CN111833652A - Active protection system for children traffic safety based on Bluetooth broadcast - Google Patents
Active protection system for children traffic safety based on Bluetooth broadcast Download PDFInfo
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- CN111833652A CN111833652A CN202010642913.9A CN202010642913A CN111833652A CN 111833652 A CN111833652 A CN 111833652A CN 202010642913 A CN202010642913 A CN 202010642913A CN 111833652 A CN111833652 A CN 111833652A
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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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
- G08G1/164—Centralised systems, e.g. external to vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
Abstract
The invention discloses a child traffic safety active protection system based on Bluetooth broadcasting, which relates to the technical field of traffic safety active protection and comprises a child client and a vehicle-mounted receiving end, wherein the child client comprises a GPS (global positioning system) positioning module, a step counting module, a data resolving module, a Bluetooth transmission module and a communication module; the vehicle-mounted receiving end comprises a vehicle-mounted Bluetooth module, a vehicle-mounted GPS positioning module, a vehicle body data acquisition module, an alarm situation generation module and a prompt module. The active protection system for the child traffic safety based on the Bluetooth broadcast realizes active protection of the child traffic safety, and the child target information with high behavior danger level is sent to the motor vehicle by monitoring the behaviors of the children participating in the traffic process, so that the active avoidance of the vehicle to the children is realized, the child safety and the vehicle driving safety are ensured, and the safety risk of a driver and the children is reduced.
Description
Technical Field
The invention relates to the technical field of traffic safety active protection, in particular to a child traffic safety active protection system based on Bluetooth broadcasting.
Background
With the popularization of smart phones, bluetooth low energy technology, represented by bluetooth 4.0, is being carried on various smart devices. In the popular early bluetooth 4.0 standard, the intensity of bluetooth broadcast has reached 30 meters, and the application scene that children cross the road can be covered. With the development of the bluetooth technology, the broadcasting range is wider, and the power consumption is lower. The benefit of communicating the child with the vehicle in the bluetooth broadcast mode is two-fold, one of which is that the requirement for real-time performance is basically met. Another advantage is that it is privacy, communicating only with nearby vehicles, while sensitive information such as the child's activity track, range of motion, etc. is anonymous and private. When the vehicle is far away from the child, the security threat of the vehicle to the child is reduced immediately, and the vehicle and the child do not need to communicate. The communication range of bluetooth broadcasting naturally satisfies such characteristics.
Future intelligent travel technologies represented by ADAS (assisted driving) and automatic driving technologies are receiving more and more attention from all parties. These techniques provide for active detection and sensing of the environment surrounding the vehicle from the perspective of the vehicle. Pedestrians are an important component of perceived objects in such technologies. Children have smaller targets and higher detection difficulty than adults, and have certain risks only depending on the active detection of vehicles. And children are more easily injured due to the insufficiency of the behavior ability and judgment ability in the traffic accident time.
The existing child safety protection technology mainly comprises various passive protection technologies. For example, safety helmets, safety schoolbag and the like, the main idea is to reduce the severity of injury of children when traffic safety happens. In addition, some traffic safety protection technologies for pedestrians can monitor the driving condition of vehicles on the road to give safety warning to pedestrians, but need to rely on road facilities, such as infrared sensors. As a person with restricted behavior ability, children have limited safety response to traffic behaviors, and the motion behaviors of children are difficult to predict to a certain extent, such as playing and alarming in roads or accidentally slipping during running, so that monitored information of the motion behaviors of children is helpful for drivers to carry out avoidance judgment.
Disclosure of Invention
The invention provides a child traffic safety active protection system based on Bluetooth broadcasting, which solves the technical problems that a passive protection technology is mainly adopted in the existing child protection technology, and children are more easily injured due to the shortages of behavior ability and judgment ability in traffic accident time.
The technical scheme of the invention is realized as follows:
a child traffic safety active protection system based on Bluetooth broadcasting comprises a child client and a vehicle-mounted receiving end,
the child client comprises a GPS positioning module, a step counting module, a data resolving module, a Bluetooth transmission module and a communication module; wherein the content of the first and second substances,
the GPS positioning module is used for acquiring the current position information of the child;
the step counting module is used for acquiring the current step information of the children;
the data resolving module is used for resolving the real-time data acquired by the GPS positioning module and the step counting module and generating a child action information message;
the Bluetooth transmission module is used for sending Bluetooth broadcast, and the broadcast content is a child action information message;
the communication module is used for downloading nearby map information;
the output ends of the GPS positioning module, the step counting module and the communication module are connected with the input end of the data resolving module, and the output end of the data resolving module is connected with the input end of the Bluetooth transmission module;
the vehicle-mounted receiving end comprises a vehicle-mounted Bluetooth module, a vehicle-mounted GPS positioning module, a vehicle body data acquisition module, an alarm situation generation module and a prompt module; wherein the content of the first and second substances,
the vehicle-mounted Bluetooth module is used for scanning and receiving Bluetooth broadcast sent by the child client;
the vehicle-mounted GPS positioning module is used for positioning a vehicle;
the vehicle body data acquisition module is used for acquiring the current motion direction and the vehicle speed information of the vehicle;
the warning situation generating module is used for generating a warning situation according to all child action information messages received by the vehicle-mounted receiving end and by combining the current GPS information of the vehicle;
the prompting module comprises a voice prompting and display prompting function module and is used for sending a prompt avoiding information or signal to a driver, an ADAS system and an automatic driving system;
the output ends of the vehicle-mounted Bluetooth module, the vehicle-mounted GPS positioning module and the vehicle body data acquisition module are connected with the input end of the alarm situation generation module, and the output end of the alarm situation generation module is connected with the input end of the prompt module.
Furthermore, the child action information message includes a road passing request flag field, a current location information field, a movement level field, and a movement direction field.
Further, the data calculation module generates the child action information, and the method comprises the following steps:
the road passing request mark field has two states of 0 and 1, wherein the state 1 is actively set by a child client user; when the position moves to the other side of the road, the data resolving module automatically sets the mark position to 0;
after the current position information field is analyzed by a current GPS positioning module, a correction value of a current position coordinate is given as current position information through Kalman filtering, and the current position information is expressed as a longitude and latitude coordinate;
the motion grade field has three states of static, walking and running; when the frequency fs of the steps in a certain time is smaller than the threshold Fw, the current state is static; when fs is greater than or equal to a threshold Fw and less than a threshold Fr, the current state is walking; when fs is greater than or equal to the threshold Fr, the current state is running;
the movement direction is calculated by a data calculation module according to the position change of the current position and the previous moment and is represented by an angle.
Further, the method for generating the alarm situation generation module comprises the following steps:
the first step is as follows: the vehicle-mounted receiving end collects the speed information of the current vehicle in the advancing direction; the vehicle moving direction is calculated according to the change of the previous moment and the current position;
the second step is that: calculating alarm levels and alarm coefficients corresponding to target child clients according to currently received child action message information sent by all the child clients; wherein, the alarm level is divided into three states of alarm, prompt and silence; the alarm level is related to the relative position of the child client and the vehicle-mounted receiving end and the child movement speed level;
the third step: generating an alarm situation map according to the sequence of alarming first and then prompting;
further, the method for sending the alarm prompt by the alarm situation generating module comprises the following steps:
when an alarm target exists at the current position at a certain moment, generating an alarm situation according to the alarm coefficient from high to low, and broadcasting target information with the highest alarm level; the information content is the relative direction of the target and the avoidance warning;
if no alarm target exists, generating a prompt situation according to the alarm coefficient from high to low, and broadcasting target information with the highest alarm level, wherein the information content is the relative direction of the target and deceleration or other prompt information;
if no prompt message exists, the system is silent.
Further, the alarm coefficient W is calculated as follows:
wherein L is the length of the prompt area, D is the Euclidean distance between the child and the midpoint of the rear axle of the vehicle, and S is the action state grade sent by the child client; when the action states are running, walking and still respectively, S is 5, 2 and 1 respectively.
The invention has the beneficial effects that:
the active protection system for the traffic safety of the children based on the Bluetooth broadcast realizes active protection of the traffic safety of the children, monitors the behaviors of the children participating in the traffic process, and sends the child target information with high behavior danger level to the motor vehicle, so that the active avoidance of the vehicle to the children is realized, the safety of the children and the driving safety of the vehicle are ensured, and the safety risk of a driver and the children is reduced.
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, and 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 these drawings without creative efforts.
FIG. 1 is a schematic diagram of a passive child traffic safety monitoring application scenario;
FIG. 2 is a schematic diagram of an active request application scenario for children crossing a road;
FIG. 3 is a system block diagram of a child client;
FIG. 4 is a workflow diagram of a child client;
FIG. 5 is a schematic view of the definition of the direction of motion;
FIG. 6 is a system block diagram of a vehicle-mounted receiver;
FIG. 7 alert prompt area;
FIG. 8 is a flow chart of alarm level calculation.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious 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.
As shown in fig. 3 and 6, the active protection system for children traffic safety based on bluetooth broadcast of the present invention includes a child client and a vehicle-mounted receiving end,
the child client comprises a GPS positioning module, a step counting module, a data resolving module, a Bluetooth transmission module and a communication module; wherein the content of the first and second substances,
the GPS positioning module is used for acquiring the current position information of the child;
the step counting module is used for acquiring the current step information of the children;
the data resolving module is used for resolving the real-time data acquired by the GPS positioning module and the step counting module and generating a child action information message;
the Bluetooth transmission module is used for sending Bluetooth broadcast, and the broadcast content is a child action information message;
the communication module is used for downloading nearby map information;
the output ends of the GPS positioning module, the step counting module and the communication module are connected with the input end of the data resolving module, and the output end of the data resolving module is connected with the input end of the Bluetooth transmission module;
the vehicle-mounted receiving end comprises a vehicle-mounted Bluetooth module, a vehicle-mounted GPS positioning module, a vehicle body data acquisition module, an alarm situation generation module and a prompt module; wherein the content of the first and second substances,
the vehicle-mounted Bluetooth module is used for scanning and receiving Bluetooth broadcast sent by the child client;
the vehicle-mounted GPS positioning module is used for positioning a vehicle;
the vehicle body data acquisition module is used for acquiring the current motion direction and the vehicle speed information of the vehicle;
the warning situation generating module is used for generating a warning situation according to all child action information messages received by the vehicle-mounted receiving end and by combining the current GPS information of the vehicle;
the prompting module comprises a voice prompting and display prompting function module and is used for sending a prompt avoiding information or signal to a driver, an ADAS system and an automatic driving system;
the output ends of the vehicle-mounted Bluetooth module, the vehicle-mounted GPS positioning module and the vehicle body data acquisition module are connected with the input end of the alarm situation generation module, and the output end of the alarm situation generation module is connected with the input end of the prompt module.
Fig. 1 is a schematic view of an application scenario of passive monitoring of child traffic safety of the present system. When the child client monitors that the child enters an area near a road, the child client enters an active state and monitors the position and motion information of the child in real time. Meanwhile, the child client generates a child motion information message by using the current child position information, motion state information, road crossing request state and motion direction information, and then sends a Bluetooth broadcast to a nearby vehicle-mounted receiving terminal. The vehicle-mounted receiving end periodically scans nearby Bluetooth broadcasts, generates a child avoidance warning situation map by combining position information of a vehicle, speed information and the like, and sends avoidance prompting information or signals to a driver, an ADAS system and an automatic driving system according to danger level sequencing in the situation map.
Fig. 2 is a schematic diagram of an active request application scenario for children crossing a road. And after the vehicle-mounted receiving end analyzes the road request through the message broadcasted by the Bluetooth, alarming the driver according to the priority of the alarm situation map.
As shown in fig. 3, the child client mainly includes a GPS positioning module, a step counting module, a bluetooth transmission module, and a communication module. And the GPS signal module is mainly used for collecting the current position information of the child. And the step counting module is used for acquiring the current step information of the children. And the data calculating module is mainly used for calculating the real-time data acquired by the module and generating the child action information message. And the Bluetooth transmission module is used for sending Bluetooth broadcast, and the broadcast content is a child action information message. The communication module can be a WiFi/4G/5G communication module and is used for downloading nearby map information. The child action information message comprises 4 parts of contents: a road-crossing request mark field, a current position information field, a motion grade field and a motion direction field.
Fig. 4 is a flow chart of the child client work. When the system starts to work, the child client GPS position information is periodically detected. The detection period is determined by the state; when the client is in a sleep state, the detection period is long (about second level); conversely, when the client is in the active state, the detection period is relatively short (on the order of milliseconds). The client state is judged by the following modes: when the client does not detect the GPS signal or the current position is far away from the road (for example, the distance from the road is more than 50m), the child client enters a sleep state, and the Bluetooth is turned off to save the power. When the current position is closer to the road (if the distance to the road is less than 50m), the child client enters an activated state, the Bluetooth broadcast is started, and the surrounding position information is broadcasted.
The data calculation module generates the child action information according to the following method:
the cross-way request flag field has two states of 0 and 1. The 1 state is actively set by the child client user. When the position moves to the other side of the road, the data calculation module automatically sets the mark position to 0.
After the current position information field is analyzed by the current GPS positioning module, a correction value of the current position coordinate is given as the current position information through Kalman filtering, and the correction value is expressed as a longitude and latitude coordinate.
The motion level field has three states of still, walking and running. When the frequency fs of the steps in a certain time is smaller than the threshold Fw, the current state is static; when fs is greater than or equal to a threshold Fw and less than a threshold Fr, the current state is walking; when fs is greater than or equal to the threshold Fr, the current state is running.
The moving direction is calculated by the data calculation module according to the position change between the current position and the previous moment and is represented by an angle, as shown in fig. 5.
Fig. 6 is a system block diagram of the vehicle-mounted receiving end. The vehicle-mounted GPS alarm system comprises a vehicle-mounted Bluetooth module, a vehicle-mounted GPS positioning module, a prompt module, a vehicle body data acquisition module and an alarm situation generation module. And the vehicle-mounted Bluetooth module is used for scanning and receiving Bluetooth broadcast sent by the child client. And the vehicle-mounted GPS positioning module is used for positioning the vehicle. And the vehicle body data acquisition module is used for acquiring information such as the current movement direction and the vehicle speed of the vehicle. And the warning situation generating module generates a warning situation by combining all child action information messages received by the vehicle-mounted receiving end with the current GPS information of the vehicle. The prompt module, which may include but not limited to various functional modules such as voice prompt, display prompt, etc., is used to send the prompt avoidance information or signal to the driver, the ADAS system, and the automatic driving system.
The method for generating the alarm situation and the method for sending the alarm prompt are as follows:
the first step is as follows: the vehicle-mounted receiving end collects information such as the speed of the current vehicle in the traveling direction. The vehicle moving direction can also be calculated according to the change of the previous time and the current position. The calculation mode is the same as that of the child client side.
And secondly, calculating the alarm level and the alarm coefficient corresponding to the target child client according to the currently received message information sent by all the child clients. The alarm level is divided into three states of alarm, prompt and silence. The alarm level is related to the relative position of the child client and the vehicle-mounted receiving end and the child movement speed level. The specific calculation method is as follows:
and calculating the position of the relative area where the child client is located according to the position coordinates of the child client.
Fig. 7 is a schematic diagram of an alarm prompt area. The arrow direction in the figure indicates the direction of travel of the child or vehicle. The alarm area is a rectangle near the vehicle body, and the bottom edge of the alarm area is near the rear wheel of the vehicle. The concave-shaped area at the periphery of the alarm area is a prompt area, and the outer side of the prompt area is a non-prompt area. The width of the warning area and the width of the prompting area are fixed. The zone length is positively correlated with the current vehicle speed, the faster the vehicle speed, the longer the zone length. The specific calculation mode can be calculated according to the following graph:
as shown in fig. 8, for the alarm level calculation flow,
the alarm coefficient W is calculated as follows:
wherein L is the length of the prompt area, D is the Euclidean distance between the child and the midpoint of the rear axle of the vehicle, and S is the action state grade sent by the child client. When the action states are running, walking and still respectively, S is 5, 2 and 1 respectively. The distribution of S may also be valued according to other monotonic discrete sequences, such as exponential or logarithmic distributions.
The third step: and generating an alarm situation map according to the sequence of alarming first and then prompting. And when the alarm target exists at the current position at a certain moment, generating an alarm situation according to the alarm coefficient from high to low. And broadcasting the target information with the highest alarm level. The information content is the relative direction of the target and the avoidance alarm. If no alarm target exists, generating a prompt situation according to the alarm coefficient from high to low, and broadcasting target information with the highest alarm level, wherein the information content is the target relative direction and deceleration or other prompt information. If no prompt message exists, the system is silent.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. The utility model provides a children traffic safety initiative protection system based on bluetooth broadcast which characterized in that: comprises a child client and a vehicle-mounted receiving end,
the child client comprises a GPS positioning module, a step counting module, a data resolving module, a Bluetooth transmission module and a communication module; wherein the content of the first and second substances,
the GPS positioning module is used for acquiring the current position information of the child;
the step counting module is used for acquiring the current step information of the children;
the data resolving module is used for resolving the real-time data acquired by the GPS positioning module and the step counting module and generating a child action information message;
the Bluetooth transmission module is used for sending Bluetooth broadcast, and the broadcast content is a child action information message;
the communication module is used for downloading nearby map information;
the output ends of the GPS positioning module, the step counting module and the communication module are connected with the input end of the data resolving module, and the output end of the data resolving module is connected with the input end of the Bluetooth transmission module;
the vehicle-mounted receiving end comprises a vehicle-mounted Bluetooth module, a vehicle-mounted GPS positioning module, a vehicle body data acquisition module, an alarm situation generation module and a prompt module; wherein the content of the first and second substances,
the vehicle-mounted Bluetooth module is used for scanning and receiving Bluetooth broadcast sent by the child client;
the vehicle-mounted GPS positioning module is used for positioning a vehicle;
the vehicle body data acquisition module is used for acquiring the current motion direction and the vehicle speed information of the vehicle;
the warning situation generating module is used for generating a warning situation according to all child action information messages received by the vehicle-mounted receiving end and by combining the current GPS information of the vehicle;
the prompting module comprises a voice prompting and display prompting function module and is used for sending a prompt avoiding information or signal to a driver, an ADAS system and an automatic driving system;
the output ends of the vehicle-mounted Bluetooth module, the vehicle-mounted GPS positioning module and the vehicle body data acquisition module are connected with the input end of the alarm situation generation module, and the output end of the alarm situation generation module is connected with the input end of the prompt module.
2. The active protection system for children's traffic safety based on bluetooth broadcast of claim 1, wherein: the child action information message comprises a road passing request mark field, a current position information field, a motion grade field and a motion direction field.
3. Active protection system for children's traffic safety based on Bluetooth broadcasting according to claim 1 or 2,
the data calculation module generates the child action information and comprises the following methods:
the road passing request mark field has two states of 0 and 1, wherein the state 1 is actively set by a child client user; when the position moves to the other side of the road, the data resolving module automatically sets the mark position to 0;
after the current position information field is analyzed by a current GPS positioning module, a correction value of a current position coordinate is given as current position information through Kalman filtering, and the current position information is expressed as a longitude and latitude coordinate;
the motion grade field has three states of static, walking and running; when the frequency fs of the steps in a certain time is smaller than the threshold Fw, the current state is static; when fs is greater than or equal to a threshold Fw and less than a threshold Fr, the current state is walking; when fs is greater than or equal to the threshold Fr, the current state is running;
the movement direction is calculated by a data calculation module according to the position change of the current position and the previous moment and is represented by an angle.
4. The active protection system for children's traffic safety based on Bluetooth broadcasting of claim 1,
the generation method of the alarm situation generation module comprises the following steps:
the first step is as follows: the vehicle-mounted receiving end collects the speed information of the current vehicle in the advancing direction; the vehicle moving direction is calculated according to the change of the previous moment and the current position;
the second step is that: calculating alarm levels and alarm coefficients corresponding to target child clients according to currently received child action message information sent by all the child clients; wherein, the alarm level is divided into three states of alarm, prompt and silence; the alarm level is related to the relative position of the child client and the vehicle-mounted receiving end and the child movement speed level;
the third step: and generating an alarm situation map according to the sequence of alarming first and then prompting.
5. The active protection system for children traffic safety based on bluetooth broadcast according to claim 4, wherein the method for sending the warning prompt by the warning situation generating module comprises the following steps:
when an alarm target exists at the current position at a certain moment, generating an alarm situation according to the alarm coefficient from high to low, and broadcasting target information with the highest alarm level; the information content is the relative direction of the target and the avoidance warning;
if no alarm target exists, generating a prompt situation according to the alarm coefficient from high to low, and broadcasting target information with the highest alarm level, wherein the information content is the relative direction of the target and deceleration or other prompt information;
if no prompt message exists, the system is silent.
6. A Bluetooth broadcast based child traffic safety active prevention system according to claim 4 or 5, characterized in that: the alarm coefficient W is calculated as follows:
wherein L is the length of the prompt area, D is the Euclidean distance between the child and the midpoint of the rear axle of the vehicle, and S is the action state grade sent by the child client; when the action states are running, walking and still respectively, S is 5, 2 and 1 respectively.
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| CN112669631B (en) * | 2020-12-15 | 2022-08-05 | 重庆电子工程职业学院 | Intelligent traffic monitoring and alarming system |
| CN116996990A (en) * | 2023-07-20 | 2023-11-03 | 新唐信通(北京)科技有限公司 | Traffic control acousto-optic warning method and system for triangular warning board |
| CN116996990B (en) * | 2023-07-20 | 2024-03-29 | 新唐信通(浙江)科技有限公司 | Traffic control acousto-optic warning method and system for triangular warning board |
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