A radar triggered low level lighting device

Abstract

The application discloses a radar-triggered low-position lighting device, which comprises a box body and a radar detection module, a lighting unit and a warning unit arranged in the box body; the radar detection module and the warning unit are arranged at two vertical sides of the box body respectively, and the radar detection module and the lighting unit are arranged at the same side of the box body. The application uses radar as a target detector of road fog lamp and other lighting devices, utilizes the strong environmental adaptability and the characteristics that the radar is not easily interfered by natural conditions, enhances the rapid capturing ability of dynamic targets and static targets, and improves the accuracy of target detection. In addition, the application also integrates a low-position lighting function, combines the design of LED lighting and lens for secondary light distribution, improves the illumination and uniformity of the road surface, effectively avoids the problem of glare interference on the driver, and is especially suitable for foggy days, and can solve the problem of reduced lighting effect of the traditional lighting device caused by fog reflection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of road lighting, more particularly to a radar-triggered low-position lighting device. BACKGROUND

[0002] Current road fog lamp technology mainly relies on infrared beam sensors to detect vehicles, thereby achieving lighting, and through yellow or red light to play a warning and guiding role for passing vehicles. The specific implementation of this road fog lamp technology is to install fog lamp devices with infrared emission and receiving functions on both sides of the road. When a vehicle passes between the two, it will block the transmission of the infrared signal, thereby triggering the controller inside the fog lamp to change the state of the light-emitting unit.

[0003] However, the existing road fog lamp technology has some obvious limitations. First, in actual application, the infrared beam sensor is easily affected by external factors such as strong sunlight, rain, or sand and dust, which can reduce the accuracy of vehicle detection. Second, this design cannot achieve lane-level accurate detection, i.e., it cannot distinguish between uplink or downlink vehicles, nor can it exclude pedestrian interference on non-motor vehicle lanes, which limits its application in complex traffic environments. Third, since the working principle of the infrared sensor is based on the straight-line propagation of infrared rays, it can only detect vehicles that pass through the detection area instantaneously, and must be installed in pairs, which poses a challenge to its application in certain specific scenarios, such as not being able to adapt to situations where only single-sided installation is required, and also increasing equipment and installation costs. In addition, in order to ensure the effective alignment between the infrared emitter and receiver, high precision is required during installation, which undoubtedly increases the difficulty of installation. SUMMARY

[0004] In order to overcome the shortcomings of the existing road fog lamp technology, the present application provides a radar-triggered low-position lighting device.

[0005] The technical solution of the present application is as follows:

[0006] A radar-triggered low-position lighting device,

[0007] The radar detection module scans the detection target range and obtains the current target signal, which is sent to the signal processing hub of the radar detection module. The signal processing hub determines whether there is a trigger target according to the preset target recognition range. The signal processing hub identifies the trigger target and extracts the trigger target distance data corresponding to the trigger target. The signal processing hub generates a radar trigger signal, which is sent to the micro control hub together with the trigger target distance data by the radar detection module,

[0008] The micro control center receives a radar trigger signal and trigger target distance data, judges whether the trigger target distance data belongs to a preset detection target model range according to the detection target model range, judges whether the radar trigger signal is received, and terminates the current operation or triggers a light state control mode according to the judgment result, the micro control center generates a first type of trigger control signal and a second type of trigger control signal according to the light state control module,

[0009] The micro control center sends the first type of trigger control signal to the lighting unit and the warning unit, the lighting unit receives the first type of trigger control signal and starts the lighting light emitting component, and the warning unit receives the first type of trigger control signal and starts the warning light emitting component,

[0010] The micro control center sends the second type of trigger control signal to the lighting unit and the warning unit of a plurality of low-position lighting devices according to the setting rule through the built-in wireless communication module, the lighting unit of the low-position lighting device receives the second type of trigger control signal and starts the lighting light emitting component, and the warning unit receives the second type of trigger control signal and starts the warning light emitting component.

[0011] The present application uses radar as a target detector of road fog lamp and other lighting devices, uses the strong environmental adaptability of radar, and is not easy to be disturbed by natural conditions, enhances the rapid capture ability of dynamic targets and static targets, and improves the accuracy of target detection. In addition, the present application also integrates low-position lighting function, combines LED lighting and lens design for secondary light distribution, improves the illuminance and uniformity of the road surface, effectively avoids the problem of glare interference to the driver, and is especially suitable for foggy weather, and can solve the problem of reduced lighting effect of traditional lighting devices due to fog reflection.

[0012] The above-mentioned radar-triggered low-position lighting device comprises a box body and a radar detection module, a lighting unit and a warning unit arranged in the box body, the radar detection module and the warning unit are arranged at two vertical sides of the box body, and the radar detection module and the lighting unit are arranged at the same side of the box body.

[0013] Further, the surface of the box body is provided with an inwardly tapered mounting space, and the lighting unit is arranged at the upper side of the mounting space, so that the light emitted by the lighting unit is downward.

[0014] The light emitted by the lighting unit realizes low-level lighting downward. Low-level lighting (LLL) refers to a lighting system installed at a low position, mainly used to provide local or specific area lighting. Low-level lighting provides sufficient light to help see the ground at night or in low-light environments, while the light is directed to the ground rather than being emitted upward into the air, the illumination path is short, the interference factors are small, the light concentration is high, and the light pollution is less. In addition, the initial investment of low-level lighting is relatively low, the long-term operation cost is also low, the power consumption is low, and the cost can be greatly reduced.

[0015] Further, the radar detection module is externally provided with a radar transparent radome.

[0016] Further, the warning unit is externally provided with a light-emitting transparent visor.

[0017] Further, the lighting unit comprises, from the outside to the inside, a low-level lighting lens, a low-level lighting lamp panel and a low-level lighting heat sink, and the low-level lighting lamp panel is tightly attached to the low-level lighting heat sink.

[0018] The transparent visor or lens is externally provided on the light-emitting part of the warning unit and the lighting unit, and the secondary light distribution is performed using the transparent visor or lens, which can ensure that most of the light is guided to the area that needs to be illuminated, improve the lighting efficiency, reasonably distribute the light on the road, and reduce the glare to the vehicle driver.

[0019] Further, the box body comprises an upper shell and a mounting base, and the upper shell and the mounting base are connected to form a hexahedral shell structure, and the surface of the box body is provided with a plurality of through holes in which the radar detection module and the warning unit are embedded.

[0020] Further, the mounting base is fixed with a power adapter and a micro control unit (MCU).

[0021] Further, the height of the mounting base is less than the height of the box body.

[0022] Further, the top of the box body is provided with a GPS antenna.

[0023] Further, the bottom of the box body is provided with a rod-shaped receiving antenna for receiving signals of the radar detection module.

[0024] The priority of the first type of trigger control signal is higher than that of the second type of trigger control signal in the radar triggered low-level lighting device.

[0025] For a plurality of low-position lighting devices in the following, a type of trigger control signal is a control signal triggered by the radar detection module itself, so for the current low-position lighting device, the control signal generated by the micro control center is closest to the state of the current low-position lighting device and the vehicle, and therefore, the priority of the type of trigger control signal is closer to the demand of the vehicle than the control signal sent in the front, and the control is more accurate.

[0026] The radar triggered low-position lighting device described above sets a red light target model range and a yellow light target model range in the detection target model range, if the trigger target distance is in the yellow light target model range, both the type of trigger control signal and the type of trigger control signal generated by the micro control center control the yellow light in the warning light emitting component to work, if the trigger target distance is in the red light target model range, both the type of trigger control signal and the type of trigger control signal generated by the micro control center control the red light in the warning light emitting component to work.

[0027] The red light target model range and the yellow light target model range set in the detection target model range are not a subset and a parent set relationship, but two independent distance sets. Generally, the distance range set in the yellow light target model range is farther than the distance range set in the red light target model range relative to the working low-position lighting device. After detecting the vehicle, the low-position lighting device first brightens the yellow light for warning, and then brightens the red light according to the trigger target distance data (trigger target distance) obtained by the radar detection module.

[0028] The radar triggered low-position lighting device described above sets the darkest point cloud image pixel intensity of the non-sky area in the detection target range under normal conditions as the normal atmospheric transmittance in the signal processing center of the radar detection module,

[0029] The radar triggered low-position lighting device described above sets the darkest point cloud image pixel intensity of the non-sky area in the detection target range under normal conditions as the normal atmospheric transmittance in the signal processing center of the radar detection module,

[0030] In the natural image of most non-sky areas (i.e. areas not directly affected by sky light), at least one color channel (R, G or B in RGB) contains some very dark pixels. In the absence of weather factors such as fog and rain, the value of these dark pixels is close to 0. However, in the presence of weather factors such as fog and rain, even in areas that are originally very dark, the pixel value will increase due to atmospheric scattering. In most non-sky areas, the darkest part of the image is usually the area that is most severely obscured by fog, and the light in these areas has experienced the longest path length, so the proportion of scattering is the highest and the atmospheric transmittance is the lowest. Therefore, it can be assumed that the darkest pixel value in the non-sky area image, i.e. the lowest value of the image pixel intensity after atmospheric scattering, is close to the atmospheric transmittance.

[0031] Further, the micro control center sets a detection range adjustment threshold,

[0032] The signal processing center of the radar detection module sends the data related to the current atmospheric transmissivity to the micro control center,

[0033] The micro control center determines whether the difference between the current atmospheric transmissivity and the detection range adjustment threshold is within the detection range control range. If the difference between the current atmospheric transmissivity and the detection range adjustment threshold is within the detection range control range, the micro control center adjusts the detection target model range.

[0034] The radar detection module is affected differently under different weather conditions, and on the other hand, the driver's line of sight is also affected differently, so it is necessary to adjust the detection target model range in order to give the driver an early warning and lighting. Moisture, dust and other particulate matter in the atmosphere can scatter and absorb various waves, so in low visibility environments, atmospheric transmissivity will decrease, causing radar signals and light illumination to experience greater attenuation, thereby affecting the detection performance of the radar and the lighting effect of the low-level lighting device. Therefore, a detection range adjustment threshold (which is actually a set reference value for atmospheric transmissivity, and the detection range adjustment threshold is the atmospheric transmissivity under ideal or excellent conditions) is set as a standard, and the difference between the current atmospheric transmissivity and the detection range adjustment threshold is considered. In the case of small deviation (i.e., the difference between the current atmospheric transmissivity and the detection range adjustment threshold is within the detection range control range), no adjustment is needed, but if the deviation is large, the detection target model range needs to be increased in order to provide early lighting and warning.

[0035] Further, at least part of the lighting area is within the detection target range of the radar detection module,

[0036] The signal processing center of the radar detection module sets a certain fixed target as a reference target, which is located within the detection target range of the radar detection module and within the lighting area,

[0037] The signal processing center of the radar detection module compares the point cloud image pixel intensity data of the reference target under normal and current conditions, and calculates the current atmospheric light intensity based on the current atmospheric transmissivity.

[0038] The radar detection module forms a point cloud image by emitting electromagnetic waves and receiving the reflected signals, each pixel in the point cloud image represents the intensity of the reference target reflection, when the target is illuminated, the reflection intensity increases, and the pixel intensity also increases. The signal processing hub of the radar detection module can estimate the current atmospheric light intensity by comparing the pixel intensity difference of the same fixed reference target between the normal state and the current state. This change may be caused by scattering effects, fog, rain and other factors in the atmosphere, which affect the propagation and reflection of radar signals. At the same time, these factors also affect the lighting effect of the lighting device, when the reference target is in the lighting area at the same time, the atmospheric light intensity it shows is equal to the lighting intensity of the lower lighting device, and the lighting effect of the lower lighting device under the above influencing factors is approximately obtained.

[0039] Further, the signal processing hub of the radar detection module records the pixel intensity data of the point cloud image of the reference target in the normal state as the original reference value,

[0040] The signal processing hub of the radar detection module records the pixel intensity data of the point cloud image of the reference target in the current state as the calculation value,

[0041] The signal processing hub of the radar detection module calculates the current atmospheric light intensity according to the calculation formula between the original reference value, the calculation value, the current atmospheric transmittance and the current atmospheric light intensity.

[0042] The pixel intensity in the point cloud image formed by the radar detection module represents the reflection intensity of the radar wave at that point, which is affected by the target surface properties and atmospheric conditions. The reflection intensity is related to the incident energy of the radar wave, the reflectivity of the detection target, and the absorption and scattering of the atmosphere to the radar wave. Among them, the incident energy of the radar wave can be continuously adjusted to improve the reflection intensity, and the reflectivity of the detection target is mostly determined by the material of the detection target. Therefore, to obtain the current atmospheric light intensity, it is better to consider the influence of the atmosphere on the radar wave. According to the content of the atmospheric scattering model (atmospheric scattering model is a physical model that describes how light or other radiation interacts with atmospheric molecules or particles when passing through the atmosphere. This interaction will cause light scattering, that is, the phenomenon of light deviating from its original path), in order to accurately evaluate the current atmospheric light intensity, considering the influence of the atmosphere on the radar wave, the current atmospheric transmittance can be used to correct the point cloud image pixel intensity data. Since it is considered that the atmosphere affects the radar wave, the difference between the reference value as the comparison data and the pixel value affected by weather factors is similar to the difference between the atmospheric transmittance affected by weather factors and not affected by weather factors, so the current atmospheric transmittance can be used as correction data for evaluating the current atmospheric light intensity.

[0043] Further, the micro control center sets a reference light intensity threshold range and a reference light intensity adjustment threshold, the reference light intensity adjustment threshold is subordinate to the reference light intensity threshold range,

[0044] The signal processing center of the radar detection module sends the related data of the current atmospheric light intensity to the micro control center,

[0045] The micro control center judges whether the current atmospheric light intensity is subordinate to the reference light intensity threshold range, and adjusts the light intensity of the lighting unit and the warning unit, so that the atmospheric light intensity obtained by the feedback again is subordinate to the reference light intensity threshold range.

[0046] Due to the existence of atmospheric scattering effect, in the weather environment with low visibility, the particles in the atmosphere will scatter light, causing scattering of light in the propagation process, thereby dispersing the energy of the light, reducing the intensity of the light reaching the observer's eyes, and affecting the lighting effect of the low-position lighting device. Therefore, in order to still provide a good road lighting environment in the weather environment with low visibility, it is necessary to adjust the lighting effect of the low-position lighting device. On this basis, the current atmospheric light intensity is close to the lighting intensity of the low-position lighting device at the reference target, which can be regarded as the lighting effect of the low-position lighting device in the current state. Therefore, the reference light intensity threshold range and the reference light intensity adjustment threshold can be set, when the current atmospheric light intensity is in the reference light intensity threshold range, it indicates that the current atmospheric light intensity meets the road lighting demand, and no adjustment is needed, if the current atmospheric light intensity is not subordinate to the reference light intensity threshold range, it indicates that the lighting effect of the current low-position lighting device does not meet the road lighting demand, and the light intensity of the lighting unit and the warning unit needs to be adjusted. The micro control center adjusts the driving current of the lighting unit and the warning unit according to the difference between the current atmospheric light intensity and the reference light intensity adjustment threshold, thereby improving the lighting effect of the lighting unit and the warning unit.

[0047] Further, the signal processing center of the radar detection module adjusts the current radar transmitting power according to the ratio of the normal atmospheric transmittance and the current atmospheric transmittance.

[0048] Further, the signal processing center of the radar detection module adjusts the current radar receiving sensitivity according to the ratio of the normal atmospheric transmittance and the current atmospheric transmittance.

[0049] The signal processing hub of the radar detection module can adjust the current radar transmitting power and receiving sensitivity according to the ratio of the normal atmospheric transmissivity and the current atmospheric transmissivity. This is because changes in atmospheric conditions, such as foggy weather, rainy weather, etc., will cause the radar signal to experience different degrees of attenuation when passing through the atmosphere. Atmospheric transmissivity represents the proportion of radar waves that are not scattered or absorbed when passing through the atmosphere. In low-visibility conditions such as foggy weather, rainy weather, etc., atmospheric transmissivity decreases, and radar signals will experience greater attenuation. Normal atmospheric transmissivity represents the transmissivity under ideal or good atmospheric conditions, while current atmospheric transmissivity reflects the transmissivity under current atmospheric conditions. When atmospheric transmissivity decreases, it means that the radar signal will suffer greater attenuation when passing through the atmosphere, resulting in a decrease in radar detection performance. In order to maintain the radar detection performance, the signal processing hub of the radar detection module adjusts the radar transmitting power and receiving sensitivity according to the ratio of the normal atmospheric transmissivity and the current atmospheric transmissivity. Specifically, when the current atmospheric transmissivity is lower than the normal atmospheric transmissivity, the signal processing hub of the radar detection module increases the radar transmitting power to compensate for signal attenuation and increases the receiving sensitivity to capture weaker echo signals, thereby ensuring that the radar maintains stable detection performance under different weather conditions. If the current atmospheric transmissivity is higher than the normal atmospheric transmissivity, the parameters of the radar detection module can not be adjusted.

[0050] The present application has the advantages that the radar technology is used instead of the traditional infrared reflection sensor, which greatly improves the environmental adaptability and stability of the device, realizes more precise vehicle detection capability, and solves the problems of installation complexity and use scene limitation in the prior art. At the same time, the low-position lighting structure is provided, and the lens is used to realize secondary light distribution, which reduces the glare to the vehicle driver and improves the road brightness and uniformity, thereby greatly improving the practicality and safety of the road lighting system.

[0051] 1. The present application discards the infrared reflection sensor which is easily disturbed by external environmental factors, and instead uses the radar technology which is not limited by weather conditions. The radar sensor can effectively penetrate rain, fog, dust and other harsh weather conditions, significantly improving the accuracy and reliability of vehicle detection.

[0052] 2. The present application dynamically adjusts the working parameters of the radar detection module and the light intensity of the lighting unit according to real-time data of atmospheric transmissivity and atmospheric light intensity to adapt to different environmental conditions.

[0053] 3. The low-position lighting device of the present application can accurately identify vehicles on different lanes, and even distinguish pedestrians and motor vehicles, avoiding false triggering of non-target objects and enhancing the intelligence and flexibility of the system.

[0054] 4. The present application can cover a wider detection area using radar technology, and is no longer limited to the straight-line propagation characteristics of infrared rays, and can adapt to single-side installation mode or middle installation mode, so that the lighting device can be applied to more types of roads, including those not suitable for paired installation.

[0055] 5. The design of the present application greatly reduces the requirement for precise alignment, and the installer does not need to spend a lot of time adjusting the position of the equipment to ensure that the radar sensor operates normally, greatly reducing the installation time and cost. BRIEF DESCRIPTION OF DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0057] Figure 1 Low-position lighting device structure exploded view.

[0058] Figure 2 MCU pin structure schematic diagram.

[0059] Figure 3 Radar detection module port structure schematic diagram.

[0060] In the drawings, various reference signs represent:

[0061] 1. upper shell; 2. low-position lighting fin; 3. low-position lighting lens; 4. low-position lighting lamp panel; 5. radar transparent antenna cover; 6. radar detection module; 7. power adapter; 8. mounting base; 9. rod-shaped receiving antenna; 10. light-emitting transparent cover; 11. warning unit; 12. micro control center; 13. GPS antenna. DETAILED DESCRIPTION

[0062] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clear and obvious, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not used to limit the present application.

[0063] A radar triggered low-position lighting device,

[0064] The radar detection module scans the detection target range and obtains a current target signal, the current target signal is sent to a signal processing hub of the radar detection module, the signal processing hub determines whether a trigger target exists according to a preset target recognition range, the signal processing hub recognizes the trigger target and extracts trigger target distance data corresponding to the trigger target, the signal processing hub generates a radar trigger signal, and the radar detection module sends the radar trigger signal and the trigger target distance data to a micro control hub,

[0065] The micro control hub receives the radar trigger signal and the trigger target distance data, determines whether the trigger target distance data belongs to a detection target model range according to a preset detection target model range, and determines whether the radar trigger signal is received, terminates the current operation or triggers a light state control mode according to the determination result, and the micro control hub generates a first trigger control signal and a second trigger control signal according to the light state control module,

[0066] The micro control hub sends the first trigger control signal to the lighting unit and the warning unit, the lighting unit receives the first trigger control signal and starts the lighting light emitting component, and the warning unit receives the first trigger control signal and starts the warning light emitting component,

[0067] The micro control hub sends the second trigger control signal to the lighting unit and the warning unit of a plurality of low-level lighting devices according to a set rule through a built-in wireless communication module, the lighting unit of the low-level lighting device receives the second trigger control signal and starts the lighting light emitting component, and the warning unit receives the second trigger control signal and starts the warning light emitting component.

[0068] In the embodiment, the radar detection module scans a set detection target range (towards the direction of an oncoming vehicle, that is, against the direction of travel of the road, and only detects a target in one direction, and does not detect a target passing through the radar detection module) to obtain a set current target signal (the prior art can determine the specific target according to the information of the obtained current target signal, such as whether the obtained current target signal is a car, a person, etc.) of a moving object that meets the preset parameters such as material, if the current target signal is a trigger target within the target recognition range, that is, the target distance data in the current target signal is extracted, the radar trigger signal (detecting that the current target signal is a trigger target within the target recognition range, generating a low-level signal with a duration of 100 ms) and the trigger target distance data are sent to the micro control hub through data transmission and signal transmission respectively.

[0069] After the micro control center obtains the radar trigger signal and trigger target distance data, it first judges whether the trigger target distance data is within the detection target model range. If the trigger target distance is too far, it can temporarily not work. If the trigger target distance is within the set distance range, it can start the light-emitting state control mode according to the radar trigger signal (the control mode is a set of control data and control signals pre-existing in the micro control center, such as setting the brightness of the red light, the brightness of the yellow light, the brightness of the lighting light, etc.), and then generates a type of trigger control signal for itself to control the lighting and warning light-emitting components, that is, the LED lamp panel (including the lighting LED lamp panel integrated with the light-emitting lamp beads for illuminating the road surface and the warning LED lamp panel integrated with the red light, yellow light warning light-emitting lamp beads for warning the rear vehicles), and also generates a type of trigger control signal for controlling the working of the LED lamp panel of the subsequent low-position lighting device along the road direction (also the driving direction).

[0070] If necessary, the working time of the LED lamp panel can be controlled according to the speed limit of the road where the low-position lighting device is located, for example, after receiving a type of trigger control signal or a type of trigger control signal, the light-emitting lamp beads of the LED lamp panel work (bright) for a certain period of time to save power.

[0071] In this embodiment, as shown in Figure 1 , the low-position lighting device includes a box body and a radar detection module 6, a lighting unit, and a warning unit 11 arranged in the box body. The radar detection module and the warning unit are arranged at the vertical two sides of the box body, and the radar detection module and the lighting unit are arranged at the same side of the box body.

[0072] The surface of the box body is provided with a mounting space that is tapered inward. The lighting unit is arranged at the upper side of the mounting space so that the light emitted by the lighting unit is downward.

[0073] The outer part of the radar detection module is provided with a radar transparent antenna 5 cover.

[0074] The outer part of the warning unit is provided with a light-emitting transparent cover 10.

[0075] The lighting unit includes a low-position lighting lens 3, a low-position lighting lamp panel 4, and a low-position lighting heat sink 2 from outside to inside. The low-position lighting lamp panel and the low-position lighting heat sink are closely attached.

[0076] The box body includes an upper shell 1 and a mounting base 8. The upper shell and the mounting base are connected to form a hexahedral shell structure. The surface of the box body is provided with a plurality of through holes in which the radar detection module and the warning unit are embedded. The mounting base is fixed with a power adapter 7 and a micro control center 12 (MCU, as shown in Figure 2 ). The height of the mounting base is less than the height of the box body.

[0077] A GPS antenna 13 is installed on the top of the enclosure.

[0078] A rod-shaped receiving antenna 9 for receiving signals from the radar detection module is installed at the bottom of the enclosure.

[0079] In this embodiment, as Figure 3 As shown, the radar detection module is equipped with a data output port JP2 and a serial communication port JP3. The data output port is connected to the data input port of the micro control center, and the serial communication port of the radar detection module is connected to the serial communication port of the micro control center.

[0080] In this embodiment, the horizontal beam angle of the radar detection module is 80° (forming the target detection range), and the frequency band is 24GHz.

[0081] In low-level lighting devices, the priority of Type I trigger control signals is higher than that of Type II trigger control signals. In this embodiment, both Type I and Type II trigger control signals are equipped with identification codes to distinguish their generation sources. The micro-control center receives both the Type I trigger control signal generated by its own low-level lighting device and the Type II trigger control signal generated by the front-end low-level lighting device. Both control signals control the working status of the LED light panel (i.e., the lighting and warning light components) of its own low-level lighting device, such as the light emission type and whether it is emitting light. After receiving the current control signal, the LED light panel drive control center (i.e., the control component that drives the LED light panel with lighting and warning units) compares the priority of the previous control signal with the priority of the currently received control signal. Based on the setting that the priority of Type I trigger control signals is higher than that of Type II trigger control signals, the control content of the Type I trigger control signal is prioritized, thereby controlling the working status of the LED light panel.

[0082] The detection target model range is set to include a red light target model range and a yellow light target model range. If the trigger target distance is within the yellow light target model range, both the first-class trigger control signal and the second-class trigger control signal generated by the micro-control center will control the yellow light in the warning light component to work. If the trigger target distance is within the red light target model range, both the first-class trigger control signal and the second-class trigger control signal generated by the micro-control center will control the red light in the warning light component to work.

[0083] The signal processing center of the radar detection module sets the pixel intensity of the darkest point cloud image in the non-sky area within the detection target range under normal conditions to the normal atmospheric transmittance, and sets the pixel intensity of the darkest point cloud image in the non-sky area within the detection target range under the current state to the current atmospheric transmittance.

[0084] In this embodiment, the radar detection module detects the state of the target by emitting electromagnetic waves (laser pulses for lidar) and calculates the distance, azimuth angle, and elevation angle of the detected target after receiving the reflected signals, and constructs a point cloud (lidar usually uses multiple laser emitters and receivers to construct a dense point cloud) based on this information. Each point cloud represents a part of a target or obstacle detected by the radar detection module, and each point in the point cloud contains the position information of the target, usually including X, Y, and Z coordinates (for lidar, the points in the point cloud can also contain reflection intensity information, which helps to distinguish different materials or surfaces). The density of the constructed point cloud depends on the resolution and scanning frequency of the radar detection module, and a dense point cloud can provide more detailed shape and structure information and construct a three-dimensional model of the target or scene. These models can display static scenes or be updated in real time to reflect dynamic environments, where the points in the point cloud can be colored according to the reflection intensity, which helps to distinguish different surface materials, or according to the distance to display depth information.

[0085] The signal processing hub of the radar detection module traverses the point cloud image data, calculates the point cloud image pixel intensity of each pixel, obtains the darkest point cloud image pixel intensity, i.e. the pixel with the lowest point cloud image pixel intensity value, and uses the point cloud image pixel intensity of this pixel as the current atmospheric transmittance. In addition, when setting up the low-position lighting device, the radar detection module is parameterized by a terminal computer or the like, and an appropriate time point (such as night when weather influencing factors are few, or daytime when weather influencing factors are many, etc.) is selected, the lighting assembly is started, and the darkest point cloud image pixel intensity in the point cloud image map formed by the radar detection module under normal conditions (here, normal refers to ideal or good lighting conditions) is obtained.

[0086] The micro control hub sets a detection range adjustment threshold, and the signal processing hub of the radar detection module sends the related data of the current atmospheric transmittance to the micro control hub. The micro control hub determines whether the difference between the current atmospheric transmittance and the detection range adjustment threshold is within the detection range control range. If the difference between the current atmospheric transmittance and the detection range adjustment threshold is within the detection range control range, the micro control hub adjusts the detection target model range.

[0087] At least part of the lighting area is located within the detection target range of the radar detection module, and the signal processing hub of the radar detection module sets a certain fixed target as a reference target, which is located within both the detection target range of the radar detection module and the lighting area. The signal processing hub of the radar detection module compares the point cloud image pixel intensity data of the reference target under normal and current conditions, and calculates the current atmospheric light intensity based on the current atmospheric transmittance.

[0088] In the embodiment, when the low-level lighting device is set, the radar detection module is set by terminal computer and the like in parameters, working mode, operation, network connection and the like, which includes the setting of the reference target. The reference target is a certain fixed object or obstacle which is set in the detection target range of the radar detection module and the lighting area of the low-level lighting device at the same time. In the embodiment, the reference target is a fixed road area which is located in the detection target range and the lighting area at the same time (the road area with less shelter is selected as much as possible, such as the shelter of street trees), and in other embodiments, the reference target is a fixed road sign. A proper time point (such as night with less weather influence factors or day with more weather influence factors) is selected, the lighting assembly is started, and the pixel intensity data of the point cloud image of the reference target in normal state (here, the normal state refers to the pixel intensity data of the point cloud image of the reference target in the ideal or good lighting state regardless of the weather influence) is obtained. After the radar detection module scans and detects, the pixel intensity data of the point cloud image of the same reference target in the current state is obtained, the pixel intensity data of the point cloud image in the normal state is compared with the pixel intensity data of the point cloud image in the current state, and the relationship between the current weather factors and the weather factors in the ideal or good state is calculated, so that the illumination intensity caused by the weather factors in the current state (i.e. the current atmospheric light intensity) is obtained.

[0089] The signal processing hub of the radar detection module records the pixel intensity data of the point cloud image of the reference target in the normal state as the original reference value, records the pixel intensity data of the point cloud image of the reference target in the current state as the calculation value, and calculates the current atmospheric light intensity according to the calculation formula among the original reference value, the calculation value, the current atmospheric transmittance and the current atmospheric light intensity.

[0090] In the embodiment, the radar detection module records the pixel intensity data of the point cloud image of the reference target in the ideal or good lighting state as the original reference value I when setting. Then, the pixel intensity data of the point cloud image of the same reference target in the current state is obtained again in the operation process of the low-level lighting device, which is recorded as the calculation value J. At the same time, the darkest point cloud image pixel intensity of the non-sky area in the same point cloud image in which the calculation value is obtained is found, which is recorded as the current atmospheric transmittance τ. Then, the current atmospheric light intensity A at the reference target is calculated according to the preset calculation formula I = J·e τ +A(1-e -τ ), and the current atmospheric light intensity at the reference target is taken as the object for representing the lighting effect of the low-level lighting device.

[0091] The reference target is a region with multiple point clouds. In this embodiment, the current atmospheric light intensity of all point cloud image pixels in the reference target is calculated and then averaged. In other embodiments, the respective weighted average or arithmetic average of the original reference value and the calculated value of all point cloud image pixels can be calculated first, and then substituted into the calculation formula to obtain the overall atmospheric light intensity.

[0092] The micro control center sets a reference light intensity threshold range and a reference light intensity adjustment threshold. The reference light intensity adjustment threshold is subordinate to the reference light intensity threshold range. The signal processing center of the radar detection module sends the relevant data of the current atmospheric light intensity to the micro control center. The micro control center determines whether the current atmospheric light intensity is subordinate to the reference light intensity threshold range and adjusts the light intensity of the lighting unit and the warning unit so that the atmospheric light intensity obtained by the feedback is subordinate to the reference light intensity threshold range.

[0093] In this embodiment, the low-position lighting device is set by a terminal computer or the like to the micro control center, including the setting and storage of the reference light intensity threshold range and the reference light intensity adjustment threshold. After the radar detection module obtains the data of the current atmospheric light intensity, it transmits the data to the micro control center through a data transmission line. After receiving the data, the micro control center compares it with the reference light intensity threshold range to determine whether light intensity adjustment is needed. If the atmospheric light intensity is not subordinate to the reference light intensity threshold range, the control signal of the lighting unit and the warning unit is adjusted according to the difference between the reference light intensity adjustment threshold and the current atmospheric light intensity. After the control signal is transmitted to the lighting unit and the warning unit, the driving current of the LED lamp panel is adjusted to change the brightness of the LED lamp panel to better adapt to the current atmospheric environment.

[0094] The signal processing center of the radar detection module adjusts the current radar transmission power according to the ratio of the normal atmospheric transmittance and the current atmospheric transmittance. The signal processing center of the radar detection module adjusts the current radar receiving sensitivity according to the ratio of the normal atmospheric transmittance and the current atmospheric transmittance.

[0095] In the embodiment, the signal processing hub of the radar detection module obtains the set normal atmospheric transmittance from the memory, obtains the current atmospheric transmittance according to the point cloud image data obtained in the current detection target range, and obtains the ratio of the normal atmospheric transmittance to the current atmospheric transmittance. When the current atmospheric transmittance is lower than the normal atmospheric transmittance, the existing parameters of the radar detection module are adjusted, that is, the transmission power and the receiving sensitivity of the radar are adjusted. The original parameter setting of the radar detection module or the parameter setting of the radar detection module in the ideal state or the excellent state is taken as the initial radar transmission power and the initial radar receiving sensitivity. The transmission power and the receiving sensitivity of the radar obtained after the adjustment are taken as the current radar transmission power and the current radar receiving sensitivity. The calculation formula used for the adjustment is that the ratio of the normal atmospheric transmittance to the current atmospheric transmittance is equal to the ratio of the initial radar transmission power to the current radar transmission power, and the ratio of the normal atmospheric transmittance to the current atmospheric transmittance is equal to the ratio of the initial radar receiving sensitivity to the current radar receiving sensitivity.

[0096] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A radar-triggered low-level illumination device, characterized in that, The radar detection module scans the target range and acquires the current target signal. This signal is then sent to the signal processing center of the radar detection module. The signal processing center determines whether a triggering target exists based on a preset target recognition range. It identifies the triggering target, extracts the corresponding triggering target distance data, and generates a radar trigger signal. The radar detection module then sends the radar trigger signal and the triggering target distance data to the micro-control center. The micro-control center receives radar trigger signals and target distance data. Based on a preset target detection model range, it determines whether the target distance data falls within the target detection model range and whether a radar trigger signal has been received. Based on the determination result, it terminates the current operation or triggers a light emission state control mode. The micro-control center generates a first-class trigger control signal and a second-class trigger control signal according to the light emission state control mode. The micro-control center sends a type of trigger control signal to the lighting unit and the warning unit. The lighting unit receives the type of trigger control signal and activates the lighting component, and the warning unit receives the type of trigger control signal and activates the warning component. The micro control center sends two types of trigger control signals to the lighting units and warning units of several low-level lighting devices according to the set rules via the built-in wireless communication module. The lighting units of the low-level lighting devices receive the two types of trigger control signals and activate the lighting components, and the warning units receive the two types of trigger control signals and activate the warning components. The signal processing center of the radar detection module sets the pixel intensity of the darkest point cloud image in the non-sky area within the detection target range under normal conditions to the normal atmospheric transmittance, and sets the pixel intensity of the darkest point cloud image in the non-sky area within the detection target range under the current state to the current atmospheric transmittance. The micro-control center is equipped with a detection range adjustment threshold. The radar detection module's signal processing center sends relevant data on the current atmospheric transmittance to the micro-control center. The micro-control center determines whether the difference between the current atmospheric transmittance and the detection range adjustment threshold is within the detection range control range. If the difference is within the detection range control range, the micro-control center adjusts the detection target model range. At least part of the illuminated area is within the target detection range of the radar detection module. The signal processing center of the radar detection module sets a fixed target as a reference target, which is simultaneously located within the detection range and illumination area of ​​the radar detection module. The signal processing center of the radar detection module compares the pixel intensity data of the point cloud image of the reference target in its normal state and current state, and calculates the current atmospheric light intensity by combining it with the current atmospheric transmittance. The micro-control center sets a reference light intensity threshold range and a reference light intensity adjustment threshold, with the reference light intensity adjustment threshold subordinate to the reference light intensity threshold range. The radar detection module's signal processing center sends relevant data on the current atmospheric light intensity to the micro-control center. The micro-control center determines whether the current atmospheric light intensity falls within the reference light intensity threshold range, and adjusts the light intensity of the lighting unit and the warning unit so that the atmospheric light intensity obtained from the feedback falls within the reference light intensity threshold range. The radar detection module's signal processing center adjusts the current radar transmit power based on the ratio of normal atmospheric transmittance to current atmospheric transmittance; The signal processing center of the radar detection module adjusts the current radar receiving sensitivity based on the ratio of normal atmospheric transmittance to the current atmospheric transmittance.

2. The radar-triggered low-level illumination device according to claim 1, characterized in that, The priority of Class I trigger control signals is higher than that of Class II trigger control signals.

3. The radar-triggered low-level illumination device according to claim 1, characterized in that, The detection target model range is set to include a red light target model range and a yellow light target model range. If the trigger target distance is within the yellow light target model range, both the first-class trigger control signal and the second-class trigger control signal generated by the micro-control center will control the yellow light in the warning light component to work. If the trigger target distance is within the red light target model range, both the first-class trigger control signal and the second-class trigger control signal generated by the micro-control center will control the red light in the warning light component to work.

4. A radar-triggered low-level illumination device according to claim 1, characterized in that, The signal processing center of the radar detection module records the pixel intensity data of the point cloud image of the reference target under normal conditions as the original reference value. The signal processing center of the radar detection module records the pixel intensity data of the point cloud image of the reference target under the current state as calculated values. The signal processing center of the radar detection module calculates the current atmospheric light intensity based on the original reference value, the calculated value, the formula relating the current atmospheric transmittance and the current atmospheric light intensity.

5. A radar-triggered low-level illumination device according to claim 1, characterized in that, This includes the enclosure and the radar detection module, lighting unit, and warning unit housed within it. The surface of the enclosure has an inwardly tapered mounting space, and a lighting unit is installed on the upper side of the mounting space, so that the light emitted by the lighting unit points downwards. The warning unit is equipped with a transparent, luminous face shield. The lighting unit, from the outside in, includes a low-position lighting lens, a low-position lighting panel, and a low-position lighting heat sink.

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