CN114202934B

CN114202934B - Directional tweeter control method and server for expressway

Info

Publication number: CN114202934B
Application number: CN202210135196.XA
Authority: CN
Inventors: 王加义; 陆启荣; 杨明; 冯诚波; 张毅; 曾明; 柳晖; 孔真真
Original assignee: Zhejiang Gaoxin Technology Co Ltd
Current assignee: Zhejiang Gaoxin Technology Co Ltd
Priority date: 2022-02-15
Filing date: 2022-02-15
Publication date: 2022-05-03
Anticipated expiration: 2042-02-15
Also published as: CN114202934A

Abstract

The embodiment of the invention discloses a directional tweeter control method for a highway, which is used for controlling the directional tweeter to adopt different early warning strategies and play different early warning information by identifying and analyzing barriers and combining vehicle flow and distance information. The embodiment of the invention also discloses a server. The invention can realize targeted guidance, is convenient for vehicles in different lanes to carry out related operations in advance aiming at obstacles, and avoids congestion or accidents.

Description

Directional tweeter control method and server for expressway

Technical Field

The invention relates to the field of highway safety management, in particular to a directional tweeter control method and a server for a highway.

Background

The vast width of our country, the highway network has been extended to every corner of the country now, and the geography and meteorological environment that each part of highway is located are complicated changeable, and the vehicle number of going is huge, therefore the unusual condition on the highway sometimes takes place, influences driving safety. The obstacles on the expressway belong to a common abnormal condition, the obstacles are various in types, falling stones, falling objects of freight cars, intruding animals and the like are common, at the moment, if the rear cars are not informed in time, the rear cars are prone to being avoided too soon to cause accidents, the traffic jam is prone to being caused by emergency avoidance even if the rear cars are successfully avoided immediately, and accident potential hazards are increased.

In the prior art, a rear vehicle is often only notified after an obstacle appears, the notification means is single, the specific notification content is simple, and the final result is that the notification transmission effect is poor, targeted guidance cannot be performed, so that the situation of site congestion occurs, and further, the risk of causing an accident exists.

Disclosure of Invention

The invention mainly aims to provide a directional tweeter control method and a directional tweeter control server for a highway, and aims to solve the problems in the prior art.

In order to achieve the above object, the present invention provides a directional tweeter control method for a highway, which is applied to a server, the server being in communication connection with a plurality of information acquisition devices and a plurality of directional tweeter modules, the plurality of information acquisition devices and the plurality of directional tweeter modules being disposed in a plurality of portal frames, the plurality of portal frames being disposed along the highway at preset intervals, the method including:

receiving highway environment data uploaded by the plurality of information acquisition devices;

analyzing whether obstacles exist on the expressway according to the environment data;

judging the type of the obstacle when the obstacle existing on the expressway is analyzed;

determining a dangerous area and an early warning area of the obstacle according to the type of the obstacle, wherein the dangerous area is an area which can affect the normal running of a vehicle, and the early warning area is an area which has a preset distance from the obstacle in the incoming direction;

analyzing the flow of the vehicle entering the early warning area according to the environment data;

when the flow is analyzed to be smaller than the preset flow, the directional tweeter modules in the early warning area are correspondingly distributed for the vehicles according to preset rules, the directional tweeter modules are controlled to track the corresponding vehicles and send early warning signals, and the content of the early warning signals is determined according to the distance between the vehicles and the dangerous area in the width direction of the expressway;

when the analyzed flow is larger than or equal to the preset flow, the directional tweeter modules in the early warning area are correspondingly distributed for all lanes according to preset rules, the directional tweeter modules are controlled to send early warning signals to the corresponding lanes, and the content of the early warning signals is determined according to the distance between the lanes and the dangerous area in the width direction of the highway.

In some embodiments, the step of determining the danger area and the early warning area of the obstacle according to the type of the obstacle further includes:

taking the lanes covered by the dangerous area as a first-class lane, and taking the other lanes as a second-class lane;

the control directional tweeter module tracks the vehicle that corresponds and sends early warning signal, the early warning signal content according to the vehicle with the step that the distance of danger area on the highway width direction is confirmed specifically includes:

when the vehicle is located in a first lane, controlling the corresponding directional tweeter module to track the vehicle to send a first early warning signal, and when the vehicle is located in a second lane, controlling the corresponding directional tweeter module to track the vehicle to send a second early warning signal;

the control directional tweeter module send early warning signal to the lane that corresponds, the step that early warning signal content is confirmed according to the lane with the distance of danger area in the highway width direction specifically includes:

controlling the directional tweeter module corresponding to the first type of lane to send a first early warning signal to the first type of lane, and controlling the directional tweeter module corresponding to the second type of lane to send a second early warning signal to the second type of lane;

the first warning signal contains information guiding the vehicle to change lanes, and the second warning signal contains information guiding the vehicle to decelerate.

In some embodiments, the step of controlling the corresponding directional tweeter module to track the vehicle to emit the first warning signal when the vehicle is located in the first lane further includes:

when the vehicle changes to a second-type lane, controlling the corresponding directional tweeter module to stop sending signals and searching for the next vehicle;

when the vehicle is located second type lane, control corresponding the directional tweeter module is tracked the vehicle still includes after sending the step of second early warning signal:

when the vehicle finishes decelerating, the corresponding directional tweeter module is controlled to stop sending signals and search for the next vehicle.

In some embodiments, the step of determining the kind of the obstacle when the obstacle existing on the expressway is analyzed has the following steps:

when the type of the obstacle is judged to be an animal, determining the specific type of the animal;

determining an expulsion frequency according to the specific category of the animal, and controlling the directional tweeter module to play an expulsion signal to the animal at the expulsion frequency.

In some embodiments, the step of the control portion playing the expelling signal to the animal with the expelling frequency specifically includes:

analyzing a first path of the animal exiting the highway and an expelled horn module according to the environmental data, the expelled horn module being the directional tweeter module having a distance to the animal that is no greater than an effective propagation distance;

when the expelling horn module arrives the route of animal with when the contained angle of first route is greater than preset the angle, control the expelling horn module with the expelling frequency is to the animal broadcast expelling signal.

In some embodiments, the step of correspondingly allocating the directional tweeter module in the early warning area to the vehicle according to a preset rule specifically includes:

matching corresponding priorities for all the vehicles, wherein the closer the vehicles are to the barrier, the higher the matched priority is, and the vehicle with the highest current priority is the target vehicle;

and correspondingly distributing a directional tweeter module which is closest to the target vehicle and is not in a sending state for the target vehicle.

determining the time when the directional tweeter module is in a standby state according to the running state of the directional tweeter module in the early warning area;

analyzing the predicted position of the target vehicle at the moment according to the position and the speed of the target vehicle;

analyzing the effective sending time length of the directional tweeter module and the distance between the predicted position and the directional tweeter module according to the predicted position and the speed;

and matching the directional tweeter module with the effective sending time length which is longer than the preset time length and the shortest distance with the predicted position for the target vehicle.

In some embodiments, the effective transmission distance of the directional tweeter is no less than one-half of the preset spacing;

the step of correspondingly distributing the directional tweeter modules in the early warning area for all lanes according to a preset rule specifically comprises the following steps:

at least two adjacent directional tweeter modules in the early warning area are correspondingly distributed for all lanes;

and controlling the two adjacent directional tweeter modules to respectively abut against and synchronously run in effective transmission areas in corresponding lanes.

In addition, in order to achieve the above object, the present invention further provides a server, wherein the server is connected to a plurality of directional tweeter modules in communication, the server includes a processor and a memory, the processor is used for retrieving a computer program from the memory, and implementing the method in any of the above embodiments by running the computer program.

The directional tweeter control method and the server for the highway provided by the invention can be used for judging whether the highway is provided with the obstacle or not by instantly acquiring and analyzing the environmental data of the highway, analyzing the obstacle in real time when the highway is provided with the obstacle, judging the type and the dangerous area of the obstacle, formulating different early warning information according to the distance between the dangerous area and the vehicle or the lane, and giving early warning by combining the current traffic flow.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

The methods, systems, and/or processes of the figures are further described in accordance with the exemplary embodiments. These exemplary embodiments will be described in detail with reference to the drawings. These exemplary embodiments are non-limiting exemplary embodiments in which reference numerals represent similar mechanisms throughout the various views of the drawings.

Fig. 1 is a schematic diagram of a directional tweeter control system for a highway according to some embodiments of the present application;

FIG. 2 is a schematic diagram of an architecture of a server according to some embodiments of the present application;

fig. 3 is a schematic flow chart of a directional tweeter control method for a highway according to some embodiments of the present application;

fig. 4-6 are schematic views of a directional tweeter control field of a highway according to embodiments of the present application.

Detailed Description

In order to better understand the technical solutions of the present application, the following detailed descriptions are provided with accompanying drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and in a case of no conflict, the technical features in the embodiments and examples of the present application may be combined with each other.

In the following detailed description, numerous specific details are set forth by way of examples in order to provide a thorough understanding of the relevant guidance. It will be apparent, however, to one skilled in the art that the present application may be practiced without these specific details. In other instances, well-known methods, procedures, systems, compositions, and/or circuits have been described at a relatively high-level, without detail, in order to avoid unnecessarily obscuring aspects of the present application.

These and other features, functions, methods of execution, and combination of functions and elements of related elements in the structure and economies of manufacture disclosed in the present application may become more apparent upon consideration of the following description with reference to the accompanying drawings, all of which form a part of this application. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the application. It should be understood that the drawings are not to scale. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the application. It should be understood that the drawings are not to scale.

Flowcharts are used herein to illustrate the implementations performed by systems according to embodiments of the present application. It should be expressly understood that the processes performed by the flowcharts may be performed out of order. Rather, these implementations may be performed in the reverse order or simultaneously. In addition, at least one other implementation may be added to the flowchart. One or more implementations may be deleted from the flowchart.

Referring to fig. 1, a block diagram of an architecture of a directional tweeter control system 100 applied to a highway according to some embodiments of the present disclosure is shown, where the system 100 includes a server 200, and a plurality of directional tweeter modules and a plurality of information collecting devices communicatively connected to the server 200. Information acquisition equipment and directional loudspeaker module set up on higher trackside facilities such as portal frame, can set up the information acquisition equipment of a certain amount and the directional loudspeaker module of a certain amount on a portal frame, and the portal frame can set up along highway according to predetermined interval. In this embodiment, directional tweeter module is the loudspeaker that can directionally propagate sound along its orientation direction, and it utilizes ultrasonic modulation based on parametric array principle, can realize the directional conduction of audible sound, utilizes the sound channel of high-gain design and the vibrating diaphragm and the magnetic circuit of special material simultaneously, with the directional propagation of sound wave, the distance of propagation is greater than 200 meters. Generally speaking, directional tweeter is applied to the maritime field, set up and carry out directional information propagation to the target of specific direction on boats and ships, because the distance of its propagation is far away, and the propagation direction is stable, in this application embodiment, directional tweeter is applied to highway, because on highway, the course of traveling of vehicle has direction change few, the fast characteristics of speed of traveling, apply directional tweeter to highway, can utilize directional tweeter along the long-range characteristics of propagating sound information of a specific direction, carry out sound information propagation to the vehicle of this orientation, carry out information warning to vehicle driver.

The information acquisition device is used for acquiring environmental data on a highway, such as road images, image information of vehicles within an acquisition range, driving speed and the like, and preferably, the road images comprise visible light band images and infrared band images. Through a mature image processing technology, whether obstacles appear on a road surface or not, lanes occupied by the obstacles, the number of vehicles in a current acquisition range, driving lanes of each vehicle and the like can be analyzed from acquired images, in some embodiments, image data can be identified and analyzed through an artificial intelligent model, the types of the obstacles are judged, and whether the obstacles are animals and specific animal types or not can be comprehensively judged through combining the outlines of the obstacles, infrared temperature images, displacement modes, sound information and the like, the artificial model can be any possible neural network model, and the embodiment is not particularly limited to this.

In some embodiments, please refer to fig. 2, which is a schematic diagram of an architecture of a server 200, wherein the server 200 includes a directional tweeter control device 210 applied to a highway, a memory 220, a processor 230 and a communication unit 240. The elements of the memory 220, the processor 230, and the communication unit 240 are electrically connected to each other, directly or indirectly, to enable the transfer or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The directional tweeter control 210 applied to the highway includes at least one software function module which may be stored in the memory 220 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the server 200. The processor 230 is used for executing executable modules stored in the memory 220, such as software functional modules and computer programs included in the directional tweeter control 210 applied to the expressway.

The Memory 220 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 220 is used for storing programs, and the processor 230 executes the programs after receiving the execution instructions. The communication unit 240 is used to establish a communication connection between the server 100 and the information collecting apparatus and the directional tweeter module through a network, and to transmit and receive data through the network.

The processor may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP)), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It will be appreciated that the configuration shown in fig. 2 is merely illustrative and that server 200 may include more or fewer components than shown in fig. 2 or have a different configuration than shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.

Fig. 3 is a flowchart illustrating a directional tweeter control method applied to a highway according to some embodiments of the present application, where the method is applied to the server 200 in fig. 1, and may specifically include the following steps S100 to S700. On the basis of the following steps S100 to S700, some alternative embodiments will be described with reference to fig. 4 to 6. As shown in fig. 4-6, in some embodiments, a section of the highway has four lanes, the section is provided with a portal frame 10, a portal frame 20 and a portal frame 30 at predetermined intervals, the portal frame 10 is provided with directional tweeter modules 11-14 and an information collecting device 15, the portal frame 20 is provided with directional tweeter modules 21-24 and an information collecting device 25, and the portal frame 30 is provided with directional tweeter modules 31-34 and an information collecting device 35. It should be noted that these embodiments are to be understood as examples and should not be understood as technical features essential for implementing the present solution, for example, an actual highway may have more or less lanes and/or number of gantries, some gantries may have more or less information collecting devices and/or directional tweeter modules; fig. 4 to 6 are schematic views, and for convenience of description, other road information such as an emergency lane is omitted in the drawings.

And S100, receiving the highway environment data uploaded by the plurality of information acquisition devices.

In this embodiment, the

information collecting devices

15, 25, 35 may be cameras, and collect highway environment data by taking video and images. The

information acquisition equipment

15, 25 and 35 is arranged at the higher

portal frames

10, 20 and 30, so that the influence on the acquisition effect caused by the long-time shielding of vehicles or other objects can be prevented. The

information collecting device

15, 25, 35 may be provided on a rotary displacement platform, so that a larger collecting range is obtained by moving the

information collecting device

15, 25, 35. In order to obtain more comprehensive environment data, the

information collecting devices

15, 25, and 35 may be a combination of a plurality of specific collecting devices, for example, a common camera, an infrared camera, a millimeter wave/laser/ultrasonic radar, a sound detector, and the like, and in actual use, the corresponding collecting device may be selected and installed according to the type of the environment data to be collected, which is not specifically limited in this embodiment. It will be appreciated that when the

information collecting apparatus

15, 25, 35 is a combination of a plurality of specific collecting apparatuses, it is not required that all the specific collecting apparatuses be disposed at one place, but each apparatus may be installed at a different position according to the needs of actual collection.

And S200, analyzing whether obstacles exist on the expressway according to the environment data.

As shown in fig. 4-6, the obstacle 300 in this embodiment may be an object that should not appear on the expressway, for example, by combining video clip analysis with sound information, whether a dropped cargo appears or not may be determined, and by combining image recognition with sound information and infrared temperature image, whether an intruding animal appears or not may be determined. In addition, the obstacle in the present embodiment may also be a vehicle, and for example, by combining the running speed information with video clips or image recognition, it is possible to determine whether there are vehicles stopped on a highway due to a failure or the like, and vehicles whose running speed is lower than the lowest speed limit. It is to be understood that the obstacle in the present embodiment is not limited to the above example, and any object that may adversely affect the traveling of the meeting vehicle may be considered as an obstacle as long as it is determined by collecting information that an object may appear on the road surface.

And step S300, judging the type of the obstacle.

And S400, determining a dangerous area and an early warning area of the obstacle according to the type of the obstacle.

In this embodiment, the dangerous area is an area that may affect normal driving of the vehicle, the early warning area is an area having a preset distance from the obstacle 300 in the vehicle-coming direction, specifically, the dangerous area may be a circular area centered on the obstacle 300 and having a certain preset radius or an area actually occupied by the obstacle 300, and the early warning area may be determined according to the dangerous area, and when the dangerous area is large, the early warning area also has a large range.

The present embodiment does not particularly limit the kind of the obstacle 300 and the correspondence between the danger zone of the obstacle and the warning distance. As an alternative embodiment, the obstacle 300 may be divided into an animal (as shown in fig. 6) and others (as shown in fig. 4 and 5), and since the behavior of the animal is difficult to determine, the danger area of the animal may be regarded as a circular area centered on the animal with a larger preset radius, and the danger area of the other obstacles may be regarded as a circular area centered on the obstacle with a smaller preset radius or an area actually occupied by the obstacle. As an alternative embodiment, some obstacles with special situations may be distinguished, for example, a vehicle with fire and/or smoke after an accident has a larger dangerous area, and a vehicle without fire and/or smoke after an accident has a smaller dangerous area, and it can be understood that the dangerous area and the early warning area of the obstacle may be changed and updated in real time according to the type of the obstacle collected and judged in real time.

And S500, analyzing the flow of the vehicle entering the early warning area according to the environment data.

In this embodiment, after the obstacle 300 appears on the highway and the early warning area is determined, the data acquired by other information acquisition devices in the highway environment data is analyzed, the traffic information about entering the early warning area is judged, and the traffic information is updated in real time.

Step S600, when the flow is analyzed to be smaller than the preset flow, the directional tweeter modules in the early warning area are correspondingly distributed for the vehicles according to preset rules, the directional tweeter modules are controlled to track the corresponding vehicles to send early warning signals, and the content of the early warning signals is determined according to the distance between the vehicles and the dangerous area in the width direction of the expressway.

In this embodiment, directional tweeter module can be through setting up modes activity such as rotary displacement platform to thereby adjust the orientation and change its sound propagation direction. As shown in fig. 4, when the vehicle flow entering the early warning area on the expressway is small, the number of the directional tweeter modules meets the requirement of one-to-one following early warning, so that the

directional tweeter modules

12 and 14 are correspondingly distributed for the vehicle according to the principle of being nearby, and the orientations of the

directional tweeter modules

12 and 14 are adjusted according to the position change of the vehicle, so that the vehicle can continuously receive the early warning signal when the vehicle effectively propagates the area of the

directional tweeter modules

12 and 14. The distance between the vehicle and the dangerous area in the width direction of the expressway determines whether the vehicle will pass through the dangerous area during subsequent driving, determines the closest distance between the vehicle and the dangerous area when the vehicle passes through a section of the dangerous area, and also determines the danger degree of the vehicle during subsequent driving. Therefore, different early warning signals are formulated according to different distances between the vehicle and the dangerous area in the width direction of the expressway, the vehicle can be conveniently adjusted to different driving strategies in time, and the safety of subsequent driving is guaranteed. Specifically, the content of the warning signal may directly include a distance between the vehicle and the dangerous area in the width direction of the highway, and may also include a safe driving recommendation derived from the distance.

And S700, when the flow is analyzed to be larger than or equal to a preset flow, correspondingly distributing the directional tweeter modules in the early warning area for all lanes according to a preset rule, controlling the directional tweeter modules to send early warning signals to the corresponding lanes, wherein the content of the early warning signals is determined according to the distance between the lanes and the dangerous area in the width direction of the expressway.

As shown in fig. 5, when the traffic flow entering the early warning area on the expressway is large, the number of the directional tweeter modules does not meet the requirement of one-to-one following early warning, and therefore, the corresponding directional tweeter modules are assigned to all four lanes, for example, the directional tweeter modules 11 to 14 correspond to four lanes from left to right, and the directional tweeter modules 11 to 14 send early warning signals to a certain area of the respective lane, so that all vehicles can receive the early warning signals when passing through the respective lane. The distance between a lane and a dangerous area in the width direction of the expressway determines whether a vehicle on the lane will pass through the dangerous area during subsequent driving and the closest distance between the vehicle and the dangerous area when the vehicle passes through a section of the dangerous area, and also determines the degree of danger of the vehicle on the lane during subsequent driving. Therefore, different early warning signals are formulated according to different distances between the lane and the dangerous area in the width direction of the expressway, vehicles on the lane can be conveniently adjusted to different driving strategies in time, and the safety of subsequent driving is guaranteed. Specifically, the content of the warning signal may directly include a distance between the lane and the dangerous area in the width direction of the highway, or may include a safe driving recommendation derived from the distance.

It can be understood that because the directional tweeter module can be movably arranged by setting up modes such as rotary displacement platform, therefore, can correspond a plurality of directional tweeter modules of a portal frame of distribution for a lane in order to realize early warning more densely, also can correspond a directional tweeter module of a portal frame of distribution for a plurality of adjacent lanes.

Through the steps S100 to S700, the directional tweeter control method for an expressway provided in this embodiment determines whether an obstacle is present on the expressway by analyzing environmental data of the expressway, determines the type of the obstacle after the obstacle is present, determines a dangerous area and an early warning area of the obstacle, determines to adopt vehicle tracking early warning or lane early warning according to different vehicle flows, and adopts different early warning information according to different distances between the vehicle or the lane and the dangerous area. Through directional sending early warning information of directional loudspeaker, can guarantee stable transmission effect, on this basis, the vehicle early warning can also be got better transmission effect to a one-to-one pursuit. In addition, different early warning information is adopted for different vehicles or lanes, so that related vehicles can be guided to perform operations such as speed reduction and avoidance in advance conveniently, and the possibility of accidents is reduced.

As a possible implementation manner, the accuracy of the judgment of the obstacle can be ensured in a manner of assisting identification by background staff, preferably, the server can send the highway environment data to the background staff, and the server is configured to determine whether the obstacle, the type of the obstacle, the danger area of the obstacle, the early warning area, and the like exist on the highway in response to the operation of the background staff.

In one embodiment, step S400 further includes:

and taking the lanes covered by the dangerous area as the first type of lanes, and taking the rest of lanes as the second type of lanes.

Step S600 specifically includes:

and S610, when the flow is smaller than the preset flow, distributing the directional tweeter modules in the early warning area for the vehicle according to a preset rule.

And S620, when the vehicle is located in a first-class lane, controlling the corresponding directional tweeter module to track the vehicle and send out a first early warning signal.

And S630, when the vehicle is located in the second lane, controlling the corresponding directional tweeter module to track the vehicle to send out a second early warning signal.

Step S700 specifically includes:

and step S710, when the analyzed flow is more than or equal to the preset flow, correspondingly distributing the directional tweeter modules in the early warning area for all lanes according to preset rules.

Step S720, controlling the directional tweeter module corresponding to the first type of lane to send a first warning signal to the first type of lane.

And step S730, controlling the directional tweeter module corresponding to the second type of lane to send a second early warning signal to the second type of lane.

In this embodiment, lanes are divided according to whether the dangerous area covers the lane, that is, whether the dangerous area intersects with the lane. The dangerous area completely or partially covers the first type of lane in the width direction of the expressway, and therefore the vehicles running on the lane can be influenced by the dangerous area, and therefore first early warning signals are sent to the first type of vehicles or the lane and contain information for guiding the vehicles to change the lane, and the vehicles can avoid obstacles conveniently in time. The dangerous area does not cover the second type of lane in the width direction of the expressway, namely the dangerous area and the lane do not have intersection, the situation that vehicles running on the lane are not affected by the dangerous area is indicated, therefore, a second early warning signal is sent to the second type of vehicles or the lane, the second early warning signal contains information for guiding the vehicles to decelerate, and drivers can reserve enough reaction time for risks possibly caused by obstacle changes and risks caused by sudden lane change of the vehicles on the first type of lane.

In an embodiment, step S620 is followed by:

and step S621, when the vehicle changes to a second-type lane, controlling the corresponding directional tweeter module to stop sending signals and searching for the next vehicle.

Step S720 is followed by:

and step S721, when the vehicle is decelerated, controlling the corresponding directional tweeter module to stop sending signals and searching for the next vehicle.

In this embodiment, directional tweeter module activity sets up and has stable effective propagation distance towards the orientation after fixed, therefore directional tweeter module's effective propagation region has received home range and effective propagation distance's restriction. The directional tweeter module in this embodiment does not send an early warning signal in its propagation range, but adjusts the early warning strategy in real time according to the driving state of the vehicle. When the vehicle changes lanes from the first lane to the second lane or the vehicle completes deceleration work on the second lane, the fact that the vehicle receives the early warning signal is indicated, and the vehicle executes the early warning signal according to the early warning signal, at the moment, if the vehicle continues to follow and send the early warning signal, resource waste is caused, the time for the rear vehicle to receive the early warning signal is reduced, and early warning effect is influenced. According to the embodiment, after the vehicle receives the early warning signal and executes the early warning signal according to the early warning signal, the directional tweeter module is controlled to stop sending the original early warning signal and search for the next vehicle needing early warning in real time, the early warning efficiency is improved, and the early warning effect is guaranteed.

In an embodiment, step S300 is followed by:

and step S310, when the type of the obstacle is judged to be an animal, determining the specific type of the animal.

Step S320, determining an expelling frequency according to the specific category of the animal, and controlling a portion of the directional tweeter module to play an expelling signal to the animal at the expelling frequency.

In this embodiment, the content and frequency of the sensitive sounds aversive and aversive to the common animals, i.e., the eviction signal and the eviction frequency, may be stored in the memory 220 of the server in a pre-stored manner. After the specific category of the animal is determined, the animal is expelled out of the highway by reading and playing the expelling signal corresponding to the expelling frequency for the animal, and the driving safety of the vehicle is ensured. It can be understood that the eviction signal and the eviction frequency of the corresponding animal may also be obtained through wireless network query downloading, and the obtaining manner is not specifically limited in this embodiment.

In an embodiment, step S320 specifically includes:

step S321, analyzing the first path of the animal leaving the expressway and expelling the horn module according to the environment data.

Step S322, when the included angle between the path from the expelling horn module to the animal and the first path is greater than the preset angle, controlling the expelling horn module to broadcast the expelling signal to the animal with the expelling frequency.

As shown in fig. 6, after the position of the animal is obtained from the environmental data, a first path 301 of the animal leaving the highway can be determined according to the position of the animal on the highway, in general, the first path 301 is a nearest path from the animal to the edge of the highway, in some specific cases, when a gap or a specific channel occurs at the edge of the highway, the first path 301 may also be a path from the animal to the gap or the specific channel, and the specific path obtaining manner is not limited in this embodiment.

The expelling horn module in this embodiment is not more than the directional tweeter module of effective propagation distance for the distance to the animal to guarantee that the expelling signal that the expelling horn module sent can convey this animal effectively. Referring to fig. 6, in combination with the position of the animal, the directional tweeter modules 21-24 and 31-34 are ejecting horn modules, and the animal moves away from the ejecting horn modules under the ejecting action of the ejecting horn modules. When the route of expelling loudspeaker module to animal, the line segment of connecting expelling loudspeaker module and animal promptly and the contained angle of first route 301 are greater than when predetermineeing the angle, compare in the sight that is less than predetermineeing the angle, the animal can more tend to move towards first route 301 under the expulsion of expelling loudspeaker module. The preset angle can be set according to the actual expulsion effect, and can also be adjusted according to different animals, and as an optional embodiment, the preset angle is 90 degrees, and the expulsion requirements of most animals can be met.

In an embodiment, the step S600 of correspondingly allocating the directional tweeter module in the early warning area to the vehicle according to a preset rule specifically includes:

and step S611, matching corresponding priorities for all the vehicles, wherein the closer the vehicles are to the obstacle, the higher the matched priority is, and the vehicle with the highest current priority is the target vehicle.

Step S612, correspondingly allocating a directional tweeter module which is closest to the target vehicle and is not in a sending state to the target vehicle.

The embodiment can ensure that the vehicle close to the barrier can obtain early warning information more quickly and timely, and reserves longer reaction time for drivers.

Step S613, determining the time when the directional tweeter module is in the standby state according to the operating state of the directional tweeter module in the early warning area.

And step S614, analyzing the predicted position of the target vehicle at the moment according to the position and the speed of the target vehicle.

And step S615, analyzing the effective sending time length of the directional tweeter module and the distance between the predicted position and the directional tweeter module according to the predicted position and the speed.

Step S616, matching the directional tweeter module with the effective sending duration being greater than the preset duration and the shortest distance to the predicted position for the target vehicle.

In this embodiment, after determining the priority for all vehicles not assigned directional tweeter modules, determine the operating state of all directional tweeter modules in the early warning area at this time:

if a certain directional tweeter module is in a standby state without sending information, the current time is the time when the directional tweeter module is in the standby state, and the current position of the target vehicle is the predicted position. For convenience of description and understanding, under the condition that displacement of the directional tweeter is ignored and rotation of the directional tweeter is only considered, an effective propagation area of the directional tweeter is a circular area which takes the directional tweeter as a center and takes an effective propagation distance as a radius, and the time for a target vehicle to pass through the circular area can be judged according to the current position and the running speed of the target vehicle, so that understanding can be realized, and the time is effective sending time for the directional tweeter module to send early warning information to the target vehicle;

if a certain directional tweeter module is in a working state of sending information at the moment, judging the sending cut-off time according to the sent information, wherein the cut-off time is the moment when the directional tweeter module is in a standby state, obtaining the predicted displacement of the target vehicle according to the moment and the running speed of the target vehicle, and obtaining the predicted position of the target vehicle at the moment by combining the current position of the target vehicle.

In the embodiment, when the directional tweeter module is allocated to the target vehicle, it is required to ensure that the effective sending time of the directional tweeter module to the target vehicle is longer than the preset time, and the preset time can ensure that the driver of the target vehicle can completely and effectively receive the early warning information in the preset time, so that the driver can understand that the preset time can be adjusted according to the specific content of the early warning information. The directional tweeter module closest to the target vehicle is selected on the basis of meeting the preset duration condition, and timeliness and effectiveness of the early warning process are guaranteed.

In an embodiment, the effective transmission distance of the directional tweeter is not less than one half of the preset interval, and the step S700 of correspondingly allocating the directional tweeter modules in the early warning area to all the lanes according to a preset rule specifically includes:

and step S711, correspondingly distributing at least two adjacent directional tweeter modules in the early warning area for all lanes.

And step S712, controlling the two adjacent directional tweeter modules to respectively adjoin and synchronously operate in the effective transmission areas in the corresponding lanes.

As shown in fig. 6, the present embodiment assigns two adjacent

directional tweeter modules

11 and 21 to the leftmost lane, controls the orientations of the

directional tweeter modules

11 and 21 so that both are directionally transmitted to the area between the two on the leftmost lane, on which the portions of the two effective transmission areas 11 'and 12' abut each other. The single effective transmission area that probably appears among the early warning process is undersize, lead to vehicle driver can not obtain early warning information or obtain the too short condition of early warning information duration completely when this region of process, this embodiment is through adjoining the effective transmission area of two directional tweeter modules, and control two directional tweeter modules synchronous operation and send early warning information, the uniformity when guaranteeing two regional interior informations, make the driver have enough and continuous duration and acquire early warning information, realize good early warning effect.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

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

Claims

1. The utility model provides a directional loudspeaker control method for highway, its characterized in that is applied to the server, server and a plurality of information acquisition equipment and a plurality of directional loudspeaker module communication connection, a plurality of information acquisition equipment with a plurality of directional loudspeaker module set up in a plurality of portal frames, a plurality of portal frames set up along the highway according to predetermineeing the interval, the method includes:

2. The method of claim 1, wherein the step of determining a danger zone and a pre-warning zone for the obstacle based on the type of obstacle further comprises:

3. The method of claim 2, wherein the step of controlling the corresponding directional tweeter module to track the vehicle emitting the first warning signal when the vehicle is in the first lane further comprises:

4. The method as claimed in claim 1, wherein the step of determining the kind of the obstacle when the obstacle existing on the expressway is analyzed has a step of:

5. The method of claim 4, wherein the step of controlling the directional tweeter module to play the dislodging signal to the animal at the dislodging frequency comprises:

6. The method according to claim 1, wherein the step of correspondingly assigning the directional tweeter module in the early warning region to the vehicle according to the preset rule specifically comprises:

7. The method according to claim 1, wherein the step of correspondingly assigning the directional tweeter module in the early warning region to the vehicle according to the preset rule specifically comprises:

8. The method of claim 1, wherein the effective transmission distance of the directional tweeter is not less than one-half of the preset spacing;

correspondingly distributing at least two adjacent directional tweeter modules in the early warning area for all lanes;

9. A server, wherein the server is communicatively connected to a plurality of directional tweeter modules, the server comprising a processor and a memory in communication with each other, the processor being configured to retrieve a computer program from the memory and to implement the method of any of claims 1-8 by executing the computer program.