Integrated radar road safety warning system

Abstract

The present application relates to the technical field of road safety warning, and in particular to an integrated radar-visual road safety warning system. It includes: a management subsystem, a transmission subsystem and several front-end subsystems. The management subsystem is connected to the several front-end subsystems through the transmission subsystem. The management subsystem is used to divide the monitoring area into several monitoring sub-areas according to the road information, and the several front-end subsystems are respectively arranged in the several monitoring sub-areas; the front-end subsystem includes: a radar-visual unit, which collects the real-time data of the road conditions in the monitoring sub-areas through radar signals and cameras, and generates warning instructions according to the real-time data of the road conditions; an indication unit, which is connected to the radar-visual unit through wires, and is used to obtain warning instructions and issue warning information. The real-time status of the road is monitored by radar and cameras, the vehicle travel status and the pedestrian crossing status are automatically detected, and risk event information is actively sent to the management subsystem for safety warning, so that pedestrians and vehicles can take measures actively.

Description

Technical Field

[0001] The present application relates to the technical field of road safety warning, and in particular to an integrated radar road safety warning system. Background Art

[0002] Intersections are an important part of the road traffic system, a node and hub of the road network, carrying a large amount of traffic flow and having very important functions. There are collisions and interferences between vehicles and pedestrians, between vehicles, and especially between non-motor vehicles and motor vehicles at intersections, which are extremely uncertain and can easily cause traffic accidents.

[0003] In addition, at intersections or sections without traffic lights, in order to ensure the safety of pedestrians crossing the street, the corresponding signs and markings are mainly set up to inform motor vehicle drivers in advance that there is a pedestrian crossing area ahead, and pay attention to slow down and give way, and stop to give way when necessary, which is the "pedestrian courtesy" currently promoted in China. Under such conditions, the safety of pedestrians still depends on the driver's active discovery. First, the driver's various psychological and physiological conditions may cause negligence; second, it will have a certain impact on the efficiency of traffic operation; third, it is extremely difficult for drivers to quickly and accurately identify pedestrians under low illumination (night) and low visibility (rain and fog, etc.); fourth, vehicles that continue to accelerate or speed approaching zebra crossings may lose control and collide with pedestrians.

[0004] According to general statistics, 60% of road traffic accidents occur at intersections and their surrounding areas. Therefore, special attention should be paid to safety warnings at road intersections, which can remind drivers of the position and speed of vehicles and pedestrians at the intersection, so that they can take measures such as waiting or slowing down in advance to reduce traffic accidents. Summary of the invention

[0005] The purpose of this application is: to solve the above technical problems, this application provides an integrated radar road safety warning system.

[0006] In some embodiments of the present application, by adding a radar vision unit and a display unit, the real-time road status is monitored through radar and cameras, the vehicle speed, distance, direction, and pedestrian crossing status are automatically detected, and risk event information is actively sent to the management subsystem for safety warning, so that pedestrians and vehicles can take active measures. This ensures vehicle safety warnings at level crossings with visual blind spots.

[0007] In some embodiments of the present application, through modular design, the front-end subsystem and the number of display modules are selected according to the actual road conditions at different intersections, and can be applied to curves, long slopes, level crossings, right turns, underground garages, T-intersections and other scenes to improve the adaptability of the system.

[0008] In some embodiments of the present application, an integrated radar road safety warning system is provided, including: a management subsystem, a transmission subsystem and a plurality of front-end subsystems, wherein the management subsystem is connected to the plurality of front-end subsystems through the transmission subsystem, the management subsystem is used to divide the monitoring area into a plurality of monitoring sub-areas according to road information, and the plurality of front-end subsystems are respectively arranged in the plurality of monitoring sub-areas; the front-end subsystem includes:

[0009] A radar vision unit collects real-time data of road conditions in the monitoring sub-area through radar signals and video, and generates a warning instruction according to the real-time data of road conditions;

[0010] The indicating unit is connected to the radar vision unit through a wire, and is used to obtain the early warning instruction and issue early warning information.

[0011] In some embodiments of the present application, the radar vision unit includes:

[0012] A first acquisition module, used to acquire road image data within the monitoring sub-area;

[0013] A second acquisition module is used to collect speed data and position data of moving objects in the monitoring sub-area;

[0014] A first processing module is used to obtain the road image data, extract feature values, identify and classify objects in the image data, and generate a recognition result;

[0015] The first processing module is also used to obtain the recognition result and the speed data and position data of the moving object, and generate a warning instruction.

[0016] In some embodiments of the present application, the indicating unit includes:

[0017] A voice warning module, used to obtain the warning instruction generated by the first processing module, and issue a voice warning broadcast according to the warning instruction;

[0018] A control module, used for acquiring the warning instruction generated by the first processing module, and generating a warning text according to the warning instruction;

[0019] The control module is also used to control the indicator light according to the warning instruction;

[0020] The indicator screen is used to display the warning text.

[0021] In some embodiments of the present application, the management subsystem includes:

[0022] A data acquisition module, used to acquire speed thresholds in a plurality of monitoring sub-areas and generate a warning interval according to the speed thresholds;

[0023] A central control module, used to obtain road environment data in the monitoring sub-area, set an early warning mode according to the road environment data, and set the number of the front-end subsystems and the display modules in the monitoring sub-area according to the early warning mode;

[0024] The central control module is also used to set the working parameters of the first processing module.

[0025] In some embodiments of the present application, the management subsystem further includes:

[0026] The data storage module is used to store the road image data in the monitoring sub-area and the speed data of the moving objects in the monitoring sub-area.

[0027] In some embodiments of the present application, the step of setting the warning mode according to the road environment data includes:

[0028] Setting a bidirectional early warning mode, wherein the bidirectional early warning mode includes a plurality of the front-end subsystems;

[0029] A one-way warning mode is set, wherein the one-way warning mode includes a plurality of the indication units and one front-end subsystem.

[0030] In some embodiments of the present application, the management subsystem further includes:

[0031] A second processing module is used to obtain the road image data in the monitoring sub-area and the speed data and position data of the moving object in the monitoring sub-area, mark the moving object according to the speed data of the moving object, and generate a display result;

[0032] A display module is used to display the display result generated by the second processing module.

[0033] In some embodiments of the present application, the following are included:

[0034] The central control module is used to preset a warning distance and real-time speed ratio matrix A, set A (A1, A2, A3), where A1 is the first warning distance and real-time speed ratio, A2 is the second warning distance and real-time speed ratio, A3 is the third warning distance and real-time speed ratio, and A1 <A2<A3;

[0035] The central control module is also used to set the warning instruction level matrix B, setting B (B1, B2, B3), where B1 is a first-level warning instruction, B2 is a second-level warning instruction, and B3 is a third-level warning instruction;

[0036] Obtain the real-time speed data and real-time position data of moving objects in the monitored sub-region, generate the ratio a of the warning distance to the real-time speed, and generate a real-time warning instruction b according to the relationship between the ratio matrix A of the warning distance to the real-time speed and the warning instruction level matrix B. Specifically:

[0037] When a < A1, set the first-level warning instruction B1 as the real-time warning instruction b;

[0038] When A1 < a < A2, set the second-level warning instruction B2 as the real-time warning instruction b;

[0039] When A2 < a < A3, set the third-level warning instruction B3 as the real-time warning instruction b.

[0040] In some embodiments of the present application, the central control module is further configured to set the working parameters of the indicating unit, including:

[0041] Preset the first working parameter matrix C1(c1, d1, e1), preset the second working parameter matrix C2(c2, d2, e2), preset the third working parameter matrix C3(c3, d3, e3), where c1 - c3 are the first to third voice warning broadcast volumes in sequence, and c1 < c2 < c3; d1 - d3 are the preset first to third preset indicator light colors in sequence, and e1 - e3 are the preset first to third preset warning texts in sequence;

[0042] Obtain the real-time warning instruction b generated by the first processing module, and set the real-time working parameters of the indicating unit according to the real-time warning instruction b. Specifically:

[0043] When setting the first-level warning instruction B1 as the real-time warning instruction b, set the real-time working parameters of the indicating unit as the preset first working parameter matrix C1;

[0044] When setting the second-level warning instruction B2 as the real-time warning instruction b, set the real-time working parameters of the indicating unit as the preset second working parameter matrix C2;

[0045] When setting the third-level warning instruction B3 as the real-time warning instruction b, set the real-time working parameters of the indicating unit as the preset third working parameter matrix C3.

[0046] In some embodiments of the present application, the front-end subsystem further includes:

[0047] A power supply unit, which is connected to the radar-vision unit and the indicating unit through wires.

[0048] Compared with the prior art, the beneficial effects of an integrated radar-vision road safety warning system according to an embodiment of the present application are as follows:

[0049] By adding a radar vision unit and a display unit, the real-time status of the road is monitored through radar and cameras, and the vehicle speed, distance, direction, and pedestrian crossing status are automatically detected. Risk event information is actively sent to the management subsystem for safety warnings, so that pedestrians and vehicles can take proactive measures. It ensures vehicle safety warnings at level crossings with visual blind spots; it realizes that vehicles must also slow down when no one is crossing the street under traditional conditions; it reduces the risk of uninformed and possibly out-of-control vehicles colliding with pedestrians; and it overcomes the difficulty of identification lag under low illumination, low visibility, and strong vehicle lights. Compared with the signal light control method, it is economical and reliable, simple to construct, and easy to maintain, and the traffic safety benefits and traffic efficiency are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a structural diagram of an integrated radar road safety warning system in a preferred embodiment of the present application;

[0051] Figure 2 It is a schematic diagram of the front-end subsystem structure of the integrated radar road safety warning system in the preferred embodiment of the present application;

[0052] Figure 3 It is a schematic diagram of the structure of the management subsystem of the integrated radar road safety warning system in the preferred embodiment of the present application;

[0053] Figure 4 It is a schematic diagram of the structure of the indicator module of the integrated radar road safety warning system in the preferred embodiment of the embodiment of the present application. DETAILED DESCRIPTION

[0054] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but are not intended to limit the scope of the present application.

[0055] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0056] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0057] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0058] like Figure 1 and Figure 2 As shown, an integrated radar road safety warning system of a preferred embodiment of the present application includes: a management subsystem, a transmission subsystem and a plurality of front-end subsystems, wherein the management subsystem is connected to the plurality of front-end subsystems through the transmission subsystem, the management subsystem is used to divide the monitoring area into a plurality of monitoring sub-areas according to the road information, and the plurality of front-end subsystems are respectively arranged in the plurality of monitoring sub-areas; the front-end subsystem includes:

[0059] A radar vision unit collects real-time data of road conditions in the monitoring sub-area through radar signals and video, and generates a warning instruction according to the real-time data of road conditions;

[0060] The indication unit is connected to the radar unit through wires and is used to obtain early warning instructions and issue early warning information.

[0061] The power supply unit is connected with the radar unit and the indication unit through wires.

[0062] Specifically, the transmission subsystem is preferably a wireless bridge, which is used to form a local area network or external communication. The wireless bridge consists of a bridge host and a POE injector or separator. When installing, buildings or large metal road signs should be avoided as much as possible between the two bridges.

[0063] Specifically, the power supply unit is preferably a 12V solar power supply, which is connected to other units in the front-end subsystem through wires to provide power to the front-end subsystem to ensure stable operation of the front-end subsystem.

[0064] Specifically, the front-end subsystem adopts a modular design and can be divided into a front-end subsystem including a radar vision unit and a front-end subsystem not including a radar vision unit.

[0065] Specifically, the RayVision unit includes:

[0066] The first acquisition module is used to acquire road image data within the monitoring sub-area;

[0067] The second acquisition module is used to collect speed data and position data of moving objects in the monitoring sub-area;

[0068] The first processing module is used to obtain road image data, extract feature values, identify and classify objects in the image data, and generate recognition results;

[0069] The first processing module is also used to obtain the recognition result and the speed data and position data of the moving object, and generate an early warning instruction.

[0070] Specifically, the first acquisition module is preferably a camera, which is used to acquire road image information;

[0071] Specifically, the second acquisition module is preferably a radar detector, which measures the speed and determines the position of the moving object through radar signals.

[0072] Specifically, the radar monitoring distance can be selected as 100m, 150m, 200m, and 300m. Choose according to actual needs. When using multiple devices in the same scene, different band IDs can be set to avoid mutual interference between radars. The horizontal distance between the device installation position and the center line of the road is negative on the left side of the center line of the road and positive on the right side. The trajectory is corrected according to the negative value for the left and the positive value for the right. Observe the vehicle driving trajectory in the radar debugging interface. For example, if the radar detects that the overall driving trajectory of the target is tilted to the right, it should be set to a positive value. If it cannot be corrected even if it is set to 1°, gradually increase the correction angle until the vehicle driving trajectory in the interface is consistent with practice.

[0073] like Figure 4 As shown, the indicating unit includes:

[0074] The voice warning module is used to obtain the warning instruction generated by the first processing module and issue a voice warning broadcast according to the warning instruction;

[0075] A control module, used for acquiring the warning instruction generated by the first processing module, and generating a warning text according to the warning instruction;

[0076] The control module is also used to control the indicator light according to the warning instruction;

[0077] Indicator screen, used to display warning text.

[0078] Specifically, the warning text on the indicator light and indicator screen can be selected as red, yellow or green;

[0079] Specifically, when there is no car coming, the display screen lasts for 0-60 seconds; when there is a car coming, the display screen lasts for 20-100 seconds.

[0080] It is understandable that in the above embodiment, by adding a radar vision unit and a display unit, the real-time road status is monitored through radar and cameras, the vehicle speed, distance, direction, and pedestrian crossing status are automatically detected, and risk event information is actively sent to the management subsystem for safety warning, so that pedestrians and vehicles can take active measures. This ensures vehicle safety warnings at level crossings with visual blind spots.

[0081] like Figure 3 As shown, in a preferred embodiment of the present application, the management subsystem includes:

[0082] A data acquisition module is used to obtain speed thresholds in several monitoring sub-areas and generate warning intervals according to the speed thresholds;

[0083] The central control module is used to obtain the road environment data in the monitoring sub-area, set the early warning mode according to the road environment data, and set the number of front-end subsystems and display modules in the monitoring sub-area according to the early warning mode;

[0084] The central control module is also used to set the working parameters of the first processing module.

[0085] The data storage module is used to store the road image data in the monitoring sub-area and the speed data of the moving objects in the monitoring sub-area.

[0086] Specifically, when setting the early warning mode based on road environment data, it includes:

[0087] Set up a two-way warning mode, which includes several front-end subsystems and one;

[0088] A one-way warning mode is set, which includes several indication units and a front-end subsystem.

[0089] Specifically, according to on-site needs, the two-way early warning mode is divided into two or three front-end subsystems, where front-end subsystem No. 1 detects the target, and front-end subsystems No. 2 and 3 issue early warnings; front-end subsystem No. 2 detects the target, and front-end subsystems No. 1 and 3 issue early warnings; front-end subsystem No. 3 detects the target, and front-end subsystems No. 2 and 1 issue early warnings.

[0090] Specifically, the one-way warning mode has two application modes according to the on-site scene requirements:

[0091] One is a front-end subsystem and two display units, where the front-end subsystem monitors the target and the display unit issues an early warning;

[0092] Second, it is a front-end subsystem and a display unit. The front-end subsystem monitors the target, and the display unit issues early warnings.

[0093] It can be understood that in the above embodiments, through modular design, according to the actual road conditions at different intersections, the number of front-end subsystems and display modules can be selected, and it can be applied to scenarios such as curves, long slopes, flat intersections, right-turn scenarios, underground garages, T-shaped intersections, etc., improving the adaptability of the system.

[0094] In a preferred embodiment of the present application, the management subsystem further includes:

[0095] A second processing module, configured to obtain road image data within a monitored sub-region, speed data and position data of moving objects within the monitored sub-region, mark the moving objects based on the speed data of the moving objects, and generate a display result;

[0096] A display module, configured to display the display result generated by the second processing module.

[0097] Specifically, the process of generating the display result is to draw a calibration area in a clockwise direction, and then it is necessary to accurately measure the horizontal and vertical (x, y) coordinate distances of these four coordinate points on-site. The X coordinate represents the horizontal distance from the origin of the radar coordinate, and the Y coordinate represents the vertical distance from the center point of the radar coordinate.

[0098] Specifically, the display result is specifically that the vehicle will have a large green video detection tracking box and the real-time speed value detected by the radar.

[0099] In a preferred embodiment of the present application, the central control module is used to preset a ratio matrix A of warning distance to real-time speed, set A(A1, A2, A3), where A1 is the ratio of the first warning distance to the real-time speed, A2 is the ratio of the second warning distance to the real-time speed, A3 is the ratio of the third warning distance to the real-time speed, and A1 < A2 < A3;

[0100] The central control module is further used to set a warning instruction level matrix B, set B(B1, B2, B3), where B1 is a first-level warning instruction, B2 is a second-level warning instruction, and B3 is a third-level warning instruction;

[0101] Obtain the real-time speed data and real-time position data of the moving objects within the monitored sub-region, generate a ratio a of the warning distance to the real-time speed, and generate a real-time warning instruction b according to the relationship between the ratio matrix A of the warning distance to the real-time speed and the warning instruction level matrix B, which is specifically:

[0102] When a < A1, set the first-level warning instruction B1 as the real-time warning instruction b;

[0103] When A1 < a < A2, set the secondary warning instruction B2 as the real-time warning instruction b;

[0104] When A2 < a < A3, set the tertiary warning instruction B3 as the real-time warning instruction b.

[0105] Preset the first working parameter matrix C1(c1, d1, e1), the second working parameter matrix C2(c2, d2, e2), and the third working parameter matrix C3(c3, d3, e3), where c1 - c3 are the first to third voice warning broadcast volumes in sequence, and c1 < c2 < c3; d1 - d3 are the preset first to third preset indicator light colors in sequence, and e1 - e3 are the preset first to third preset warning texts in sequence;

[0106] Obtain the real-time warning instruction b generated by the first processing module, and set the real-time working parameters of the indicating unit according to the real-time warning instruction b. Specifically:

[0107] When setting the primary warning instruction B1 as the real-time warning instruction b, set the real-time working parameters of the indicating unit as the preset first working parameter matrix C1;

[0108] When setting the secondary warning instruction B2 as the real-time warning instruction b, set the real-time working parameters of the indicating unit as the preset second working parameter matrix C2;

[0109] When setting the tertiary warning instruction B3 as the real-time warning instruction b, set the real-time working parameters of the indicating unit as the preset third working parameter matrix C3.

[0110] Specifically, the first preset indicator light color is green, the second indicator light color is yellow, and the third indicator light color is red.

[0111] Specifically, according to the warning urgency level, the tertiary warning instruction is higher than the secondary warning instruction which is higher than the primary warning instruction.

[0112] It can be understood that in the above embodiments, by setting the warning distance to real-time speed ratio matrix, the warning instruction level matrix, and the indicating unit working parameter matrix, the warning efficiency is improved, which is convenient for pedestrians and vehicles to take proactive measures. It ensures the vehicle safety warning at the level crossing with visual blind spots. It realizes that vehicles also need to decelerate when there is no one crossing the street under traditional conditions; it reduces the risk of vehicles that may be out of control crashing into pedestrians without knowledge.

[0113] According to the first concept of this application, by adding a radar vision unit and a display unit, the real-time status of the road is monitored by radar and cameras, the vehicle speed, distance, direction, and pedestrian crossing status are automatically detected, and risk event information is actively sent to the management subsystem for safety warnings, so that pedestrians and vehicles can take proactive measures. Vehicle safety warnings at level crossings with visual blind spots are guaranteed. Under traditional conditions, vehicles are required to slow down even when no one is crossing the street; the risk of uninformed and possibly out-of-control vehicles colliding with pedestrians is reduced; and the difficulty of identification lag in low illumination, low visibility, strong vehicle lights, etc. is overcome. Compared with the use of signal light control, it is economical and reliable, simple to construct, and easy to maintain, and the traffic safety benefits and traffic efficiency are greatly improved.

[0114] According to the second concept of the present application, through modular design, the front-end subsystem and the number of display modules are selected according to the actual road conditions at different intersections. It can be applied to curves, long slopes, level crossings, right turns, underground garages, T-intersections and other scenes to improve the adaptability of the system.

[0115] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present application. These improvements and substitutions should also be regarded as the scope of protection of the present application.

Claims

1. Integrated radar road safety warning system, characterized by: include: A management subsystem, a transmission subsystem and a plurality of front-end subsystems, wherein the management subsystem is connected to the plurality of front-end subsystems through the transmission subsystem, the management subsystem is used to divide the monitoring area into a plurality of monitoring sub-areas according to the road information, and the plurality of front-end subsystems are respectively arranged in the plurality of monitoring sub-areas; the front-end subsystem comprises: A radar vision unit collects real-time data of road conditions in the monitoring sub-area through radar signals and video, and generates a warning instruction according to the real-time data of road conditions; An indication unit, connected to the radar vision unit via a wire, for obtaining the warning instruction and issuing a warning message; The radar vision unit comprises: A first acquisition module, used to acquire road image data within the monitoring sub-area; A second acquisition module is used to collect speed data and position data of moving objects in the monitoring sub-area; A first processing module is used to obtain the road image data, extract feature values, identify and classify objects in the image data, and generate a recognition result; The first processing module is further used to obtain the recognition result and the speed data and position data of the moving object, and generate a warning instruction; The indicating unit comprises: A voice warning module, used to obtain the warning instruction generated by the first processing module, and issue a voice warning broadcast according to the warning instruction; A control module, used for acquiring the warning instruction generated by the first processing module, and generating a warning text according to the warning instruction; The control module is also used to control the indicator light according to the warning instruction; An indicator screen, used to display the warning text; The management subsystem includes: A data acquisition module, used to acquire speed thresholds in a plurality of monitoring sub-areas and generate a warning interval according to the speed thresholds; A central control module, used to obtain road environment data in the monitoring sub-area, set an early warning mode according to the road environment data, and set the number of the front-end subsystems and display modules in the monitoring sub-area according to the early warning mode; The central control module is also used to set the working parameters of the first processing module; A data storage module, used to store the road image data in the monitoring sub-area and the speed data of the moving objects in the monitoring sub-area; The step of setting the early warning mode according to the road environment data includes: Setting a bidirectional early warning mode, wherein the bidirectional early warning mode includes a plurality of the front-end subsystems; A one-way warning mode is set, wherein the one-way warning mode includes a plurality of the indication units and one front-end subsystem.

2. The integrated radar road safety warning system according to claim 1, characterized in that: The management subsystem also includes: A second processing module is used to obtain the road image data in the monitoring sub-area and the speed data and position data of the moving object in the monitoring sub-area, mark the moving object according to the speed data of the moving object, and generate a display result; A display module is used to display the display result generated by the second processing module.

3. The integrated radar road safety warning system according to claim 2, characterized in that: include: The central control module is used to preset the ratio matrix A of the warning distance to the real-time speed, and set A(A1, A2, A3), where A1 is the ratio of the first warning distance to the real-time speed, A2 is the ratio of the second warning distance to the real-time speed, A3 is the ratio of the third warning distance to the real-time speed, and A1 < A2 < A3; The central control module is also used to set the warning instruction level matrix B, and set B(B1, B2, B3), where B1 is the first-level warning instruction, B2 is the second-level warning instruction, and B3 is the third-level warning instruction; Obtain the real-time speed data and real-time position data of the moving object in the monitored sub-region, generate the ratio a of the warning distance to the real-time speed, and generate the real-time warning instruction b according to the relationship between the ratio matrix A of the warning distance to the real-time speed and the warning instruction level matrix B. Specifically: When a < A1, set the first-level warning instruction B1 as the real-time warning instruction b; When A1 < a < A2, set the second-level warning instruction B2 as the real-time warning instruction b; When A2 < a < A3, set the third-level warning instruction B3 as the real-time warning instruction b.

4. The integrated radar road safety warning system according to claim 3, characterized in that: The central control module is also used to set the working parameters of the indicating unit, including: Preset the first working parameter matrix C1(c1, d1, e1), preset the second working parameter matrix C2(c2, d2, e2), preset the third working parameter matrix C3(c3, d3, e3), where c1 - c3 are the first to third voice warning broadcast volumes in sequence, and c1 < c2 < c3; d1 - d3 are the preset first to third preset indicator light colors in sequence, and e1 - e3 are the preset first to third preset warning texts in sequence; Obtain the real-time warning instruction b generated by the first processing module, and set the real-time working parameters of the indicating unit according to the real-time warning instruction b. Specifically: When setting the first-level warning instruction B1 as the real-time warning instruction b, set the real-time working parameters of the indicating unit as the preset first working parameter matrix C1; When setting the second-level warning instruction B2 as the real-time warning instruction b, set the real-time working parameters of the indicating unit as the preset second working parameter matrix C2; When setting the third-level warning instruction B3 as the real-time warning instruction b, set the real-time working parameters of the indicating unit as the preset third working parameter matrix C3.

5. The integrated radar road safety warning system according to any one of claims 1 to 4, characterized in that: The front-end subsystem further includes: A power supply unit, which is connected to the radar-vision unit and the indicating unit through wires.

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