Road risk intelligent perception warning system, method and equipment

Abstract

The present application discloses a road risk intelligent perception warning system, method and equipment, including multiple intelligent perception warning components arranged on road guardrails, each of the intelligent perception warning components includes at least one intelligent perception terminal and multiple risk warning terminals using self-organizing network communication, and the intelligent perception terminals in the multiple intelligent perception warning components are connected to each other in communication; each of the intelligent perception terminals includes a sensor, a communication module, a data processing module and a warning module. The present application replaces the intelligent perception terminal with a risk warning terminal with lower hardware cost, and the sensors on the intelligent perception terminal can be set according to the requirements of the road section, further reducing the hardware cost. At the same time, the installation method on the road guardrail is simple, without the need to build support poles or bury the ground, etc., reducing the installation cost.

Description

Technical Field

[0001] The present application relates to the field of smart transportation technology, and in particular to a road risk intelligent perception warning system, method and equipment. Background Art

[0002] At present, the road risk warning program is mainly an early warning program to avoid secondary traffic accidents after a vehicle collision accident. It relies on users to report traffic incidents to the navigation system or traffic police to report to the traffic network on the scene. It usually takes several minutes to tens of minutes from the occurrence of the accident to the traffic network being informed of the accident. On high-speed roads such as highways, the inability to report accident information instantly may result in the inability of vehicles behind to avoid in time and cause secondary traffic accidents.

[0003] In addition, current road risk warning schemes rarely include warnings for driving risks caused by natural disasters, such as road collapse, water accumulation, and landslides. The known warning schemes for these driving risks require the installation of a large number of surveillance cameras and sensors at different locations in the same specific area for auxiliary identification, resulting in high hardware and installation costs and difficulty in large-scale application, making it difficult to effectively reduce the occurrence of accidents. Summary of the invention

[0004] The present application provides a road risk intelligent perception warning system, method and device to solve the technical problem that the current road risk warning solution has high hardware cost and installation cost and is difficult to apply on a large scale.

[0005] In order to solve the above technical problems, in the first aspect, the present application provides a road risk intelligent perception warning system, comprising a plurality of intelligent perception warning components arranged on a road guardrail, each of the intelligent perception warning components comprising at least one intelligent perception terminal and a plurality of risk warning terminals using ad hoc network communication, the intelligent perception terminals in the plurality of intelligent perception warning components being communicatively connected; each of the intelligent perception terminals comprising a sensor, a communication module, a data processing module and a warning module;

[0006] The sensor is used to sense lane environment information of the target lane area;

[0007] The communication module is used to communicate with the risk warning terminal and obtain functional status information of the risk warning terminal;

[0008] The data processing module is used to identify the road risk information of the target lane area according to the lane environment information and the functional status information, match the target warning action strategy corresponding to the road risk information, and send the target warning action strategy to the risk warning terminal through the communication module;

[0009] The warning module is used to perform a first warning action according to the target warning action strategy, wherein the first warning action includes a light warning action and / or a sound warning action;

[0010] The risk warning terminal is used to execute a second warning action according to the target warning action strategy, wherein the second warning action and the first warning action are linked actions.

[0011] In some of the embodiments, the data processing module includes:

[0012] an identification submodule, configured to perform risk identification on the target lane area based on a preset decision rule and according to the lane environment information and the functional status information, and obtain road risk information of the target lane area, wherein the lane environment information includes terminal vibration information, terminal tilt information and / or rainfall information;

[0013] The matching submodule is used to match the target warning action strategy corresponding to the road risk information based on the preset corresponding relationship between the road risk information and the warning action strategy.

[0014] In some embodiments, the identification submodule includes:

[0015] A first determination unit is configured to determine that the road risk information of the target lane area includes a vehicle collision risk, a lane collapse risk, a mountain mudslide risk, and / or a lane water accumulation risk if the terminal vibration information meets a first preset condition, the terminal tilt information meets a second preset condition, and / or the rainfall information meets a third preset condition;

[0016] The second determination unit is used to determine that the road risk information of the target lane area is a risk of vehicle collision, a risk of lane collapse and / or a risk of mountain mudslide if, in the same period, the terminal vibration information meets the fourth preset condition and / or the terminal tilt information meets the fifth preset condition, and the functional status information of the target risk warning terminal is changed from communication function available to communication function unavailable, wherein the fourth preset condition and the fifth preset condition corresponding to different risk warning terminals are different.

[0017] In some of the embodiments, the communication module is also used to communicate with an adjacent intelligent sensing terminal, obtain terminal status information of the adjacent intelligent sensing terminal, and identify road risk information of the lane area where the adjacent intelligent sensing terminal is located based on the terminal status information.

[0018] In some of the embodiments, the risk warning terminal is further configured to execute a preset warning action if the communication connection with the intelligent sensing terminal fails.

[0019] In some of the embodiments, the system further includes an edge terminal, the edge terminal being communicatively connected to the intelligent sensing warning component;

[0020] The edge end is used to obtain lane environment information of the target lane area, functional status information of the risk warning terminal and terminal status information of the intelligent perception terminal, and use a preset road risk identification model to identify the risk of the target lane area according to the lane environment information, functional status information and terminal status information, obtain target road risk information, and send the target warning action strategy corresponding to the target road risk information to the intelligent perception terminal and the risk warning terminal in the intelligent perception warning component; wherein the lane environment information, functional status information and terminal status information are time series information.

[0021] In some of the embodiments, the system further comprises a cloud, wherein the cloud is communicatively connected with the intelligent sensing warning component and the edge terminal;

[0022] The cloud is used to report the lane environment information of the target lane area, the functional status information of the risk warning terminal and the terminal status information of the intelligent sensing terminal, as well as the road risk information identified by the intelligent sensing terminal or the target road risk information identified by the edge terminal to the road administrator terminal.

[0023] In some of the embodiments, the system further includes a vehicle-mounted terminal, which communicates with the intelligent perception warning component in an ad hoc network, or communicates with the edge terminal and based on V2X technology, or communicates with the cloud based on a mobile network;

[0024] The vehicle-mounted terminal is used to obtain the road risk information or the target road risk information, and prompt the road risk information or the target road risk information to the driver.

[0025] In a second aspect, the present application further provides a road risk intelligent perception warning method, which is applied to an intelligent perception terminal in the above-mentioned road risk intelligent perception warning system, and the method comprises:

[0026] Perceive the lane environment information of the target lane area and obtain the functional status information of the risk warning terminal;

[0027] identifying the road risk information of the target lane area according to the lane environment information and the functional status information, and matching the target warning action strategy corresponding to the road risk information;

[0028] According to the target warning action strategy, a first warning action is performed, wherein the first warning action includes a light warning action and / or a sound warning action, wherein the target warning action strategy is also sent to the risk warning terminal so that the risk warning terminal performs a second warning action according to the target warning action strategy.

[0029] In a third aspect, the present application also provides an intelligent perception device, including a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the road risk intelligent perception warning method as described above is implemented.

[0030] Compared with the prior art, this application has at least the following beneficial effects:

[0031] The present application will adopt at least one intelligent sensing terminal and multiple risk warning terminals for self-organizing network communication to be set on the road guardrail, and replace the intelligent sensing terminal with a risk warning terminal with lower hardware cost, and the sensor on the intelligent sensing terminal can be set according to the needs of the road section, further reducing the hardware cost. At the same time, the installation method on the road guardrail is simple, and there is no need to build support poles or bury the ground, etc., which reduces the installation cost; each of the intelligent sensing terminals includes a sensor, a communication module, a data processing module and a warning module; the lane environment information of the target lane area is sensed by the sensor; the functional status information of the risk warning terminal is obtained by the communication module; the data processing module is used according to the Lane environment information and the functional status information are used to identify the road risk information of the target lane area, and match the target warning action strategy corresponding to the road risk information, and send the target warning action strategy to the risk warning terminal through the communication module; through the warning module, according to the target warning action strategy, a first warning action is executed, and the first warning action includes a light warning action and / or a sound warning action; through the risk warning terminal, according to the target warning action strategy, a second warning action linked to the first warning action is executed, which can realize rapid warning of driving risks such as road collapse, water accumulation and landslide, and improve the timeliness of warnings during high-speed driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the structure of a road risk intelligent perception and warning system shown in one embodiment of the present application;

[0033] Figure 2 This is a schematic diagram of the installation of an intelligent sensing warning component according to an embodiment of the present application;

[0034] Figure 3 This is a schematic diagram of the structure of a road risk intelligent perception and warning system shown in another embodiment of the present application;

[0035] Figure 4 A schematic diagram of a process flow of a road risk intelligent perception and warning method according to an embodiment of the present application;

[0036] Figure 5 This is a schematic diagram of the structure of an intelligent sensing terminal according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0038] Please refer to Figure 1 , Figure 1 A schematic diagram of the structure of a road risk intelligent perception warning system provided in an embodiment of the present application. The road risk intelligent perception warning system in an embodiment of the present application includes multiple intelligent perception warning components arranged on a road guardrail, each of the intelligent perception warning components includes at least one intelligent perception terminal and multiple risk warning terminals using ad hoc network communication, and the intelligent perception terminals in the multiple intelligent perception warning components are connected to each other in communication; each of the intelligent perception terminals includes a sensor, a communication module, a data processing module and a warning module;

[0039] The sensor is used to sense lane environment information of the target lane area;

[0040] The communication module is used to communicate with the risk warning terminal and obtain functional status information of the risk warning terminal;

[0041] The data processing module is used to identify the road risk information of the target lane area according to the lane environment information and the functional status information, match the target warning action strategy corresponding to the road risk information, and send the target warning action strategy to the risk warning terminal through the communication module;

[0042] The warning module is used to perform a first warning action according to the target warning action strategy, wherein the first warning action includes a light warning action and / or a sound warning action;

[0043] The risk warning terminal is used to execute a second warning action according to the target warning action strategy, wherein the second warning action and the first warning action are linked actions.

[0044] In this embodiment, the intelligent sensing terminal and the risk warning terminal are arranged and installed on the road guardrail according to a preset interval. For example, Figure 2 As shown, "11" and "21" represent the intelligent sensing terminals of the first group of intelligent sensing warning components and the second group of intelligent sensing warning components, respectively, and "12" and "22" represent the risk warning terminals of the first group of intelligent sensing warning components and the second group of intelligent sensing warning components, respectively. The intelligent sensing terminals of each group of intelligent sensing warning components control the risk warning terminals of the group, and the intelligent sensing terminals of each group are connected in communication. It can be understood that the intelligent sensing terminal can be equipped with sensors such as vibration sensors, tilt sensors, gyroscopes, GPS, GNSS, radars, rain gauges, and CDD sensors according to needs. In this embodiment, the sensor is installed on the intelligent sensing terminal. It only needs to be installed on the road guardrail, and there is no need to install sensors in multiple places such as hillsides and roadsides, which greatly reduces the installation cost. The risk warning terminal is provided with communication elements and warning elements. The warning elements can be LED lights and sound amplifiers. In this embodiment, the intelligent sensing terminal is linked with the risk warning terminal for control. It only needs to add a small number of intelligent sensing terminals on the basis of the existing warning equipment on the road guardrail, which effectively reduces the hardware cost.

[0045] The road risks to be detected in this embodiment may include vehicle collision, road collapse, landslide and road water accumulation, etc., which are judged by the vibration information, inclination information and rainfall information within a certain range sensed by the sensor. Since the sensor sensing range is limited, for the lane where the risk warning terminal is located beyond the sensor sensing range, a comprehensive judgment is made in combination with the functional status information of the risk warning terminal to realize the detection of road risks outside the sensor sensing range.

[0046] For different road risks, a set of warning action strategies can be preset respectively, and through the communication between adjacent intelligent sensing terminals, multiple groups of intelligent sensing warning components can be linked to warn. For example, when a road collapse occurs, the automatic sensing triggers the intelligent sensing warning components within 1.6 kilometers to issue light and sound warnings. The warning lights at 1,600 to 800 meters away from the collapse point can flash white lights and play a beeping sound. The warning lights at 800 to 400 meters can flash yellow lights and play a warning message: "Please slow down immediately if there is a collapse ahead." The red lights at 400 meters to the collapse point can flash quickly and play a warning message: "Please stop immediately if there is a collapse ahead."

[0047] In some embodiments, the data processing module includes:

[0048] an identification submodule, configured to perform risk identification on the target lane area based on a preset decision rule and according to the lane environment information and the functional status information, and obtain road risk information of the target lane area, wherein the lane environment information includes terminal vibration information, terminal tilt information and / or rainfall information;

[0049] The matching submodule is used to match the target warning action strategy corresponding to the road risk information based on the preset corresponding relationship between the road risk information and the warning action strategy.

[0050] In this embodiment, the functional status information may include communication functional status information, lighting functional status information and sound functional status information. Risk identification is achieved by detecting the functional status of each risk warning terminal and combining the lane environment information.

[0051] Optionally, the identification submodule includes:

[0052] A first determination unit is configured to determine that the road risk information of the target lane area includes a vehicle collision risk, a lane collapse risk, a mountain mudslide risk, and / or a lane water accumulation risk if the terminal vibration information meets a first preset condition, the terminal tilt information meets a second preset condition, and / or the rainfall information meets a third preset condition;

[0053] The second determination unit is used to determine that the road risk information of the target lane area is a risk of vehicle collision, a risk of lane collapse and / or a risk of mountain mudslide if, in the same period, the terminal vibration information meets the fourth preset condition and / or the terminal tilt information meets the fifth preset condition, and the functional status information of the target risk warning terminal is changed from communication function available to communication function unavailable, wherein the fourth preset condition and the fifth preset condition corresponding to different risk warning terminals are different.

[0054] In this embodiment, exemplarily, the first preset condition may be that the terminal vibration value is greater than the first preset value, which indicates that the intelligent sensing terminal detects a large vibration, which may be caused by a vehicle hitting the guardrail, a road collapse, or a landslide hitting the guardrail; the second preset condition may be that the terminal inclination value is greater than the second preset value, which indicates that the intelligent sensing terminal detects a large deformation of the guardrail, which may be caused by a vehicle hitting the guardrail, a road collapse, or a landslide hitting the guardrail; the third preset condition may be that the rainfall is greater than the third preset value, which indicates that the intelligent sensing terminal detects a large rainfall, which may exceed the lane drainage capacity and cause lane water accumulation. It is understandable that there are differences in the vibration value and inclination value corresponding to a vehicle hitting the guardrail, a road collapse, or a landslide hitting the guardrail, and they can be preset according to actual conditions.

[0055] The fourth preset condition may be that the terminal vibration value is greater than the fourth preset value and less than the first preset value, and the fifth preset condition may be that the terminal inclination value is greater than the fifth preset value and less than the second preset value, which means that the vibration may be caused by the area where the risk warning terminal is located, so the communication function status of the target risk warning terminal is detected. If the communication function status of the target risk warning terminal changes from available to unavailable at this time, it means that the target risk warning terminal is hit, so it can be determined that there is a risk of vehicle collision, lane collapse and / or mountain mudslide. It should be noted that due to the different distances between different risk warning terminals and the intelligent sensing terminal, the intelligent sensing terminal has different vibration perception and inclination perception of different risk warning terminals. For example, the intelligent sensing terminal has a stronger sense of vibration for risk warning terminals that are closer, and a weaker sense of vibration for risk warning terminals that are farther away, so different fourth preset values ​​and fifth preset values ​​are set for different risk warning terminals to improve the accuracy of judgment.

[0056] It can be understood that the first to fifth preset conditions mentioned above can also be determination conditions for the vibration curve, the inclination curve and the rainfall curve.

[0057] In some embodiments, the communication module is further used to communicate with an adjacent intelligent sensing terminal, obtain terminal status information of the adjacent intelligent sensing terminal, and identify road risk information of a lane area where the adjacent intelligent sensing terminal is located according to the terminal status information;

[0058] The risk warning terminal is further configured to execute a second preset warning action if the communication connection with the intelligent sensing terminal fails.

[0059] In this embodiment, since the intelligent sensing terminal may be damaged by risks such as vehicle collision, road collapse and mudslide, the terminal status information of the target intelligent sensing terminal is detected by other adjacent intelligent sensing terminals. If the target intelligent sensing terminal has no communication response, it is determined that there is a road risk in the lane area where the target intelligent sensing terminal is located.

[0060] In some embodiments, Figure 3 As shown, the system further includes an edge end, and the edge end is communicatively connected with the intelligent perception warning component;

[0061] The edge end is used to obtain lane environment information of the target lane area, functional status information of the risk warning terminal and terminal status information of the intelligent perception terminal, and use a preset road risk identification model to identify the risk of the target lane area according to the lane environment information, functional status information and terminal status information, obtain target road risk information, and send the target warning action strategy corresponding to the target road risk information to the intelligent perception terminal and the risk warning terminal in the intelligent perception warning component; wherein the lane environment information, functional status information and terminal status information are time series information.

[0062] In this embodiment, in order to further improve the accuracy of road risk identification, edge ends can be added while controlling costs. For example, for sections of road that are prone to road collapse and mudslides, edge ends are also added for edge computing to improve recognition accuracy while achieving rapid identification.

[0063] Optionally, the lane environment information, functional status information and terminal status information are time series information within a preset time length. The edge terminal makes a decision by inputting the above time series information into a preset road risk identification model and outputs the target road risk information. Since the intelligent perception terminal is a rule-based judgment, it can use a low-cost processing chip for data processing, but the accuracy of rule judgment is lower than that of model judgment, so the target road risk information replaces the road risk information identified by the intelligent perception terminal, and the warning action strategy corresponding to the target road risk information is sent to the intelligent perception terminal. Among them, the preset road risk identification model can be a deep learning model and a sensor fusion model, etc., which is not limited to this.

[0064] In some embodiments, Figure 3 As shown, the system further includes a cloud, and the cloud is communicatively connected with the intelligent sensing warning component and the edge end;

[0065] The cloud is used to report the lane environment information of the target lane area, the functional status information of the risk warning terminal and the terminal status information of the intelligent sensing terminal, as well as the road risk information identified by the intelligent sensing terminal or the target road risk information identified by the edge terminal to the road administrator terminal.

[0066] In this embodiment, the lane environment information of the target lane area, the functional status information of the risk warning terminal and the terminal status information of the intelligent sensing terminal are reported to the road administrator terminal so that the road administrator can be informed of the road risks in time and can take corresponding measures.

[0067] In some embodiments, Figure 3As shown, the system also includes a vehicle-mounted terminal, which communicates with the intelligent perception warning component in an ad hoc network, or communicates with the edge terminal and based on V2X technology, or communicates with the cloud based on a mobile network;

[0068] The vehicle-mounted terminal is used to obtain the road risk information or the target road risk information, and prompt the road risk information or the target road risk information to the driver.

[0069] In this embodiment, the vehicle-mounted terminal communicates with the intelligent sensing terminal, edge terminal or cloud to obtain road risk information and inform the driver, thereby achieving vehicle-road collaboration.

[0070] See also Figure 4 , Figure 4 The flowchart of a road risk intelligent perception and warning method provided by an embodiment of the present application is shown. The road risk intelligent perception and warning method of this embodiment is applied to an intelligent perception terminal in the above-mentioned road risk intelligent perception and warning system, and the method includes:

[0071] Step S101, sensing lane environment information of a target lane area, and obtaining functional status information of a risk warning terminal;

[0072] Step S102, identifying the road risk information of the target lane area according to the lane environment information and the functional status information, and matching the target warning action strategy corresponding to the road risk information;

[0073] Step S103, performing a first warning action according to the target warning action strategy, wherein the first warning action includes a light warning action and / or a sound warning action, wherein the target warning action strategy is also sent to the risk warning terminal so that the risk warning terminal performs a second warning action according to the target warning action strategy.

[0074] The above-mentioned road risk intelligent perception and warning method can be applied to the intelligent perception terminal of the road risk intelligent perception and warning system of the above-mentioned method embodiment, and the optional items in the above-mentioned system embodiment are also applicable to this embodiment, which will not be described in detail here. The rest of the contents of the embodiment of this application can refer to the contents of the above-mentioned method embodiment, and will not be repeated in this embodiment.

[0075] Figure 5 This is a schematic diagram of the structure of an intelligent sensing terminal provided in one embodiment of the present application. Figure 5 As shown, the intelligent sensing terminal 5 of this embodiment includes: at least one processor 50 ( Figure 5Only one is shown in the figure), a memory 51 and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, wherein the processor 50 implements the steps of any of the above method embodiments when executing the computer program 52.

[0076] The intelligent sensing terminal may include but is not limited to a processor 50 and a memory 51. Those skilled in the art will appreciate that Figure 5 It is only an example of the intelligent sensing terminal 5 and does not constitute a limitation on the intelligent sensing terminal 5. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include sensors, network access devices, etc.

[0077] The processor 50 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0078] In some embodiments, the memory 51 may be an internal storage unit of the intelligent sensing terminal 5, such as a hard disk or memory of the intelligent sensing terminal 5. In other embodiments, the memory 51 may also be an external storage device of the intelligent sensing terminal 5, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the intelligent sensing terminal 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the intelligent sensing terminal 5. The memory 51 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 51 may also be used to temporarily store data that has been output or is to be output.

[0079] In addition, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0080] The embodiment of the present application provides a computer program product. When the computer program product is run on an intelligent sensing terminal, the intelligent sensing terminal implements the steps in the above-mentioned method embodiments when executing the computer program product.

[0081] In several embodiments provided in the present application, it is understood that each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.

[0082] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0083] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A road risk intelligent perception warning system, characterized in that: It includes multiple intelligent perception warning components arranged on the road guardrail, each of the intelligent perception warning components includes at least one intelligent perception terminal and multiple risk warning terminals using ad hoc network communication, and the intelligent perception terminals in the multiple intelligent perception warning components are communicatively connected; each of the intelligent perception terminals includes a sensor, a communication module, a data processing module and a warning module; The sensor is used to sense lane environment information of the target lane area; The communication module is used to communicate with the risk warning terminal and obtain functional status information of the risk warning terminal; The data processing module is used to identify the road risk information of the target lane area according to the lane environment information and the functional status information, match the target warning action strategy corresponding to the road risk information, and send the target warning action strategy to the risk warning terminal through the communication module; The warning module is used to perform a first warning action according to the target warning action strategy, wherein the first warning action includes a light warning action and / or a sound warning action; The risk warning terminal is used to perform a second warning action according to the target warning action strategy, wherein the second warning action and the first warning action are linked actions; Wherein, the data processing module includes: an identification submodule, configured to perform risk identification on the target lane area based on a preset decision rule and according to the lane environment information and the functional status information, and obtain road risk information of the target lane area, wherein the lane environment information includes terminal vibration information, terminal tilt information and / or rainfall information; a matching submodule, configured to match a target warning action strategy corresponding to the road risk information based on a preset corresponding relationship between the road risk information and the warning action strategy; The identification submodule comprises: A first determination unit is configured to determine that the road risk information of the target lane area includes a vehicle collision risk, a lane collapse risk, a mountain mudslide risk, and / or a lane water accumulation risk if the terminal vibration information meets a first preset condition, the terminal tilt information meets a second preset condition, and / or the rainfall information meets a third preset condition; The second determination unit is used to determine that the road risk information of the target lane area is a risk of vehicle collision, a risk of lane collapse and / or a risk of mountain mudslide if, in the same period, the terminal vibration information meets the fourth preset condition and / or the terminal tilt information meets the fifth preset condition, and the functional status information of the target risk warning terminal is changed from communication function available to communication function unavailable, wherein the fourth preset condition and the fifth preset condition corresponding to different risk warning terminals are different.

2. The road risk intelligent perception warning system as claimed in claim 1, characterized in that: The communication module is further used to communicate with an adjacent intelligent sensing terminal, obtain terminal status information of the adjacent intelligent sensing terminal, and identify road risk information of a lane area where the adjacent intelligent sensing terminal is located based on the terminal status information.

3. The road risk intelligent perception warning system as claimed in claim 2, characterized in that: The risk warning terminal is further configured to execute a second preset warning action if the communication connection with the intelligent sensing terminal fails.

4. The road risk intelligent perception warning system as claimed in claim 1, characterized in that: The system also includes an edge end, and the edge end is communicatively connected with the intelligent perception warning component; The edge end is used to obtain lane environment information of the target lane area, functional status information of the risk warning terminal and terminal status information of the intelligent perception terminal, and use a preset road risk identification model to identify the risk of the target lane area according to the lane environment information, functional status information and terminal status information, obtain target road risk information, and send a target warning action strategy corresponding to the target road risk information to the intelligent perception terminal and the risk warning terminal in the intelligent perception warning component; The lane environment information, function status information and terminal status information are timing information.

5. The road risk intelligent perception warning system as claimed in claim 4, characterized in that: The system further includes a cloud, wherein the cloud is communicatively connected with the intelligent sensing warning component and the edge terminal; The cloud is used to report the lane environment information of the target lane area, the functional status information of the risk warning terminal and the terminal status information of the intelligent sensing terminal, as well as the road risk information identified by the intelligent sensing terminal or the target road risk information identified by the edge terminal to the road administrator terminal.

6. The road risk intelligent perception warning system as claimed in claim 5, characterized in that: The system also includes a vehicle-mounted terminal, which communicates with the intelligent perception warning component in an ad hoc network, or communicates with the edge terminal and based on V2X technology, or communicates with the cloud based on a mobile network; The vehicle-mounted terminal is used to obtain the road risk information or the target road risk information, and prompt the road risk information or the target road risk information to the driver.

7. A road risk intelligent perception and warning method, characterized in that: The method applied to the intelligent sensing terminal in the road risk intelligent sensing warning system according to any one of claims 1 to 6 comprises: Perceive the lane environment information of the target lane area and obtain the functional status information of the risk warning terminal; identifying the road risk information of the target lane area according to the lane environment information and the functional status information, and matching the target warning action strategy corresponding to the road risk information; According to the target warning action strategy, a first warning action is performed, wherein the first warning action includes a light warning action and / or a sound warning action, wherein the target warning action strategy is also sent to the risk warning terminal so that the risk warning terminal performs a second warning action according to the target warning action strategy.

8. An intelligent sensing device, characterized in that: It includes a processor and a memory, the memory is used to store a computer program, and when the computer program is executed by the processor, it implements the road risk intelligent perception and warning method as claimed in claim 7.

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