CN111445725A - Blind area intelligent warning device and algorithm for meeting scene - Google Patents
Blind area intelligent warning device and algorithm for meeting scene Download PDFInfo
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- CN111445725A CN111445725A CN202010259066.8A CN202010259066A CN111445725A CN 111445725 A CN111445725 A CN 111445725A CN 202010259066 A CN202010259066 A CN 202010259066A CN 111445725 A CN111445725 A CN 111445725A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
Abstract
The invention relates to the technical field of traffic facilities, in particular to a blind area intelligent warning device and an algorithm for a meeting scene, wherein the device mainly comprises: the vehicle state monitoring system comprises a vehicle state detecting unit, an instruction broadcasting unit and a processing unit, wherein the processing unit is provided with an input port and an output port for transmitting data information, the input port is electrically connected with the vehicle state detecting unit, the output port is electrically connected with the instruction broadcasting unit, in the working process, vehicle moving data collected by the vehicle state detecting unit are sent to the processing unit for calculation and analysis, and the processing unit calls the instruction broadcasting unit to perform sound and light prompt or route guidance according to a calculation result, so that traffic accidents caused by blind areas are avoided.
Description
Technical Field
The invention relates to the technical field of traffic facilities, in particular to a blind area intelligent warning device and algorithm for a meeting scene.
Background
The parking lot is an important infrastructure necessary for urban social economic development and resident life, the deep utilization of space leads to the complicated inner road, especially, a large number of visual blind areas exist at road interaction positions, traffic accidents are caused for a long time due to the fact that judgment of obstacles in the blind areas is inaccurate in the driving process of vehicles in the parking lot, for this reason, spherical mirrors are arranged at corners of curves of some parking lots to enable drivers to conveniently observe road conditions in the blind areas, but due to the characteristics of light rays and the spherical mirrors and the like, own vehicles and opposite vehicles can be seen in the spherical mirrors, images are deformed, and therefore the reaction time required by the drivers to distinguish the own vehicles from the opposite vehicles in the spherical mirrors is at least more than 10 ms. Even if a vehicle coming from opposite directions is seen through the spherical mirror and then is prompted through the horn, whether the opposite vehicle occupies the road or not cannot be judged, the accident rate of the case with the right-angle turning when the vehicle is parked underground four months before 2019 is 37% according to statistical data given by a traffic control department, and therefore whether the opposite vehicle drives in a standard mode or not is mastered in a certain mode, and the accident rate is reduced as far as possible.
Disclosure of Invention
The invention provides a blind area intelligent warning device for a meeting scene, which collects and evaluates driving data of vehicles through a sensor and a processing unit which are arranged near a road junction, and carries out acousto-optic prompt or route guidance on the vehicles according to a calculation result so as to avoid traffic accidents caused by blind areas.
In order to achieve the purpose, the invention provides the following technical scheme: a blind area intelligence warning device for meeting scene, its mainly includes: a first vehicle state detection unit; the first vehicle state detection unit is fixedly arranged at a position, close to the intersection area, of the first road and is used for detecting the position of an object on the first road; a second vehicle state detection unit; the second vehicle state detection unit is fixedly arranged at a position, close to the intersection area, of the second road and used for detecting the position of an object on the second road; an instruction broadcasting unit; the instruction broadcasting unit is arranged in the intersection area and used for sending out sound and light warning signals and traffic guidance prompts to the first road direction and the second road direction; the processing unit is provided with an input port and an output port for transmitting data information, the input port is electrically connected with the first vehicle state detection unit and the second vehicle state detection unit, and the output port is electrically connected with the instruction broadcasting unit.
Preferably, the first vehicle state detection unit comprises a first ultrasonic radar and a second ultrasonic radar which are fixedly arranged on two sides of the first road and are opposite horizontally, and the first ultrasonic radar and the second ultrasonic radar are electrically connected with the processing unit; the second vehicle state detection unit comprises a third ultrasonic radar and a fourth ultrasonic radar which are fixedly arranged on two sides of a second road and are opposite in horizontal direction, and the third ultrasonic radar and the fourth ultrasonic radar are electrically connected with the processing unit.
Preferentially, the instruction broadcasting unit comprises an instruction controller, a warning lamp set and a loudspeaker, the instruction controller is electrically connected with the processing unit, and the warning lamp and the loudspeaker are respectively electrically connected with the instruction controller.
Preferentially, the top of the intersection area is also fixedly provided with a first infrared probe and a second infrared probe which respectively face the first lane and the second lane and are used for acquiring heat source movement data, and the first infrared probe and the second infrared probe are respectively electrically connected with the processing unit.
Preferentially, the instruction broadcasting unit further comprises a first projector and a second projector which are fixedly arranged, wherein the first road and the second road are close to the top of the intersection area, and the first projector and the second projector are electrically connected with the instruction controller and used for projecting the image instruction to the ground.
Preferentially, the first road and the second road are close to the top of the intersection area, and a first camera and a second camera for overlooking the ground are further respectively and fixedly arranged at the top of the intersection area, and the first camera and the second camera are electrically connected with the processing unit and used for collecting ground object motion images and transmitting the images to the processing unit.
Preferably, the first vehicle state detection unit further comprises a first micro-vibration situation perception radar fixedly arranged on any side of the first road, and the first micro-vibration situation perception radar is electrically connected with the processing unit; the second vehicle state detection unit comprises a second micro-vibration situation perception radar fixedly arranged on any side of the second road, and the second micro-vibration situation perception radar is electrically connected with the processing unit.
Preferentially, the algorithm of the blind area intelligent warning device for the meeting scene mainly captures the initial position a of a first vehicle running in a first lane through a first camera1、b1Speed S of running1And a turning angle Δ (t); capturing a second vehicle initial position a driving in a second lane by a second camera2、b2Speed S of running2And a turning angle delta2And deriving the distance D between the first vehicle and the second vehicle from the stateT(t) is:
approach velocity S3(t) is: s3(t)＝S1cos(Δ3-Δ1)+S2cos(π+Δ2-Δ3(t)); wherein, Delta3(t) is the first vehicle to second vehicle lane crossing angle, and the Δ3(t) is:
the self-viewing angles ∈ (t) of the first and second vehicles are:
therefore, the difference η (t) between the dynamic viewing angle and the self viewing angle during the approach of the first vehicle and the second vehicle is η (t) ═ ∈ (t) - Δ3(t) |; by a safety distance RsThe collision approach angle p (t) is:
the far collision angle is μ (t) ∈ (t) -P (t); when | ∈ (t) -S3(t)|＝|η(t)|<P (t), i.e. approach speed S3(t) when the speed is within the collision range, the processing unit sends a prompt command to the instruction broadcasting unit, simultaneously sends a guide command to the first projector and the second projector respectively, and projects the guide command to the wall and the ground of the first lane and the second lane.
Preferably, the first micro-vibration situation perception radar and the second micro-vibration situation perception radar are arranged in multiple numbers and are respectively represented by natural numbers i, and are used for capturing three-dimensional coordinates x, y and z of signal points; t is the signal generation time; n represents the number of the first micro-vibration situation perception radar 31 and the second micro-vibration situation perception radar 32; thus, tiThat is, the time when the signal is detected by the first micro-vibration situation awareness radar 31 or the second micro-vibration situation awareness radar 32 of the i-th number; diThe distance from the target to the first micro-vibration situation awareness radar 31 or the second micro-vibration situation awareness radar 32 of the ith; v represents the propagation velocity of the signal, a known constant derived from the measurement; first of all, the first step is to,
1, 2, 3, … n; secondly, the first step is to carry out the first,
when Ip reaches min, the signal generation point coordinates are obtained, and the motion trail is drawn through the coordinates, so that the evaluation of the motion situation of the object by the processing unit is met.
The invention has the beneficial effects that: the method comprises the steps that the use conditions in a first road and a second road are collected through a first vehicle state detection unit and a second vehicle state detection unit, the measured data of the first road and the second road comprise the transverse position of an object in the road and moving speed data, the collected data are calculated and analyzed through a processing unit, meanwhile, the data are uploaded to a management background to be subjected to big data analysis, and when the analysis result is normal low collision risk, the processing unit controls a specified broadcasting unit to work and sends out acousto-optic signals to prompt the attention of moving objects in the first road and the second road; when the processing result is high collision risk, the processing unit reports the unit through the instruction and carries out acousto-optic warning to and carry out the guide of moving direction to the removal thing in first road and the second road, avoid bumping. In addition, the vehicle motion data collected by the vehicle can be sent to the vehicle-mounted machine or the mobile phone navigation software through the network, so that the driver or the pedestrian can be accurately reminded of paying attention to the coming and going pedestrians and the vehicle at the first time, and accidents are avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of an application scenario of the present invention;
FIG. 2 is a top view of an application scenario of the present invention;
fig. 3 is a schematic view of the connection relationship of the components of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
according to fig. 1, 2 and 3, the blind area intelligent warning device for the meeting scene mainly comprises: a first vehicle state detection unit 4; the first vehicle state detection unit 4 is fixedly arranged at a position of the first road 1 close to the intersection area 3, and is used for detecting the position of an object on the first road 1; a second vehicle state detection unit 5; the second vehicle state detection unit 5 is fixedly arranged at a position of the second road 2 close to the intersection area 3, and is used for detecting the position of an object on the second road 2; an instruction broadcasting unit 6; the instruction broadcasting unit 6 is arranged in the intersection area 3 and is used for sending out sound and light warning signals and traffic guidance prompts to the direction of the first road 1 and the direction of the second road 2; the processing unit 7 is provided with an input port and an output port for transmitting data information, the input port is electrically connected with the first vehicle state detection unit 4 and the second vehicle state detection unit 5, and the output port is electrically connected with the instruction broadcasting unit 6.
In the above arrangement, the first vehicle state detection unit 4 and the second vehicle state detection unit 5 are used for collecting the use conditions in the first road 1 and the second road 2 respectively, the measurement data includes data such as the transverse position and the moving speed of an object in the road, wherein the first vehicle state detection unit 4 and the second vehicle state detection unit 5 can collect the data in the modes of ultrasonic wave, infrared ray, laser, geomagnetic, ground sensing, microwave and the like, the collected data is calculated and analyzed by the processing unit 7 and is uploaded to the management background for big data analysis, and when the analysis result is low collision risk, the processing unit 7 controls the instruction broadcasting unit 6 to work and sends out an acousto-optic signal to prompt the attention of moving objects in the first road 1 and the second road 2; when the processing result is high collision risk, processing unit 7 reports unit 6 through the instruction and carries out acousto-optic warning to and carry out the guide of moving direction to the removal thing in first road 1 and the second road 2, avoid bumping.
Example two:
the first vehicle state detection unit 4 comprises a first ultrasonic radar 8 and a second ultrasonic radar 9 which are fixedly arranged on two sides of the first road 1 and are opposite horizontally, and the first ultrasonic radar 8 and the second ultrasonic radar 9 are electrically connected with the processing unit 7; the second vehicle state detection unit 5 comprises a third ultrasonic radar 10 and a fourth ultrasonic radar 11 which are fixedly arranged on two sides of the second road 2 and are opposite horizontally, and the third ultrasonic radar 10 and the fourth ultrasonic radar 11 are electrically connected with the processing unit 7.
With the above arrangement, the first vehicle condition detection unit 4 in the first road 1, which is constituted by the first ultrasonic radar 8 and the second ultrasonic radar 9, constitutes a pair of detection units, and a plurality of pairs of such detection units are uniformly arranged along the road direction, in the initialization process, the first ultrasonic radar 8 and the second ultrasonic radar 9 in any pair of detection units respectively collect the distance to the opposite wall, and feeds back the distance as an environmental parameter of the first road 1 to the processing unit 7 for storage, is used for setting the width of the road, when an object on the first road 1 is blocked between the first ultrasonic radar 8 and the second ultrasonic radar 9 in the later period of work, the first ultrasonic radar 8 and the second ultrasonic radar 9 collect the distance from the wall where the object is located to the two sides of the object, and passes this data to the processing unit 7 for calculation, thus obtaining the width of the moving object; after a plurality of pairs of detection units sequentially acquire object data on the first road 1, the processing unit 7 calculates the moving speed of the object on the first road 1 according to the set distance between adjacent detection units and the detection time interval, and calculates the moving track of the object on the first road 1 according to the change of the distance from the object to the wall surface detected by each group of detection units; similarly, the second vehicle state detection unit 5 on the second road 2 is consistent with the first vehicle state detection unit 4 in terms of setting principle and working mode, and also collects the moving object motion data on the second road 2, and calculates the motion trajectory through the processing unit 7, when the two motion trajectories calculated by the processing unit 7 are in an intersecting state, the high collision risk is determined, and when the two motion trajectories are not in an intersecting result, the low collision risk is determined, and a specific calculation method is described in detail later.
Example three:
the instruction broadcasting unit 6 comprises an instruction controller 12, a warning light 13 group and a loudspeaker 14, the instruction controller 12 is electrically connected with the processing unit 7, and the warning light 13 and the loudspeaker 14 are respectively electrically connected with the instruction controller 12.
In the above arrangement, the command controller 12 may be implemented by a development board, a single chip, or the like, and performs data communication with the processing unit 7, and there are a plurality of policy modes for controlling the speaker 14 and the warning lamp 13, where each policy mode corresponds to a warning level sent by the processing unit 7, and the warning level is divided according to a collision risk of the processing unit 7. Wherein the warning light 13 of the instruction broadcasting unit 6 is used for the warning effect of the bottom level, and the combination of the loudspeaker 14 and the warning light 13 is used for the warning effect of the high level.
Example four:
the top of the intersection area 3 is also fixedly provided with a first infrared probe 15 and a second infrared probe 16 which respectively face the first road 1 and the second road 2 and are used for acquiring heat source movement data, and the first infrared probe and the second infrared probe 16 are respectively and electrically connected with the processing unit 7.
In the above arrangement, the first infrared probe 15 and the second infrared probe 16 identify and detect moving objects which release heat, such as human bodies, and when the driving vehicles and pedestrians 23 are in the mutual blind eyes, respectively, the processing unit 7 performs sound and light prompting on the vehicles and the pedestrians 23 through the instruction broadcasting unit 6, so that the situation that the vehicle driver is scared by the suddenly appearing pedestrians 23 and is confused is avoided, and meanwhile, the pedestrians 23 are prompted to pay attention to the safety of the vehicles driving in the blind areas.
Example five:
the instruction broadcasting unit 6 further comprises a first projector 17 and a second projector 18 which are fixedly arranged on the first road 1 and the second road 2 and close to the top of the intersection area 3, and the first projector 17 and the second projector 18 are electrically connected with the instruction controller 12 and used for projecting image instructions to the ground.
In the above-mentioned setting, still store a plurality of traffic sign in the instruction reports unit 6, if: the image files of forbidding, concessional, right-side passing, overtaking prohibition, parking prohibition and the like are projected to the ground through the first projector 17 or the second projector 18 according to the commands issued by the processing unit 7, and displayed to the vehicles or pedestrians 23.
Example six:
the first road 1 with the second road 2 is close to the top of intersection district 3 still is fixed respectively and is equipped with first camera 19 and the second camera 20 of overlooking ground, first camera 19 with second camera 20 with processing unit 7 electric connection for gather ground object motion image and transmit for processing unit 7.
Through the arrangement, the first camera 19 and the second camera 20 are fixedly installed, the sight line range comprises a road range which is long enough at one end close to the intersection area 3, logical line grids are drawn in the first road 1 and the second road 2 in the processing unit 7 through shot images after installation, digital modeling is equivalent, the operation is completed by technical workers once in the construction and construction process of the device, and the purpose is that in the later application process, coordinates are generated by shooting the position of an object in the logical line grids.
Example seven:
a blind area intelligent warning algorithm for a meeting scene mainly captures an initial position a of a first vehicle 21 running in a first lane through a first camera 191、b1Speed S of running1And a turning angle Δ (t); capturing an initial position a of a second vehicle 22 traveling in a second lane by a second camera 202、b2Speed S of running2And a turning angle delta2And from this state, the distance D between the first vehicle 21 and the second vehicle 22 is derivedT(t) is:
approach velocity S3(t) is: s3(t)＝S1cos(Δ3-Δ1)+S2cos(π+Δ2-Δ3(t)); wherein, Delta3(t) is a crossing angle of the lane of the first vehicle 21 and the second vehicle 22, and the Δ3(t) is:
the self-viewing angles ∈ (t) of the first vehicle 21 and the second vehicle 22 are:
therefore, the difference η (t) between the dynamic viewing angle and the self viewing angle when the first vehicle 21 approaches the second vehicle 22 is η (t) | ∈ (t) — Δ3(t) |; by a safety distance RsThe collision approach angle p (t) is:
the far angle of collision μ (t) is:μ (t) ═ ∈ (t) -P (t); when | ∈ (t) -S3(t)|＝|η(t)|<P (t), i.e. approach speed S3(t) when the speed is within the collision range, the processing unit 7 sends a prompt command to the instruction broadcasting unit 6, and simultaneously sends a guide command to the first projector 17 and the second projector 18, respectively, and projects the guide command onto the wall and the ground of the first lane and the second lane.
Example 8:
as shown in fig. 2, the first vehicle state detection unit further includes a plurality of first micro-vibration situation awareness radars 31 fixedly disposed on any one side of the first road, and each of the first micro-vibration situation awareness radars 31 is electrically connected to the processing unit 7; the second vehicle state detection unit comprises a plurality of second micro-vibration situation perception radars 32 fixedly arranged on any side of the second road 2, and each second micro-vibration situation perception radar 32 is electrically connected with the processing unit 7.
In the above arrangement, n first micro-vibration situation awareness radars 31 and n second micro-vibration situation awareness radars 32 are respectively disposed in the first road 1 and the second road 2, so that signal acquisition is performed on any one side of the road by the following formula:
in the formula, x, y, and z are three-dimensional coordinate positions of the targets tracked by the first micro-vibration situation awareness radar 31 and the second micro-vibration situation awareness radar 32; t is the signal generation time; n represents the number of the first micro-vibration situation perception radar 31 and the second micro-vibration situation perception radar 32; thus, tiThat is, the time when the signal is detected by the first micro-vibration situation awareness radar 31 or the second micro-vibration situation awareness radar 32 of the i-th number; diThe distance from the target to the first micro-vibration situation awareness radar 31 or the second micro-vibration situation awareness radar 32 of the ith; v represents the propagation velocity of the signal and is a known constant derived from the measurement results.
Establishing an equation set and solving the propagation distance d of the signal according to a uniform velocity model positioning method by adopting the principleiThen, the approximate position of the vehicle in travel is determined using the least squares method or the like.
When I ispWhen min is reached, a motion track is generated for the signal generation points positioned by the first micro-vibration situation perception radar 31 or the second micro-vibration situation perception radar 32 through periodic sampling and the description of each signal generation point, so that the system realizes the function of calculating the ability of perceiving the motion of the moving object, and can evaluate and prejudge the motion direction of the moving object.
As a preferred embodiment, the vehicle motion data acquired by the vehicle can also be sent to the vehicle-mounted machine or the mobile phone navigation software through the network, so that the driver or the pedestrian can be accurately reminded of paying attention to the coming and going pedestrians and the vehicle at the first time, and accidents are avoided.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. The utility model provides a blind area intelligence warning device for meeting scene, is applied to the intersection district department of the first road of crossing perpendicularly and second road, its characterized in that includes:
a first vehicle state detection unit; the first vehicle state detection unit is fixedly arranged at a position, close to the intersection area, of the first road and is used for detecting the position of an object on the first road;
a second vehicle state detection unit; the second vehicle state detection unit is fixedly arranged at a position, close to the intersection area, of the second road and used for detecting the position of an object on the second road;
an instruction broadcasting unit; the instruction broadcasting unit is arranged in the intersection area and used for sending out sound and light warning signals and traffic guidance prompts to the first road direction and the second road direction;
the processing unit is provided with an input port and an output port for transmitting data information, the input port is electrically connected with the first vehicle state detection unit and the second vehicle state detection unit, and the output port is electrically connected with the instruction broadcasting unit.
2. The blind area intelligent warning device for the meeting scene according to claim 1, wherein: the first vehicle state detection unit comprises a first ultrasonic radar and a second ultrasonic radar which are fixedly arranged on two sides of a first road and are opposite horizontally, and the first ultrasonic radar and the second ultrasonic radar are electrically connected with the processing unit; the second vehicle state detection unit comprises a third ultrasonic radar and a fourth ultrasonic radar which are fixedly arranged on two sides of a second road and are opposite in horizontal direction, and the third ultrasonic radar and the fourth ultrasonic radar are electrically connected with the processing unit.
3. The blind area intelligent warning device for the meeting scene according to claim 1, wherein: the instruction broadcasting unit comprises an instruction controller, a warning lamp set and a loudspeaker, the instruction controller is electrically connected with the processing unit, and the warning lamp and the loudspeaker are respectively electrically connected with the instruction controller.
4. The blind area intelligent warning device for the meeting scene according to claim 1, wherein: the top of intersection district still fixed be equipped with respectively towards first lane and second lane direction for gather heat source movement data's first infrared probe and second infrared probe, an infrared probe, second infrared probe respectively with processing unit electric connection.
5. The blind area intelligent warning device for the vehicle meeting scene according to claim 3, wherein: the instruction broadcasting unit further comprises a first projector and a second projector which are fixedly arranged, wherein the first road and the second road are close to the top of the intersection area, and the first projector and the second projector are electrically connected with the instruction controller and used for projecting image instructions to the ground.
6. The blind area intelligent warning device for the meeting scene according to claim 1, wherein: the first road with the second road is close to the top in intersection district still is fixed respectively and is equipped with first camera and the second camera of overlooking ground, first camera reaches the second camera with processing unit electric connection for gather ground object motion image and transmit for processing unit.
7. The blind area intelligent warning device for the meeting scene according to claim 1, wherein: the first vehicle state detection unit further comprises a first micro-vibration situation perception radar fixedly arranged on any side of the first road, and the first micro-vibration situation perception radar is electrically connected with the processing unit; the second vehicle state detection unit comprises a second micro-vibration situation perception radar fixedly arranged on any side of the second road, and the second micro-vibration situation perception radar is electrically connected with the processing unit.
8. An algorithm applied to the blind zone intelligent warning device of the car crossing scene in claims 1 to 7, characterized in that: capturing a first vehicle initial position a driving in a first lane by a first camera1、b1Speed S of running1And a turning angle Δ (t); capturing a second vehicle initial position a driving in a second lane by a second camera2、b2Speed S of running2And a turning angle delta2And deriving the distance D between the first vehicle and the second vehicle from the stateT(t) is:
approach velocity S3(t) is:
S3(t)＝S1cos(Δ3-Δ1)+S2cos(π+Δ2-Δ3(t))；
wherein, Delta3(t) is the first vehicle to second vehicle lane crossing angle, and the Δ3(t) is:
the self-viewing angles ∈ (t) of the first and second vehicles are:
therefore, during the approach of the first vehicle and the second vehicle, the difference η (t) between the dynamic perspective and the self perspective is:
η(t)＝|∈(t)-Δ_3(t)|；
by a safety distance RsThe collision approach angle p (t) is:
the far collision angle is mu (t), which is ∈ (t) -P (t);
when | ∈ (t) -S3(t)|＝|η(t)|<P (t), i.e. approach speed S3(t) when the speed is within the collision range, the processing unit sends a prompt command to the instruction broadcasting unit, simultaneously sends a guide command to the first projector and the second projector respectively, and projects the guide command to the wall and the ground of the first lane and the second lane.
9. The algorithm of the blind area intelligent warning device for the meeting scene according to claim 8, wherein: the first micro-vibration situation perception radar and the second micro-vibration situation perception radar are arranged in a plurality of ways and are respectively expressed by natural numbers iThe method comprises the steps of acquiring three-dimensional coordinates x, y and z of a signal point; t is the signal generation time; n represents the number of the first micro-vibration situation perception radar 31 and the second micro-vibration situation perception radar 32; thus, tiThat is, the time when the signal is detected by the first micro-vibration situation awareness radar 31 or the second micro-vibration situation awareness radar 32 of the i-th number; diThe distance from the target to the first micro-vibration situation awareness radar 31 or the second micro-vibration situation awareness radar 32 of the ith; v represents the propagation velocity of the signal, a known constant derived from the measurement;
first of all, the first step is to,
i＝1，2，3，…n；
secondly, the first step is to carry out the first,
when Ip reaches min, the signal generation point coordinates are obtained, and the motion trail is drawn through the coordinates, so that the evaluation of the motion situation of the object by the processing unit is met.
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| CN113920741A (en) * | 2021-07-01 | 2022-01-11 | 上海市城市建设设计研究总院（集团）有限公司 | Linkage device for standard parking of non-motor vehicles on sidewalk |
| CN115288051A (en) * | 2022-07-11 | 2022-11-04 | 日照蓝能智能科技有限公司 | Corner prompting mechanism for parking lot |
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