Vehicle and Pedestrian Recognition Safety Protection Laser Device and Method

Abstract

The present invention discloses a laser device and method for vehicle and pedestrian recognition and safety protection. The device includes a linear laser component and a lidar. The linear laser component emits linear laser to irradiate on a pedestrian to form a laser warning line. The laser scanning range of the lidar covers the sidewalk and a preset vehicle lane, and by scanning moving objects on the sidewalk and the preset vehicle lane, the contour, moving direction and moving speed of the object are measured. Then, according to the measured contour, moving direction and moving speed of the object, it is determined whether it is a pedestrian or a vehicle. When it is determined that the object is a pedestrian, a signal is sent to turn on the linear laser component to emit laser; when it is determined that the object is a vehicle, a signal is sent to turn off the linear laser component or not to turn on the linear laser component. Through the lidar, it can accurately calculate the presence of people or vehicles to control the linear laser component, with intelligent control, energy consumption saving, reduction of damage to people by the laser line, and being safer and more reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of road safety passing facilities, and particularly relates to a vehicle and pedestrian recognition safety protection laser device and method. Background Art

[0002] In road traffic, at intersections or sections with concentrated pedestrians, crosswalk lines are usually set up to facilitate pedestrians or bicycles to cross the road. Now, the number of motor vehicles is increasing day by day. Pedestrians are the vulnerable group in traffic. Once a traffic accident occurs, the harm to pedestrians is difficult to estimate. Especially in many rural areas, the speed limits of national and provincial roads are high and they cannot be closed for management. There are many zebra crossings for pedestrian crossings. At night, when there are few people and fast vehicles and the visibility is poor, traffic accidents are more likely to occur. At this time, the importance of pedestrian safety devices is highlighted.

[0003] Especially at night, during thunderstorms or foggy days, due to too dim light, the visibility of drivers is poor. If pedestrians and bicycles crossing the road cannot be detected in time, it will pose great danger to pedestrians and bicycles, and there will be great potential safety hazards in road traffic. Summary of the Invention

[0004] In view of this, it is necessary to provide a vehicle and pedestrian recognition safety protection laser device and method with intelligent control, energy saving, reduction of damage of laser lines to people, and being more safe and reliable.

[0005] A vehicle and pedestrian recognition safety protection laser device includes a linear laser component and a lidar. The linear laser component emits linear laser to irradiate on pedestrians and forms a visible laser warning line on pedestrians. The laser scanning range of the lidar covers the sidewalk and a preset carriageway in the oncoming vehicle direction close to the sidewalk. The lidar measures the contour, moving direction and moving speed of moving objects on the sidewalk and the preset carriageway by scanning. The lidar determines whether the object is a pedestrian or a vehicle according to the measured contour, moving direction and moving speed of the object. When it determines that the object is a pedestrian, it sends a signal to the linear laser component to turn on the linear laser component to emit laser; when it determines that the object is a vehicle, it sends a signal to the linear laser component to turn off the linear laser component or not to turn on the linear laser component.

[0006] Further, the lidar is a rotary scanning radar. The rotation range of the lidar is from 310° counterclockwise to 230°, the scanning coverage angle range is more than 280 degrees, and the scanning radius is 30 - 50 meters.

[0007] Further, one or two lidars are used and are respectively installed at one end or both ends of the sidewalk. The sidewalk has a predetermined width in the driving direction, and the lidar is installed on the side close to the oncoming vehicle direction.

[0008] Further, when the lidar determines that both a person and a vehicle coexist as the target object, the lidar sends a signal to the linear laser component to turn off the linear laser component or not to turn on the linear laser component, or the lidar further detects that the oncoming vehicle is at a safe distance and safe speed and then turns off the linear laser component.

[0009] Further, the range of the preset roadway covered by the lidar scanning is equal to or greater than the range of the sidewalk. The lidar is installed at the roadside position between the sidewalk and the preset roadway, and the longitudinal length of the preset roadway covered by the lidar scanning in the driving direction is greater than or equal to the longitudinal length of the sidewalk in the same aspect.

[0010] Further, after the lidar turns on the linear laser component, it continues to sense whether there are pedestrians on the sidewalk. If the pedestrians disappear from the sidewalk, it sends a signal to turn off the linear laser component.

[0011] Further, the range of the preset roadway scanned by the lidar is from the vehicle stop line in front of the sidewalk to the starting line in the distance. The starting line is 30 - 40 meters away from the vehicle stop line. The preset roadway range is divided into a far area range and a near area range. The far area range extends 5 - 10 meters in the forward direction from the starting line, and the near area range is from the vehicle stop line to a position 5 - 10 meters away from the starting line. When the lidar scans that the vehicle is in the far area range, it sends a signal to the linear laser component to turn on the linear laser component to emit laser. When the lidar scans that the vehicle is in the near area range, it sends a signal to the linear laser component to turn off the linear laser component or not to turn on the linear laser component.

[0012] Further, the linear laser component includes a plurality of linear lasers arranged along the vertical direction, and the plurality of linear lasers are arranged in a single row or multiple rows; furthermore, the lidar and the linear laser component are installed in a road pile, and the lidar is located above the linear laser component; the device further includes a controller, the controller is installed in a control box or in the road pile, and the controller is also provided with a wireless communication device for data transmission and remote control with an external server or a remote terminal. The device further includes a timer and / or a light sensor. The timer is used to send on / off signals to the plurality of linear lasers and the lidar at regular intervals. The timer is set to work at night. When the light sensor senses that the ambient light is weaker than a predetermined brightness value, it sends an on signal to the controller to control the turning on of the linear laser component and the lidar.

[0013] And, a method for identifying and protecting the safety of people and vehicles is realized by the above-mentioned laser device for identifying and protecting the safety of people and vehicles, and it includes the following steps:

[0014] Turn on the lidar;

[0015] The lidar scans moving objects on the sidewalk and the preset roadway and measures the outlines, moving directions, and moving speeds of the objects.

[0016] The lidar determines whether there are people and / or vehicles on the sidewalk and whether there are vehicles on the preset roadway based on the measured outlines, moving directions, and moving speeds of the objects.

[0017] When the lidar measures that the moving object on the sidewalk is a person, it sends an enabling signal to the linear laser assembly, and the linear laser emits linear laser light.

[0018] When the lidar measures that the moving object is a vehicle, it sends a signal to the linear laser assembly to turn off the linear laser assembly or not to enable the linear laser assembly.

[0019] Further, when the lidar measures that the moving object is a vehicle and there are also people moving on the sidewalk, the lidar turns off the linear laser assembly when the oncoming vehicle is at a safe distance and speed. The lidar detects moving objects on the detection path and generates a scanned image of the moving objects. Through analysis and calculation of the scanned image, it determines whether there are people or vehicles.

[0020] In the above-mentioned vehicle and pedestrian recognition safety protection laser device and method, the lidar senses moving objects on both the sidewalk and the preset roadway. By sensing whether there are moving objects on the sidewalk and the roadway, when a moving object is detected, the lidar directly measures the speed, direction, and outline of the moving object. Then, based on the speed, direction, and outline of the moving object, it calculates the movement trajectory and outline of the moving object, and thereby determines whether there are people or vehicles. Based on this result, it controls the turning on and off of the laser of the linear laser assembly. Thus, when only pedestrians pass by, the laser of the linear laser assembly is turned on, and the laser forms a laser warning line on the pedestrians to remind oncoming vehicles from a distance to pay attention to pedestrian safety. When it is measured that only vehicles appear on the preset roadway, the linear laser assembly is not enabled; or when it is measured that there are vehicles on the preset roadway and there are also people on the sidewalk, the linear laser assembly is not enabled either. In this way, when an oncoming vehicle sees a warning that there are pedestrians in the distance, it slows down. When it reaches the position of the preset roadway and is about to approach the sidewalk, at this time, the linear laser assembly can be turned off because it has received a warning, and the vehicle is also slowing down or stopping to let pedestrians pass. At this time, there is no need to emit laser warnings anymore, thereby saving energy, reducing emissions, and more importantly, avoiding laser pollution caused by the linear laser assembly emitting too many laser lines, while reducing the damage of laser lines to people, making it safer and more reliable. Moreover, the lidar has a wide scanning range, an obvious early warning effect, and rapid and accurate measurement, providing safety protection for driving. Description of the Drawings

[0021] Figure 1 This is a schematic three-dimensional structure diagram of the vehicle and pedestrian recognition safety protection laser device provided by an embodiment of the present invention.

[0022] Figure 2 This is a schematic internal structure diagram of the vehicle and pedestrian recognition safety protection laser device provided by an embodiment of the present invention.

[0023] Figure 3 This is a schematic structural diagram of laser warning during the application of the vehicle and pedestrian recognition safety protection laser device according to an embodiment of the present invention.

[0024] Figure 4 This is a schematic structural diagram of the application scenario of the vehicle and pedestrian recognition safety protection laser device according to an embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the scanning coverage range of the lidar in the vehicle and pedestrian recognition safety protection laser device according to an embodiment of the present invention.

[0026] Figure 6 This is a schematic diagram of the laser protection process of the vehicle and pedestrian recognition safety protection laser device according to an embodiment of the present invention. Detailed implementation manners

[0027] Taking the vehicle and pedestrian recognition safety protection laser device as an example in this embodiment, the present invention will be described in detail below in conjunction with specific embodiments and the drawings.

[0028] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , which show a vehicle and pedestrian recognition safety protection laser device 100 and its internal structure provided by an embodiment of the present invention. The device 100 includes a linear laser component 10 and a lidar 20. The linear laser component 10 emits linear laser to irradiate on a pedestrian 60, and forms a visually visible laser warning line 61 on the pedestrian 60 (as shown in Figure 3 ). The laser scanning range of the lidar 20 covers a sidewalk and a preset roadway 65 in the oncoming vehicle direction close to the sidewalk. The lidar 20 measures the contour, moving direction and moving speed of a moving object on the sidewalk and the preset roadway by scanning. The lidar 20 determines whether it is a person or a vehicle according to the measured contour, moving direction and moving speed of the moving object. When it determines that the moving object is a person, it sends a signal to the linear laser component 10 to turn on the linear laser component 10 to emit laser; when it determines that the moving object is a vehicle, it sends a signal to the linear laser component 10 to turn off the linear laser component 10 or not to turn on the linear laser component 10.

[0029] As shown in Figure 2As shown in the figure, the linear laser assembly 10 includes a plurality of linear lasers 11 arranged along the vertical direction, and the plurality of linear lasers 11 are arranged in a single column or multiple columns. In specific applications, the lidar 20 and the linear laser assembly 10 are installed in a road post or a street lamp post. The lidar 20 is located above the linear laser assembly 10. For the detailed structure of the linear laser assembly 10 and its positional relationship with the lidar 20, reference can be made to a multi-column laser road post device with an application number of 202120101442.0 filed by the same applicant on January 14, 2021, a transmissive laser road post device with an application number of 202120106221.2 filed on January 14, 2021, a pedestrian safety protection independent laser device with an application number of 202120080057.2 filed on January 12, 2021, and a pedestrian safety laser holographic protection device and method with an application number of 202110037299.8 filed on January 12, 2021. The structures and functions of the lasers, lidars or sensors in these patent documents are fully incorporated into this application by reference.

[0030] In specific applications, the plurality of linear lasers 11 are installed in the bottom post or road post 30 of a lamp post. The bottom post or road post 30 has a plurality of side plates enclosing an internal space, and one of the side plates, namely the front plate facing the sidewalk, faces the sidewalk and is made of a light-transmitting plate.

[0031] As Figure 1 shown in the figure, the bottom post or road post 30 includes a front shell 31 and side shells 32. Among them, the front shell 31 has an upper window and a lower window respectively. The upper window is sealed by a light-transmitting upper window plate 33, and the lower window is sealed by a light-transmitting lower window plate 35. The lidar 20 is installed inside the upper window at the corresponding position, and the plurality of linear lasers 11 are installed inside the lower window at the corresponding position. That is, the interior of each bottom post or road post 30 is divided into upper and lower parts. The lidar 20 is installed in the upper half, and the plurality of linear lasers 11 are installed in the lower half. The bottom post or road post 30 is installed on the road base surface through an installation structure, and the installation structure includes a base 36 and fasteners 37 for installing on the road base surface. The lidar 20 also has a data transmission interface.

[0032] As Figure 2 shown in the figure, taking the first laser post as an example, the bottom post or road post 30 has a mounting plate 16. The mounting plate 16 has a plurality of mounting holes 17, and the plurality of mounting holes 17 respectively install the plurality of linear lasers 11. The lidar 20 is installed at the top of the mounting plate 16 and is in the same vertical direction as the plurality of linear lasers 11.

[0033] Specifically, the lidar 20 is a rotary scanning lidar. The rotation range of the lidar 20 is from 310° counterclockwise to 230°, that is, from the perspective of looking up from above the device, it rotates from 310° counterclockwise to 230°. The scanning coverage angle range is more than 280 degrees, and the scanning radius is preferably 30 - 50 meters. Within this scanning range, if a vehicle is detected, a warning is issued again. In theory, emergency braking can also be performed to avoid accidents. The lidar in this embodiment preferably uses the F20 model lidar provided by Shenzhen Fashi Lidar Co., Ltd. As Figure 5 shown, the blind area range of the lidar 20 is only within about 80 degrees behind itself, completely covering the entire sidewalk and the preset vehicle lane, that is Figure 4 the angle a in

[0034] is greater than 280 degrees. In addition, after the lidar 20 turns on the linear laser assembly 10, it continues to sense whether there are pedestrians on the sidewalk. If pedestrians are continuously detected, the linear laser assembly 10 is kept on; if the pedestrians disappear from the sidewalk, a signal is sent to turn off the linear laser assembly 10.

[0035] Furthermore, the installation height of the plurality of linear lasers 11 is 20 - 30 centimeters to irradiate the feet of the pedestrians 60. The plurality of linear lasers 11 are arranged vertically to form a laser warning line 61 with a certain height range, and the height range of the plurality of laser warning lines 61 is 10 - 30 centimeters.

[0036] As Figure 4 shown, due to the limited size of the figure, the lidar 20 is not fully shown. In actual application, the scanning range of the lidar 20 is larger than that shown in the figure. The lidar 20 is one or two and is respectively used to be installed at one end or both ends of the sidewalk. The sidewalk has a predetermined width in the driving direction, and the lidar 20 is installed on the side closer to the oncoming vehicle direction. Figure 4As shown in the figure, two lidars 20 are adopted and installed at both ends of the sidewalk. More preferably, each lidar 20 is installed beside the outer extension line of the vehicle stop line 63, which is convenient for irradiating the feet of pedestrians 60 and forming a warning line facing the oncoming vehicle direction, and at the same time is convenient for sensing oncoming vehicles as far as possible.

[0037] Furthermore, the range of the preset roadway covered by the lidar 20 scanning is equal to or greater than the range of the sidewalk, and the lidar 20 is installed at the roadside position between the sidewalk and the preset roadway. The length of the preset roadway in the driving direction is in the range of 20 - 40 meters, that is, within the driving range between the stop line 63 and the starting line 64 in the figure, and the starting line 64 is also the maximum distance that the lidar 20 can scan to. For example, taking a scanning radius of 40 meters as an example, the length of the preset roadway in the driving direction can be set to 30 meters, that is, 30 meters away from the stop line 63. Therefore, the longitudinal length of the preset roadway covered by the lidar 20 scanning in the driving direction is greater than or equal to the longitudinal length of the sidewalk in the same aspect. In fact, the longitudinal length of the preset roadway in the driving direction is in the range of 20 - 40 meters, which is much greater than the longitudinal length of the sidewalk.

[0038] In addition, the range of the preset roadway scanned by the lidar 20 is from the vehicle stop line 63 in front of the sidewalk to the distant starting line 64. The starting line 64 is about 30 - 40 meters away from the vehicle stop line 63. The preset roadway range is divided into a far - area range and a near - area range. The far - area range extends 5 - 10 meters in the forward direction from the starting line 64, and the near - area range is from the vehicle stop line 63 to about 5 - 10 meters away from the starting line 64. When the lidar 20 scans that the vehicle is in the far - area range, it sends a signal to the linear laser component 10 to turn on the linear laser component 10 to emit laser. When the lidar 20 scans that the vehicle is in the near - area range, it sends a signal to the linear laser component 10 to turn off the linear laser component 10 or not to turn on the linear laser component 10. The near - area range can be regarded as the safe distance of the oncoming vehicle. In actual application, the safe distance can vary flexibly according to scenarios, technical requirements, etc. In addition, when the lidar 20 determines that there are both people and vehicles as the target, it sends a signal to the linear laser component 10 to turn off the linear laser component 10 or not to turn on the linear laser component 10, or when there are both people and vehicles, the lidar 20 further detects that the oncoming vehicle is at a safe distance and safe speed and then turns off the linear laser component 10. The safe speed can be based on relevant national road safety regulations. For example, it can be limited to below 30 kilometers per hour.

[0039] On the other hand, the embodiment of the present invention also provides a method for identifying people and vehicles for safety protection, which is realized by the above - mentioned laser device 100 for identifying people and vehicles for safety protection, and includes the following steps:

[0040] Step S10, turn on the lidar 20;

[0041] Step S20, scan the moving objects on the sidewalk and the preset roadway through the lidar 20, and measure the contour, moving direction and moving speed of the objects;

[0042] Step S30, the lidar 20 determines whether there are people and / or vehicles on the sidewalk and whether there are vehicles on the preset roadway according to the measured contour, moving direction and moving speed of the objects;

[0043] Step S40, when the lidar 20 measures that the moving object on the sidewalk is a person, send an enabling signal to the linear laser module 10, and the linear laser emits linear laser;

[0044] Step S50, when the lidar 20 measures that the moving object is a vehicle, send a signal to the linear laser module 10 to turn off the linear laser module 10 or not to turn on the linear laser module 10.

[0045] Please refer to Figures 1 - 5 for reference Figure 6 to illustrate the process of a method for identifying people and vehicles and providing safety protection according to an embodiment of the present invention. Among them, before step S10, after installing the laser device 100, first sense the ambient light through the light sensor. When the ambient light is too dark, that is, lower than the preset brightness value, turn on the lidar 20. Of course, in an application example with only a timer, the lidar 20 can be turned on regularly according to the timed time period. When the light sensor senses that the ambient light is greater than the preset brightness value, do not turn on the lidar 20, or turn off the lidar 20 and the linear laser module 10 if it has already been turned on.

[0046] After turning on the lidar 20, the lidar 20 starts to sense.

[0047] Step S20, when the lidar 20 senses, that is, rotate the laser to scan the moving objects on the sidewalk and the preset roadway. First, determine whether there are moving objects. If there are, measure the contour, moving direction and moving speed of the objects through the lidar 20; if there are no moving objects, return, and the lidar 20 continues to monitor until there are no pedestrians on the sidewalk, then turn off the linear laser module 10. That is, after the lidar 20 turns on the linear laser module 10, it continues to sense whether there are pedestrians on the sidewalk. If it continuously measures that there are pedestrians, keep the linear laser module 10 on; if the pedestrians disappear from the sidewalk, send a signal to turn off the linear laser module 10.

[0048] After the data of the moving target object is measured, the lidar 20 can quickly determine whether there is a person or a vehicle based on the contour, moving direction, and moving speed of the target object, that is, determine whether there is a person on the sidewalk and whether there is a vehicle on the preset roadway.

[0049] If it is determined that there is a person, the linear laser component 10 is turned on to emit a laser warning line 61 to warn possible oncoming vehicles. At this time, farther vehicles (i.e., vehicles outside the preset roadway) can see the laser warning line 61 and will have more time to brake, playing a role in early warning.

[0050] If the moving target object measured is a vehicle, a signal is sent to the linear laser component 10 to turn off the linear laser component 10 or not to turn on the linear laser component 10.

[0051] In a specific application embodiment, if a vehicle has already appeared within the preset roadway range and the vehicle can also notice whether there are pedestrians at this time, there is no need to turn on the linear laser component 10. Even in the case of coexistence of people and vehicles, there is no need to turn on the linear laser component 10. Because when there is an oncoming vehicle, the vehicle already knows that there are people and there is no need for early warning. Therefore, the linear laser component 10 is turned off or not turned on to save energy and reduce laser pollution.

[0052] Of course, in another embodiment, when the lidar 20 measures that there are people and a vehicle at the same time, if it is on the sidewalk or at a safe distance (near area range) not far from the sidewalk, the linear laser component 10 is also turned off to save energy and reduce laser pollution. Specifically, the lidar 20 turns off the linear laser component 10 when detecting an oncoming vehicle at a safe distance and / or a safe speed. In addition, the linear laser component 10 can also be turned on just when the coexistence of people and vehicles appears. The laser scanning range of the lidar 20 in this embodiment is relatively far, and it can also give an early warning to the vehicle and provide a sufficient safe braking distance.

[0053] In the above-mentioned vehicle and pedestrian recognition safety protection laser device 100 and method, the lidar 20 senses moving objects on both the sidewalk and the preset roadway. By sensing whether there are moving objects on the sidewalk and the roadway, when a moving object is detected, the lidar 20 directly measures the speed, direction, and contour of the moving object. Then, based on the speed, direction, and contour of the moving object, the movement trajectory and contour of the moving object are calculated, and it is determined whether it is a pedestrian 60 or a vehicle, or both a pedestrian and a vehicle appear simultaneously. According to this result, the laser of the linear laser module 10 is controlled to turn on and off. Thus, when only the pedestrian 60 passes by, the laser of the linear laser module 10 is turned on, and the laser forms a laser warning line on the pedestrian 60 to remind oncoming vehicles from a distance to pay attention to the safety of the pedestrian 60. When it is calculated that only a vehicle appears on the preset roadway, the linear laser module 10 is not turned on; or when it is calculated that a vehicle appears on the preset roadway and a pedestrian also appears on the sidewalk, the linear laser module 10 is not turned on either. In this way, when an oncoming vehicle sees a warning of a pedestrian 60 in the distance, it slows down. When it reaches the position of the preset roadway and is about to approach the sidewalk, at this time, the linear laser module 10 can be turned off because a warning has been obtained and the vehicle is also slowing down or stopping to let the pedestrian 60 pass. At this time, there is no need to emit laser warnings anymore, thus saving energy, reducing emissions, and more importantly, avoiding laser pollution caused by the linear laser module 10 emitting too many laser lines, while reducing the damage of laser lines to people, making it safer and more reliable. Moreover, the lidar 20 has a wide scanning range, an obvious warning effect, and rapid and accurate measurement, providing safety protection for driving.

[0054] It should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, various modifications and changes can be made to the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A laser device for vehicle and pedestrian recognition and safety protection, characterized in that, It includes a line laser component and a lidar. The line laser component emits line laser to irradiate on a pedestrian and forms a laser warning line visible to the naked eye on the pedestrian. The laser scanning range of the lidar covers the sidewalk and a preset carriageway near the oncoming direction of the sidewalk. The preset carriageway range scanned by the lidar is from the vehicle stop line in front of the sidewalk to the starting line in the distance. The starting line is 30 - 40 meters away from the vehicle stop line. The preset carriageway range is divided into a far area range and a near area range. The lidar measures the contour, moving direction, and moving speed of moving objects on the sidewalk and the preset carriageway by scanning. The lidar determines whether it is a pedestrian or a vehicle based on the measured contour, moving direction, and moving speed of the object. When it determines that the object is a pedestrian, it sends a signal to the line laser component to turn on the line laser component to emit laser; when it determines that the object is a vehicle and the lidar scans that the vehicle is in the far area range, it sends a signal to the line laser component to turn on the line laser component to emit laser. When the lidar scans that the vehicle is in the near area range, it sends a signal to the line laser component to turn off the line laser component or not to turn on the line laser component.

2. The vehicle and pedestrian recognition safety protection laser device according to claim 1, wherein, The lidar is a rotary scanning lidar. The rotation range of the lidar is from 310° counterclockwise to 230°. The scanning coverage angle range is more than 280 degrees, and the scanning radius is 30 - 50 meters.

3. The vehicle and pedestrian recognition safety protection laser device according to claim 1, characterized in that, There is one or two lidars, which are respectively used to be installed at one end or both ends of the sidewalk. The sidewalk has a predetermined width in the driving direction. The lidar is installed on the side close to the oncoming direction.

4. The vehicle and pedestrian recognition safety protection laser device according to claim 2, characterized in that, When the lidar determines that there are both pedestrians and vehicles, the lidar sends a signal to the line laser component to turn off the line laser component or not to turn on the line laser component, or the lidar further detects that the oncoming vehicle is at a safe distance and safe speed and then turns off the line laser component.

5. The vehicle and pedestrian recognition safety protection laser device according to claim 1, characterized in that, The range of the preset carriageway scanned and covered by the lidar is equal to or greater than the range of the sidewalk. The lidar is installed at the roadside position between the sidewalk and the preset carriageway. The longitudinal length of the preset carriageway scanned and covered by the lidar in the driving direction is greater than or equal to the longitudinal length of the sidewalk in the same aspect.

6. The vehicle and pedestrian recognition safety protection laser device according to claim 1, characterized in that, After turning on the line laser component, the lidar continues to sense whether there are pedestrians on the sidewalk. If the pedestrians disappear from the sidewalk, it sends a signal to turn off the line laser component.

7. The vehicle and pedestrian recognition safety protection laser device according to claim 1, characterized in that, The far area range extends 5 - 10 meters in the forward direction from the starting line, and the near area range is from the vehicle stop line to 5 - 10 meters away from the starting line.

8. The vehicle and pedestrian recognition safety protection laser device according to claim 1, characterized in that, The linear laser assembly includes a plurality of linear lasers arranged along the vertical direction. The plurality of linear lasers are arranged in a single row or multiple rows. The lidar and the linear laser assembly are installed in a road post. The lidar is located above the linear laser assembly. The device further includes a controller, which is installed in a control box or in the road post. The controller is also provided with a wireless communication device for data transmission and remote control with an external server or a remote terminal. The device further includes a timer and / or a light sensor. The timer is used to send on-off signals to the plurality of linear lasers and the lidar at regular intervals. The timer is set for night working hours. When the light sensor senses that the ambient light is weaker than a predetermined brightness value, it sends an enabling signal to the controller to control the activation of the linear laser assembly and the lidar.

9. A method for identifying people and vehicles and providing safety protection, which is implemented by the people and vehicle identification and safety protection laser device according to any one of claims 1-8, and includes the following steps: Activate the lidar; Scan the moving objects on the sidewalk and the preset vehicle lane with the lidar and measure the contours, moving directions, and moving speeds of the moving objects; The lidar determines whether there are people or vehicles on the sidewalk and whether there are vehicles on the preset vehicle lane according to the measured contours, moving directions, and moving speeds of the moving objects; When the lidar detects that the moving object on the sidewalk is a person, it sends an enabling signal to the linear laser assembly, and the linear lasers emit linear lasers; When the lidar detects that the moving object is a vehicle, it sends a signal to the linear laser assembly to turn off the linear laser assembly or not to activate the linear laser assembly.

10. The vehicle and pedestrian recognition safety protection method according to claim 9, characterized in that, When the lidar detects that the moving object is a vehicle and there are also people moving on the sidewalk at the same time, the lidar turns off the linear laser assembly when the approaching vehicle is at a safe distance and a safe speed. The lidar detects the moving objects on the detection path and generates a scanned image of the moving objects, and judges whether there are people or vehicles by analyzing and calculating the scanned image.

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