difference value between the fourth preset distance and the driving distance is the value of the preset buffer distance;

a third determining unit 204, configured to select, as the target position, a position that is a fifth preset distance away from the current position in the direction of the vehicle coming from behind the first lane path if the driving distance is smaller than a third preset distance; the fifth preset distance is greater than or equal to the third preset distance and is less than or equal to the second preset distance.

Because on the highway or some national roads, the vehicle density is great and the speed of a motor vehicle is very fast, and intelligent warning equipment should put as far as possible on the straight road for the rear car can in time notice intelligent warning equipment's existence, thereby in time slow down or dodge. If intelligent warning equipment puts in bend department, because the sight reason, the rear car is very probably unable in time to notice intelligent warning equipment, and then takes place the striking with intelligent warning equipment, greatly reduced intelligent warning equipment's warning utility, probably cause the secondary striking that the rear was come even, driving user's safety can not be ensured.

first, the intelligent warning device acquires, through the acquisition unit 201, a curve position closest to the current position in the incoming direction of the first lane path, and calculates a driving distance between the current position and the curve position, that is, determines a distance between the position of the faulty vehicle and the curve position.

Then, if the driving distance is greater than or equal to the first preset distance, the first determining unit 202 selects a position where the distance between the current position and the coming direction of the first lane route is a second preset distance as the target position; the second preset distance is smaller than the first preset distance. The traffic department stipulates that when the driving fails, a warning device must be used for warning the vehicle behind, and the distance is 100-250 m. In a specific embodiment, in order to prevent a rear vehicle from being unable to notice the intelligent warning device in time and causing impact damage to the intelligent warning device, the preset buffer distance between the target position of the intelligent warning device and the position of the curve is about 30 meters, and the rear vehicle is given a sufficient reaction distance. Therefore, the first preset distance is 280 meters, the second preset distance is 250 meters, the intelligent warning device firstly judges whether the driving distance is greater than or equal to 280 meters, and if the driving distance is greater than or equal to 280 meters, the target position can be selected to be placed at the farthest position of 250 meters, and the best warning effect is achieved.

Then, if the driving distance is found to be less than 280 meters but greater than or equal to a third predetermined distance, in one embodiment, the third predetermined distance is 130 meters, which is 30 meters away from the specified minimum warning position of 100 meters. In other words, if the target position is selected to be the farthest 250 meters, the preset buffer distance between the intelligent warning device and the curve position is less than 30 meters, and a rear vehicle may collide with the intelligent warning device. Therefore, at this time, when the second determining unit 203 selects the fourth preset distance as the target position, the fourth preset distance should satisfy two conditions: firstly, the fourth preset distance is smaller than the driving distance; and secondly, the difference value between the fourth preset distance and the driving distance is the value of the preset buffer distance. For example, if the driving distance is 220 meters, the fourth preset distance selected as the target position is 190 meters; and if the driving distance is 130 meters, selecting the fourth preset distance as the target position as 100 meters.

Finally, if the driving distance is found to be less than a third preset distance, that is, the distance between the curve position and the fault vehicle is less than 130 meters at the moment, if the condition that the distance between the target position and the driving distance is 30 meters is met, the condition that the distance between the target position and the fault vehicle is at least 100 meters cannot be met. Therefore, the third determining unit 204 selects a position with a fifth preset distance from the current position in the incoming direction of the first lane route as the target position; the fifth preset distance is greater than or equal to the sixth preset distance and less than or equal to the second preset distance, and a preset buffer distance is formed between the sixth preset distance and the third preset distance. In a specific embodiment, the preset buffer distance is 30 meters, the third preset distance is 130 meters, and the sixth preset distance is 100 meters, that is, the distance between the curve position and the faulty vehicle is less than 130 meters, a target position is selected between 100 and 250 meters according to the specification, and the target position can be preset by the driving position, that is, under the condition that the target position of the intelligent warning device does not meet the ideal condition, the safety of the faulty vehicle and the driving user is preferentially considered, and the selection of the target position is ensured to meet the traffic specification.

Referring to fig. 5, in a preferred embodiment, the movement module 30 includes:

a generating unit 303, configured to generate a moving route according to the current position, the target position, and the second path information;

and a moving unit 304 for moving from the current position to the target position along the moving route.

After the determination module 20 determines the target position, the generation unit 303 generates the moving route according to the current position, the target position, and the second path information of the second lane path. The second path information of the second lane path is embodied as a lane (such as a middle lane, a left lane, an emergency lane, etc.) where the intelligent warning device is located and a route shape of the lane (such as places which are curves and places which are straight lanes).

In a specific embodiment, the intelligent warning device is a mobile device with a roller, at this time, the second lane path is consistent with the first lane path, after the intelligent warning device gets off from the faulty vehicle, the intelligent warning device is driven by the mobile unit 304 to move from the current position to the target position along the second lane path (the first lane path), and meanwhile, warning information such as sound and light is sent out, so that the safety of the faulty vehicle on the first lane path is guaranteed.

In another specific embodiment, the intelligent warning device is a mobile device with a flight function, for example, an unmanned aerial vehicle is used for carrying, and at this time, the second lane path may be consistent with the first lane path or may not be consistent with the first lane path. Under the drive of the mobile unit 304, when the intelligent warning device moves from the current position along the radial target position of the second vehicle road, the intelligent warning device can fly to approach the radial target position of the first vehicle road, at the moment, the intelligent warning device and the fault vehicle are located on the same lane, and a rear vehicle can determine the lane where the fault vehicle is located in advance, so that timely avoidance can be carried out. The intelligent warning equipment can also fly above a green belt on the roadside or an isolation belt of a bidirectional lane to be close to a target position along a route parallel to a first lane path, at the moment, the intelligent warning equipment has a certain flying height, a rear vehicle also easily confirms that a front vehicle breaks down in advance, so that the intelligent warning equipment decelerates in advance, avoids a fault vehicle, reduces the probability that the intelligent warning equipment is impacted by the rear vehicle, and improves warning effectiveness.

Referring to fig. 6, in a preferred embodiment, the acquisition unit 301 includes:

the judging subunit 3011 is configured to judge whether a driving direction of a vehicle coming from behind within a preset time period changes and/or whether a vehicle speed slows down;

the determining subunit 3012, if the driving direction does not change and/or the vehicle speed is not slowed down within the preset time period, determine that the vehicle condition information does not meet the preset safety condition.

After the intelligent warning device is started, the judging subunit 3011 collects the driving direction and the vehicle speed of the coming vehicle behind in real time, and judges whether the vehicle condition information meets the preset safety condition, in a specific embodiment, the judging subunit 3011 detects whether the driving direction of the coming vehicle behind is changed within a preset time period, for example, within 3s, through a speed sensor, that is, whether the coming vehicle behind avoids the first vehicle road diameter, and whether the vehicle speed is slowed down, that is, whether the coming vehicle behind is braked. If the driving direction is not changed and/or the vehicle speed is not slowed within the preset time period, it indicates that the coming vehicle behind the vehicle is likely not to notice the existence of the intelligent warning device or the fault vehicle, and the intelligent warning device or the fault vehicle may be collided, and the determination subunit 3012 determines that the preset safety condition is not met.

Referring to fig. 7, in a preferred embodiment, when the intelligent warning device has a flight function, the vehicle condition information further includes a separation distance value between the intelligent warning device and a vehicle coming from behind; the moving module 30 further includes:

a first judging unit 305, configured to judge whether the vehicle has reached the upper side of the target position in real time if the vehicle condition information satisfies a preset safety condition;

a second determining unit 306, configured to determine whether the separation distance value is greater than a preset distance threshold if the target position is reached above the target position;

a parking unit 307, configured to park to the target location if the distance value is greater than or equal to the preset distance threshold.

When the collecting unit 301 detects that the driving direction of the vehicle coming from behind changes and deviates from the first vehicle path, or the speed of the vehicle coming from behind is slowed down, it is determined that the vehicle condition information meets the preset safety condition, and at this time, the first determining unit 305 determines whether the vehicle has flown above the target position in real time.

If the first determining unit 305 determines that the vehicle has flown to the upper side of the target position, the second determining unit 306 determines whether the distance value between the target position and the rear vehicle is greater than a preset distance threshold value, because if the distance value is greater than the preset distance threshold value, the intelligent warning device is parked at the target position, the intelligent warning device is likely to be impacted by the rear vehicle, damage is caused, the warning effect is reduced, and the safety of the faulty vehicle cannot be guaranteed. Therefore, a preset distance threshold value between the target position and a rear vehicle is set to ensure the parking safety of the intelligent warning device, and in a specific embodiment, the preset distance threshold value is 10-50 meters.

If the second determining unit 306 detects that the separation distance value is greater than or equal to the preset distance threshold, it indicates that the intelligent warning device is parked safely, and the parking unit 307 drives the intelligent warning device to land from above the target position and park to the target position, so as to ensure the safety of the faulty vehicle. In a specific embodiment, if the second determining unit 306 detects that the separation distance value is smaller than the preset distance threshold, the intelligent warning device reminds the coming vehicle to avoid at high altitude in a manner of sound and light or the like, and the parking unit 307 executes the instruction to park at the target position only when the coming vehicle and the target position are greater than or equal to the preset distance threshold (for example, 150m) or the coming vehicle and the target position are not located in the same lane path.

Referring to fig. 8, in a preferred embodiment, the method further comprises:

the first judging module 40 is used for judging whether a return instruction sent by a user is received;

the first obtaining module 50 is configured to obtain geographic position information of a faulty vehicle and vehicle condition information in a vehicle-coming direction behind a first vehicle road diameter in real time if a return instruction sent by a user is received;

a second judging module 60, configured to judge whether the vehicle condition information meets a preset safety condition;

and the first moving module 70 is configured to move the faulty vehicle according to the geographical location information if the vehicle condition information meets a preset safety condition.

After the parking unit 307 drives the intelligent warning device to park to the target position, the first determining module 40 determines whether a return instruction sent by a user is received in real time, that is, whether the maintenance of the faulty vehicle is completed; if the first determining module 40 determines that a return instruction sent by a user is received, the first obtaining module 50 obtains geographical location information of the faulty vehicle and vehicle condition information in the vehicle-coming direction of the first vehicle path in real time, then the first moving module 70 moves the faulty vehicle according to the geographical location information under the condition that the vehicle condition information meets a preset safety condition, and the content of judging whether the vehicle condition information meets the preset safety condition and moving the faulty vehicle along the moving route in the return process is referred to in the modules, which is not described herein again. The intelligent warning equipment can also supervise the driving state (including the speed, the driving lane and the like) of the rear vehicle in the returning process, and can perform sound and light reminding when necessary so as to play a role in warning the rear vehicle, ensure the safety of a vehicle user, solve the problem that the vehicle user is likely to be collided in the manual recycling process of the warning equipment in the prior art, and further improve the safety guarantee.

Referring to fig. 9, the present application also proposes an intelligent warning device, including a memory 1003 and a processor 1002, where the memory 1003 stores a computer program 1004, and the processor 1002 executes the computer program 1004 to implement the steps of any one of the above methods, including: acquiring current road condition information and a current position, wherein the current road condition information comprises first path information of a first lane path where a fault vehicle is located; determining a target position for parking the intelligent warning equipment according to the first path information, the current position and preset distance information; and moving to the target position.

With reference to fig. 10, the present application also proposes a computer-readable storage medium 2001, on which a computer program 1004 is stored, the computer program 1004, when executed by a processor, implementing the steps of the method of any one of the above, comprising: acquiring current road condition information and a current position, wherein the current road condition information comprises first path information of a first lane path where a fault vehicle is located; determining a target position for parking the intelligent warning equipment according to the first path information, the current position and preset distance information; and moving to the target position.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. The intelligent warning device control method is applied to intelligent warning devices with mobile functions, and comprises the following steps:

acquiring current road condition information and the current position of the intelligent warning equipment, wherein the current road condition information comprises first path information of a first lane path where a fault vehicle is located;

moving to the target position;

the step of determining a target position for parking the intelligent warning device according to the first path information, the current position and preset distance information includes:

acquiring a curve position closest to the current position in the coming direction behind the first lane path, and calculating the driving distance between the current position and the curve position;

if the driving distance is greater than or equal to a first preset distance, selecting a position which is a second preset distance away from the current position in the coming direction behind the first lane path as the target position; the second preset distance is smaller than the first preset distance, and the difference value between the second preset distance and the first preset distance is the value of a preset buffer distance;

if the driving distance is smaller than the first preset distance and is greater than or equal to a third preset distance, selecting a position, which is a fourth preset distance away from the current position in the coming direction behind the first lane path, as the target position; the fourth preset distance is smaller than the driving distance, and the difference value between the fourth preset distance and the driving distance is the value of the preset buffer distance;

if the driving distance is smaller than the third preset distance, selecting a position with a fifth preset distance from the current position in the coming direction behind the first lane path as the target position; the fifth preset distance is greater than or equal to a sixth preset distance and less than or equal to the second preset distance, and the difference value between the sixth preset distance and the third preset distance is the value of the preset buffer distance.

2. The intelligent warning device control method of claim 1, wherein the current traffic information further includes traffic information in a direction of a vehicle coming behind the first lane path, and the moving to the target position includes:

acquiring the vehicle condition information in the vehicle coming direction behind the first vehicle road path in real time, and judging whether the vehicle condition information meets a preset safety condition;

and if the vehicle condition information does not meet the preset safety condition, sending out reminding information to remind the vehicle in the rear vehicle coming direction on the first vehicle road path.

3. The intelligent warning device control method of claim 1, wherein the current traffic information further includes second path information of a second lane path in which the intelligent warning device is located, and the moving to the target position includes:

moving from the current position to the target position along the movement route.

4. The intelligent warning device control method according to claim 2, wherein the vehicle condition information includes a traveling direction and a vehicle speed of the rear vehicle; the step of judging whether the vehicle condition information meets a preset safety condition includes:

judging whether the driving direction of the coming vehicle behind is changed and/or the vehicle speed is slowed down within a preset time period;

and if the driving direction is not changed and/or the vehicle speed is not slowed down within a preset time period, judging that the vehicle condition information does not meet preset safety conditions.

5. The intelligent warning device control method according to claim 2, wherein when the intelligent warning device has a flight function, the vehicle condition information further includes a separation distance value between the intelligent warning device and the rear vehicle; after the step of collecting the vehicle condition information of the first vehicle road in the rear vehicle-coming direction in real time and judging whether the vehicle condition information meets the preset safety condition, the method further comprises the following steps:

if the vehicle condition information meets the preset safety condition, judging whether the vehicle condition information reaches the position above the target position in real time;

if the distance reaches the position above the target position, judging whether the spacing distance value is larger than a preset distance threshold value;

6. The intelligent warning device control method of claim 2, further comprising, after the step of moving to the target location:

after the target position is parked, judging whether a return instruction sent by a user is received;

7. The utility model provides an intelligence warning equipment controlling means, is applied to on the intelligence warning equipment that has the removal function, its characterized in that includes:

the intelligent warning device comprises an acquisition module, a warning module and a warning module, wherein the acquisition module is used for acquiring current road condition information and the current position of the intelligent warning device, and the current road condition information comprises first path information of a first lane path where a fault vehicle is located;

a moving module for moving to the target position;

the determining module comprises:

the acquisition unit is used for acquiring a curve position which is closest to the current position in the coming direction behind the first lane path, and calculating the driving distance between the current position and the curve position;

a first determining unit, configured to select, as the target position, a position that is a second preset distance away from the current position in a vehicle-coming direction behind the first lane path if the driving distance is greater than or equal to a first preset distance; the second preset distance is smaller than the first preset distance, and the difference value between the second preset distance and the first preset distance is the value of a preset buffer distance;

a second determining unit, configured to select, as the target position, a position that is a fourth preset distance from the current position in a direction of a vehicle coming from a rear side of the first lane path if the driving distance is smaller than the first preset distance and is greater than or equal to a third preset distance; the fourth preset distance is smaller than the driving distance, and the difference value between the fourth preset distance and the driving distance is the value of the preset buffer distance;

a third determining unit, configured to select, as the target position, a position that is a fifth preset distance away from the current position in a direction of a vehicle coming from behind the first lane path if the driving distance is smaller than the third preset distance; the fifth preset distance is greater than or equal to a sixth preset distance and less than or equal to the second preset distance, and the difference value between the sixth preset distance and the third preset distance is the value of the preset buffer distance.

8. An intelligent warning apparatus comprising a memory and a processor, the memory storing a computer program, wherein the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 6.

9. A storage medium having a computer program stored thereon, the computer program, when being executed by a processor, realizing the steps of the method of any one of claims 1 to 6.