Barrier anti-smashing control system and method

Abstract

This invention discloses a barrier gate anti-collision control system and method, relating to the field of barrier gate technology. It includes a ground sensor module, an execution module, and a processing module. The ground sensor module comprises multiple sensing units forming a detection network. When a vehicle passes by, it detects the vehicle's tire width, tire spacing, and driving path, generating corresponding detection datasets. The detection dataset generated by the first set of ground sensor modules that comes into contact with the vehicle is designated as Comparison Set I, and the dataset generated by the second set of ground sensor modules is designated as Comparison Set II. The processing module collects and compares Comparison Set I and Comparison Set II, and generates corresponding operation commands based on the comparison results. This invention senses the geometric parameters and dynamic characteristics of various vehicles, and generates an accurate path model by fitting the vehicle's driving trajectory points. Furthermore, by combining the vehicle's dynamic detection data, the barrier gate can adjust its opening and closing status in real time.

Description

Technical Field

[0001] This invention relates to the field of barrier gate technology, specifically to a barrier gate anti-smashing control system and method. Background Technology

[0002] A barrier gate, also known as a vehicle barrier, is a specialized access control device used on roads to restrict the movement of motor vehicles. It is now widely used in highway toll stations and parking lot systems to manage vehicle access.

[0003] Existing barrier gate control technologies typically include ground sensor module detection, infrared light curtain assistance, camera and video analysis, and lidar detection. Among these, the ground sensor module is the most common detection device, which senses the metallic signals of vehicles through induction coils buried underground. When a vehicle passes through, the ground sensor module can determine whether the vehicle is at a critical position on the barrier gate, thereby deciding whether to open or close the barrier gate.

[0004] A search revealed a Chinese patent (publication number: CN103810495B) that discloses a method and device for preventing the impact of a gate collision. The patent includes: acquiring the current image features of a target area, where the target area is the target area of ​​the gate base; performing Scale Invariant Feature Transform (SIFT) feature point matching on the current image features and background image features; if the number of unmatched SIFT feature points exceeds a first threshold, instructing the gate controller to stop the gate movement; the background image features are the image features of the target on the gate base, and the background image features include: each SIFT feature point in the target area, and the feature vector corresponding to the SIFT feature point.

[0005] In the existing technology, the detection and judgment capabilities of a single ground sensor module are weak, and its ability to detect abnormal vehicle behavior is limited, which may lead to the gate closing erroneously and causing a car-smashing accident. Therefore, this invention proposes a gate anti-smashing control system and method. Summary of the Invention

[0006] The purpose of this invention is to provide a gate anti-smashing control system and method to solve the problems mentioned in the background art.

[0007] This invention can be achieved through the following technical solution: a barrier gate anti-collision control system, comprising a ground sensor module, an execution module, and a processing module;

[0008] The two sets of ground sensor modules are respectively installed on both sides of the barrier gate arm and buried in the ground. When a vehicle passes through the barrier gate arm, it passes over the set of ground sensor modules in the corresponding direction.

[0009] The vehicle's travel direction is from the first group of ground sensor modules to the second group of ground sensor modules;

[0010] The ground sensor module includes multiple sensing units, which form a detection network. When a vehicle passes by, the network detects the vehicle's tire width, tire spacing, and driving path, and generates a corresponding detection dataset.

[0011] Furthermore, the detection dataset generated by the first set of ground sensor modules that came into contact with the vehicle is the comparison set I, and the detection dataset generated by the second set of ground sensor modules is the comparison set II;

[0012] The processing module collects and compares comparison set I and comparison set II, and generates corresponding operation instructions based on the comparison results;

[0013] The execution module shown controls the gate arm to open when the first set of ground sensor modules detects a vehicle passing by, and then controls the gate arm to close based on the operation command, thereby achieving dynamic response and avoiding malfunctions caused by fixed logic.

[0014] A further technical improvement of the present invention is that: when a vehicle passes by, the detection network determines the number of triggered sensing units n. s and the detection width d of each sensing unit s The tire width is calculated using the following formula:

[0015] W = n s ×d s W represents the width of a single tire;

[0016] Simultaneously, the first set of ground sensor modules records the farthest sensor unit positions triggered by the left and right front tires of the vehicle, and uses the formula: D = |x R -x L Calculate the tire clearance between the two wheels;

[0017] Where, x R and x L These are the locations of the sensing units triggered by the left and right tires, respectively.

[0018] Furthermore, the first set of ground sensor modules generates the corresponding driving path based on the order and position of the triggering sensing units of the left and right tires.

[0019] A further technical improvement of the present invention is that: the first set of ground sensor modules generates a corresponding driving path based on the order and position of the triggering sensing units of the left and right tires, including the following steps:

[0020] K1, Record the position of the sensing unit;

[0021] In the detection network, each sensing unit has fixed position coordinates;

[0022] When a vehicle passes by, the sensing unit is triggered, and the system records the triggering sequence and its corresponding location.

[0023] K2, Trigger Time Record;

[0024] Record the time when the vehicle triggers each sensor unit;

[0025] Determine the direction and sequence of vehicle movement by chronological order;

[0026] K3, trajectory point generation;

[0027] Based on the location and time of the triggered sensor unit, a set of trajectory points passed by the vehicle is generated:

[0028] K4, path fitting;

[0029] The set of trajectory points is fitted to the actual path of the vehicle to generate a continuous curve to describe the vehicle's driving trajectory.

[0030] When detecting the driving path, it includes curvature detection, deviation detection, and direction detection;

[0031] If all conditions are met, the path is normal;

[0032] Otherwise, if the path is marked as abnormal, the barrier gate will remain in the raised position.

[0033] A further technical improvement of the present invention is that: after the first set of ground sensor modules detects the tire width, tire spacing and movement path, it sends the detection dataset to the second set of ground sensor modules on the other side of the execution module;

[0034] When the left and right rear tires of the vehicle pass the first set of ground sensor modules, the first set of ground sensor modules detects the corresponding data of the left and right rear tires based on the detection dataset.

[0035] A further technical improvement of the present invention is that: when the rear tires of the vehicle pass by, the first set of ground sensor modules detects their moving speed and transmits it to the processing module;

[0036] The processing module generates corresponding movement logic based on the moving speed of the rear tires of the vehicle;

[0037] The movement logic includes smooth vehicle movement, or non-smooth vehicle movement within a specified range, including acceleration and deceleration.

[0038] The second set of ground sensor modules identifies the moving speed of the front and rear tires of the vehicle as they pass by, and transmits the data to the processing module.

[0039] The processing module compares the moving speed of the front and rear tires of the vehicle identified by the second set of ground sensor modules with the movement logic. After the comparison is successful, it sends a "close lever" operation command to the execution module.

[0040] A further technical improvement of the present invention is that: after receiving the detection dataset, the second group of ground sensor modules marks it as a "temporary" state;

[0041] After detecting that the front and rear tires of the vehicle are matched, the first set of ground sensor modules sends a "confirmation" message to the second set of ground sensor modules. The second set of ground sensor modules then changes the detection dataset marked as "provisional" to "use" for subsequent detection of the corresponding data of the vehicle when it passes by.

[0042] A further technical improvement of the present invention is that each ground sensor module has a preset vehicle movement direction based on its set location and the road's permitted vehicle travel direction;

[0043] The detection network records the sequence and time difference of when a vehicle triggers its sensing units as it passes by;

[0044] The ground sensor module determines whether the actual direction of vehicle movement is the same as the preset direction of vehicle movement based on the triggering sequence of the sensing units, and sends the determination result to the processing module.

[0045] If the judgment results are the same, the processing module controls the execution module to work normally;

[0046] If the judgment results are different, the processing module controls the execution of either keeping the lever raised or raising the lever immediately.

[0047] The specific steps are as follows:

[0048] When a vehicle passes by, the ground sensor module records the triggering sequence of the sensing units: S = {s1, s2, ..., sn}, where si is the number of the i-th sensing unit;

[0049] The ground sensor module records the trigger time t of the sensing unit. i And according to the formula: P = sign(t) i+1 -t i );

[0050] Among them, t i Let t be the time when the i-th sensing unit is triggered by the vehicle. i+1 This indicates the time when the (i+1)th sensing unit is triggered by the vehicle;

[0051] Therefore, t i+1 -t i The time difference between when the vehicle triggers adjacent sensing units;

[0052] sign is a mathematical symbol function, defined as follows: Used to determine the sign of the time difference;

[0053] When sign(t) i+1 -t iWhen )>0, the sensing unit t near the entrance i It will be triggered first, followed by the t in the exit direction. i+1 When triggered, it means that the vehicle's direction of movement is consistent with the preset direction;

[0054] When sign(t) i+1 -t i When ) < 0, the sensing unit t in the exit direction i+1 First it is triggered, then the sensing unit t in the direction of the entrance. i When triggered, it means that the vehicle's direction of movement is opposite to the preset direction;

[0055] When sign(t) i+1 -t i When ) = 0, the trigger times of the two sensing units are the same, indicating that the vehicle is stationary or stopped.

[0056] This invention also discloses a method for preventing the gate from being smashed, the method comprising the following steps:

[0057] S1. Distribute two sets of ground sensor modules on both sides of the barrier gate arm and set the driving direction;

[0058] S2. When the front wheels of the vehicle pass by, the first set of ground sensor modules along the driving direction detects the tire width, tire spacing and driving path of the vehicle, generates the corresponding detection dataset, and transmits the detection dataset to the second set of ground sensor modules.

[0059] S3. When the rear wheels of a vehicle pass by, the first group of ground sensor modules detects the tire width, tire spacing, and driving path of the rear wheels and matches them with the corresponding detection dataset. If the match is successful, the detection dataset in the second group of ground sensor modules is activated.

[0060] S4. The second group of ground sensor modules compares the tire width, tire spacing, and driving path when a vehicle passes by.

[0061] S5. Based on the comparison results, the processing module generates corresponding operation instructions.

[0062] Compared with the prior art, the present invention has the following beneficial effects:

[0063] This invention utilizes the detection network in the ground sensor module to sense the geometric parameters and dynamic characteristics of various vehicles. By fitting the vehicle's driving trajectory points, it generates an accurate path model and combines width and spacing correction parameters to achieve high-precision adaptation to complex scenarios. Furthermore, by combining the vehicle's dynamic detection data, the barrier gate can adjust its opening and closing status in real time to avoid malfunctions caused by static logic. When a vehicle has not completely passed or exhibits abnormal behavior, the system can maintain the raised gate state to prevent vehicle-smashing accidents.

[0064] Furthermore, by upgrading the detection logic of the ground sensor module, the system function can be significantly improved within the cost control range without the introduction of additional hardware equipment. At the same time, the ground sensor module is buried in the ground, which has strong anti-interference ability and low maintenance requirements. Compared with optical or video sensors, the system has higher stability and can adapt to harsh environments.

[0065] In summary, by dynamically judging the path and speed, the system can accurately identify whether a vehicle has completely passed through the barrier gate, avoiding accidents caused by misjudgment in traditional systems. When abnormal vehicle behavior is detected, the system will actively maintain the barrier gate in an elevated state to prevent accidental operation of the barrier gate from causing safety hazards to pedestrians or equipment. Attached Figure Description

[0066] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0067] Figure 1 This is a flowchart of a gate anti-collision control method according to the present invention. Detailed Implementation

[0068] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0069] Example 1

[0070] Please see Figure 1 As shown, the present invention provides a gate anti-collision control system, including a ground sensor module, an execution module and a processing module;

[0071] The two sets of ground sensor modules are respectively installed on both sides of the barrier gate arm and buried in the ground. When a vehicle passes through the barrier gate arm, it passes over the set of ground sensor modules in the corresponding direction.

[0072] The vehicle's travel direction is from the first group of ground sensor modules to the second group of ground sensor modules;

[0073] The ground sensor module includes multiple sensing units, which form a detection network. The accuracy of the detection network increases with the number of sensing units. When a vehicle passes by, the module detects the vehicle's tire width, tire spacing, and driving path, and generates a corresponding detection dataset.

[0074] When a vehicle passes by, the detection network determines the number of triggered sensors, n. s and the detection width d of each sensing unit s The tire width is calculated using the following formula:

[0075] W = n s ×d sW is the width of a single tire, and additional values ​​are set for the width between each tire to increase the value of W and avoid misjudgment by the subsequent system due to inconsistent tire sizes.

[0076] Simultaneously, the first set of ground sensor modules records the farthest sensor unit positions triggered by the left and right front tires of the vehicle, and uses the formula: D = |x R -x L Calculate the tire clearance between the two wheels;

[0077] Where, x R and x L These are the locations of the sensing units triggered by the left and right tires, respectively.

[0078] Furthermore, the first set of ground sensor modules is based on the width and spacing of the left and right tires, using the formula:

[0079] y r = f(x) + β1×W + β2×D + β3×D, to obtain the path trajectory;

[0080] Here, f(x) is the basic path equation, which is f(x) = a × x + b, and is applicable to scenarios where vehicles pass in a straight line;

[0081] 'a' is the curvature coefficient, used to describe the degree and direction of curvature of the trajectory;

[0082] b is the slope coefficient, which determines the linear trend of the trajectory and represents the overall direction of the vehicle path;

[0083] c represents the initial position, indicating the initial longitudinal position of the vehicle;

[0084] The specific values ​​of a, b, and c are obtained by fitting the vehicle's driving trajectory points {(x i ,y i The data from )} is calculated to obtain x i y represents the lateral position of the vehicle in the detection network. i The longitudinal position of the vehicle within the detection network;

[0085] β1 is the width correction factor, used to adjust the lateral offset of the trajectory;

[0086] β2 is the spacing correction factor, used to adjust the path curvature;

[0087] β3 is an interactive correction coefficient used to capture the influence of the nonlinear relationship between width and spacing on the trajectory;

[0088] Furthermore, the detection dataset generated by the first set of ground sensor modules that came into contact with the vehicle is the comparison set I, and the detection dataset generated by the second set of ground sensor modules is the comparison set II;

[0089] After the first set of ground sensor modules detects the tire width, tire spacing, and movement path, it sends the detection dataset to the second set of ground sensor modules on the other side of the execution module.

[0090] When the left and right rear tires of the vehicle pass the first set of ground sensor modules, the first set of ground sensor modules detects the corresponding data of the left and right rear tires based on the detection dataset;

[0091] The first set of ground sensor modules detects the speed of the vehicle's rear tires as they pass by and transmits this information to the processing module.

[0092] The processing module generates corresponding movement logic based on the moving speed of the rear tires of the vehicle;

[0093] The movement logic includes smooth vehicle movement, or non-smooth vehicle movement within a specified range, including acceleration and deceleration.

[0094] The second set of ground sensor modules identifies the moving speed of the front and rear tires of the vehicle as they pass by, and transmits the data to the processing module.

[0095] The processing module compares the moving speed of the front and rear tires of the vehicle identified by the second set of ground sensor modules with the moving logic. After the comparison is successful, it sends a "close the lever" operation command to the execution module.

[0096] The processing module collects and compares comparison set I and comparison set II, and generates corresponding operation instructions based on the comparison results;

[0097] The execution module shown controls the gate arm to open when the first set of ground sensor modules detects a vehicle passing by, and then controls the gate arm to close based on the operation command, thereby achieving dynamic response and avoiding malfunctions caused by fixed logic.

[0098] Each ground sensor module has a preset vehicle movement direction based on its set location and the road's permitted vehicle travel direction;

[0099] The detection network records the sequence and time difference of when a vehicle triggers its sensing units as it passes by;

[0100] The ground sensor module determines whether the actual direction of vehicle movement is the same as the preset direction of vehicle movement based on the triggering sequence of the sensing units, and sends the determination result to the processing module.

[0101] If the judgment results are the same, the processing module controls the execution module to work normally;

[0102] If the judgment results are different, the processing module controls the execution of either keeping the lever raised or raising the lever immediately.

[0103] The specific steps are as follows:

[0104] When a vehicle passes by, the ground sensor module records the triggering sequence of the sensing units: S = {s1, s2, ..., sn}, where si is the number of the i-th sensing unit;

[0105] The ground sensor module records the trigger time t of the sensing unit. i And according to the formula: P = sign(t) i+1 -t i );

[0106] Among them, t i Let t be the time when the i-th sensing unit is triggered by the vehicle. i+1 This indicates the time when the (i+1)th sensing unit is triggered by the vehicle;

[0107] Therefore, t i+1 -t i The time difference between when the vehicle triggers adjacent sensing units;

[0108] sign is a mathematical symbol function, defined as follows: Used to determine the sign of the time difference;

[0109] When sign(t) i+1 -t i When )>0, the sensing unit t near the entrance i It will be triggered first, followed by the t in the exit direction. i+1 When triggered, it means that the vehicle's direction of movement is consistent with the preset direction;

[0110] When sign(t) i+1 -t i When ) < 0, the sensing unit t in the exit direction i+1 First it is triggered, then the sensing unit t in the direction of the entrance. i When triggered, it means that the vehicle's direction of movement is opposite to the preset direction;

[0111] When sign(t) i+1 -t i When ) = 0, the trigger times of the two sensing units are the same, indicating that the vehicle is stationary or stopped.

[0112] Example 2

[0113] A gate anti-collision control system includes a ground sensor module, an execution module, and a processing module;

[0114] The two sets of ground sensor modules are respectively installed on both sides of the barrier gate arm and buried in the ground. When a vehicle passes through the barrier gate arm, it passes over the set of ground sensor modules in the corresponding direction.

[0115] The vehicle's travel direction is from the first group of ground sensor modules to the second group of ground sensor modules;

[0116] The ground sensor module includes multiple sensing units, which form a detection network. When a vehicle passes by, the network detects the vehicle's tire width, tire spacing, and driving path, and generates a corresponding detection dataset.

[0117] When a vehicle passes by, the detection network determines the number of triggered sensors, n. s and the detection width d of each sensing unit s The tire width is calculated using the following formula:

[0118] W = n s ×d s W represents the width of a single tire;

[0119] Simultaneously, the first set of ground sensor modules records the farthest sensor unit positions triggered by the left and right front tires of the vehicle, and uses the formula: D = |x R -x L Calculate the tire clearance between the two wheels;

[0120] Where, x R and x L These are the locations of the sensing units triggered by the left and right tires, respectively.

[0121] Furthermore, in this embodiment, the method for generating the driving path includes:

[0122] K1, Record the position of the sensing unit;

[0123] In the detection network, each sensing unit has fixed position coordinates: (x i ,y i );

[0124] When a vehicle passes by, the sensing unit is triggered, and the system records the trigger sequence i and its corresponding position (x). i ,y i );

[0125] K2, Trigger Time Record;

[0126] Record the time t when the vehicle triggers each sensor unit. i ;

[0127] Using the time sequence t1, t2, ... t n Determine the direction and sequence of vehicle movement;

[0128] K3, trajectory point generation;

[0129] Based on the location and time of the triggered sensor unit, a set of trajectory points passed by the vehicle is generated:

[0130] G = {(x1,y1),(x2,y2),...(xn ,y n )};

[0131] K4, path fitting;

[0132] The accuracy of fitting the actual path of the vehicle using the least squares method increases with the number and density of sensing units.

[0133]

[0134] y i Let be the vertical coordinate of the i-th sensing unit;

[0135] x i For the corresponding horizontal coordinate, use f(x) = a × x 2 +b×x+c achieves trajectory fitting;

[0136] ω i For trajectory weights, points earlier in time have lower weights, and points later in time have higher weights.

[0137] Among them, t max The time of the last trigger unit of the vehicle;

[0138] This represents the sum of the trigger time differences of all sensing units, used for normalization to make the sum of weights equal to 1.

[0139] When detecting the driving path, it includes curvature detection, deviation detection, and direction detection;

[0140] If all conditions are met, the path is normal;

[0141] Otherwise, if the path is marked as abnormal, keep the barrier gate in the raised state;

[0142] Furthermore, the detection dataset generated by the first set of ground sensor modules that came into contact with the vehicle is the comparison set I, and the detection dataset generated by the second set of ground sensor modules is the comparison set II;

[0143] The processing module collects and compares comparison set I and comparison set II, and generates corresponding operation instructions based on the comparison results;

[0144] The execution module shown controls the gate arm to open when the first set of ground sensor modules detects a vehicle passing by, and then controls the gate arm to close based on the operation command, thereby achieving dynamic response and avoiding malfunctions caused by fixed logic.

[0145] After the first set of ground sensor modules detects the tire width, tire spacing and movement path, it sends the detection dataset to the second set of ground sensor modules on the other side of the execution module. After receiving the detection dataset, the second set of ground sensor modules marks it as "temporary".

[0146] When the left and right rear tires of the vehicle pass the first set of ground sensor modules, the first set of ground sensor modules detects the corresponding data of the left and right rear tires based on the detection dataset;

[0147] After detecting that the front and rear tires of the vehicle are matched, the first set of ground sensor modules sends a "confirmation" message to the second set of ground sensor modules. The second set of ground sensor modules changes the detection dataset marked as "temporary" to "use" state, so that it can be used to detect the corresponding data of the vehicle when the corresponding vehicle passes by.

[0148] The first set of ground sensor modules detects the speed of the vehicle's rear tires as they pass by and transmits this information to the processing module.

[0149] The processing module generates corresponding movement logic based on the moving speed of the rear tires of the vehicle;

[0150] The movement logic includes smooth vehicle movement, or non-smooth vehicle movement within a specified range, including acceleration and deceleration.

[0151] The second set of ground sensor modules identifies the moving speed of the front and rear tires of the vehicle when the front tires pass by, and transmits the data to the processing module.

[0152] The processing module compares the moving speed of the front and rear tires of the vehicle identified by the second set of ground sensor modules with the moving logic. After the comparison is successful, it sends a "close the lever" operation command to the execution module.

[0153] Each ground sensor module has a preset vehicle movement direction based on its set location and the road's permitted vehicle travel direction;

[0154] The detection network records the sequence and time difference of when a vehicle triggers its sensing units as it passes by;

[0155] The ground sensor module determines whether the actual direction of vehicle movement is the same as the preset direction of vehicle movement based on the triggering sequence of the sensing units, and sends the determination result to the processing module.

[0156] If the judgment results are the same, the processing module controls the execution module to work normally;

[0157] If the judgment results are different, the processing module controls the execution of either keeping the lever raised or raising the lever immediately.

[0158] The specific steps are as follows:

[0159] When a vehicle passes by, the ground sensor module records the triggering sequence of the sensing units: S = {s1, s2, ..., sn}, where si is the number of the i-th sensing unit;

[0160] The ground sensor module records the trigger time t of the sensing unit. i And according to the formula: P = sign(t) i+1 -t i );

[0161] Among them, t i Let t be the time when the i-th sensing unit is triggered by the vehicle. i+1 This indicates the time when the (i+1)th sensing unit is triggered by the vehicle;

[0162] Therefore, t i+1 -t i The time difference between when the vehicle triggers adjacent sensing units;

[0163] sign is a mathematical symbol function, defined as follows: Used to determine the sign of the time difference;

[0164] When sign(t) i+1 -t i When )>0, the sensing unit t near the entrance i It will be triggered first, followed by the t in the exit direction. i+1 When triggered, it means that the vehicle's direction of movement is consistent with the preset direction;

[0165] When sign(t) i+1 -t i When ) < 0, the sensing unit t in the exit direction i+1 First it is triggered, then the sensing unit t in the direction of the entrance. i When triggered, it means that the vehicle's direction of movement is opposite to the preset direction;

[0166] When sign(t) i+1 -t i When ) = 0, the trigger times of the two sensing units are the same, indicating that the vehicle is stationary or stopped.

[0167] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A barrier gate anti-collision control system, comprising a ground sensor module, an execution module, and a processing module, wherein two sets of the ground sensor modules are respectively installed on both sides of the barrier gate arm, characterized in that: The ground sensor module includes multiple sensing units, which form a detection network. When a vehicle passes by, the network detects the vehicle's tire width, tire spacing, and driving path, and generates a corresponding detection dataset. The detection network determines the number of sensors triggered when a vehicle passes by. and the detection width of each sensing unit The tire width is calculated using the following formula: W is the width of a single tire, and additional values ​​are set for the width between each tire to increase the value of W and avoid misjudgment by the subsequent system due to inconsistent tire sizes. Simultaneously, the first set of ground sensor modules records the farthest sensor unit positions triggered by the left and right front tires of the vehicle, and uses the formula: Calculate the tire clearance between the two wheels; in, and These are the locations of the sensing units triggered by the left and right tires, respectively. Furthermore, the first set of ground sensor modules is based on the width and spacing of the left and right tires, using the formula: , to obtain the path trajectory; in, Based on the basic path equation, for It is suitable for scenarios where vehicles pass in a straight line; 'a' is the curvature coefficient, used to describe the degree and direction of curvature of the trajectory; b is the slope coefficient, which determines the linear trend of the trajectory and represents the overall direction of the vehicle path; c represents the initial position, indicating the initial longitudinal position of the vehicle; The specific values ​​of a, b, and c are obtained by fitting the vehicle's driving trajectory points. The data was calculated to obtain, This refers to the lateral position of the vehicle within the detection network. The longitudinal position of the vehicle within the detection network; This is the width correction factor, used to adjust the lateral offset of the trajectory; This is the spacing correction factor, used to adjust the path curvature; These are interactive correction coefficients used to capture the impact of the nonlinear relationship between width and spacing on the trajectory; Furthermore, the detection dataset generated by the first set of ground sensor modules that came into contact with the vehicle is the comparison set I, and the detection dataset generated by the second set of ground sensor modules is the comparison set II; The processing module collects and compares comparison set I and comparison set II, and generates corresponding operation instructions based on the comparison results; The execution module shown controls the gate arm to open when the first set of ground sensor modules detects a vehicle passing by, and then controls the gate arm to close based on operation commands. When a vehicle passes by, the detection network calculates the tire width based on the total number of triggered sensing units and the detection width of each sensing unit. At the same time, the first set of ground sensor modules records the farthest sensor unit position triggered by the left and right tires on the front side of the vehicle, and calculates the tire distance between the two wheels; Furthermore, the first set of ground sensor modules generates the corresponding driving path based on the order and position of the triggering sensing units of the left and right tires; The method for generating a driving route includes the following steps: K1, Record the position of the sensing unit; In the detection network, each sensing unit has fixed position coordinates; When a vehicle passes by, the sensing unit is triggered, and the system records the triggering sequence and its corresponding location. K2, Trigger Time Record; Record the time when the vehicle triggers each sensor unit; Determine the direction and sequence of vehicle movement by chronological order; K3, trajectory point generation; Based on the location and time of the triggered sensor unit, a set of trajectory points passed by the vehicle is generated: K4, path fitting; Fit the set of trajectory points to the actual path of the vehicle; When detecting the driving path, it includes curvature detection, deviation detection, and direction detection; If all conditions are met, the path is normal; Otherwise, if the path is marked as abnormal, keep the barrier gate in the raised state; After the first set of ground sensor modules detects the tire width, tire spacing, and movement path, it sends the detection dataset to the second set of ground sensor modules on the other side of the execution module. When the left and right rear tires of the vehicle pass the first set of ground sensor modules, the first set of ground sensor modules detects the corresponding data of the left and right rear tires based on the detection dataset; The first set of ground sensor modules detects the speed of the vehicle's rear tires as they pass by and transmits this information to the processing module. The processing module generates corresponding movement logic based on the moving speed of the rear tires of the vehicle; The second set of ground sensor modules identifies the moving speed of the front and rear tires of the vehicle as they pass by, and transmits the data to the processing module. The processing module compares the moving speed of the front and rear tires of the vehicle identified by the second set of ground sensor modules with the moving logic. After the comparison is successful, it sends a "close lever" operation command to the execution module. After receiving the detection dataset, the second group of ground sensor modules marks it as "temporary" status; After detecting that the front and rear tires of the vehicle are matched, the first set of ground sensor modules sends a "confirmation" message to the second set of ground sensor modules. The second set of ground sensor modules changes the detection dataset marked as "temporary" to "use" state, so that it can be used to detect the corresponding data of the vehicle when the corresponding vehicle passes by in the future. Each ground sensor module has a preset vehicle movement direction based on its set location and the road's permitted vehicle travel direction; The detection network records the sequence and time difference of when a vehicle triggers its sensing units as it passes by; The ground sensor module determines whether the actual direction of vehicle movement is the same as the preset direction of vehicle movement based on the triggering sequence of the sensing units, and sends the determination result to the processing module. If the judgment results are the same, the processing module controls the execution module to work normally; If the judgment results are different, the processing module controls the execution of either holding the lever raised or raising the lever immediately.

2. A method for preventing the impact of falling objects on a barrier gate, characterized in that, This method employs the control system of claim 1 and includes the following steps: S1. Distribute two sets of ground sensor modules on both sides of the barrier gate arm and set the driving direction; S2. When the front wheels of the vehicle pass by, the first set of ground sensor modules along the driving direction detects the tire width, tire spacing and driving path of the vehicle, generates the corresponding detection dataset, and transmits the detection dataset to the second set of ground sensor modules. S3. When the rear wheels of a vehicle pass by, the first group of ground sensor modules detects the tire width, tire spacing, and driving path of the rear wheels and matches them with the corresponding detection dataset. If the match is successful, the detection dataset in the second group of ground sensor modules is activated. S4. The second group of ground sensor modules compares the tire width, tire spacing, and driving path when a vehicle passes by. S5. Based on the comparison results, the processing module generates corresponding operation instructions.

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