Danger avoidance system and method for traffic moving cone

Abstract

The invention discloses a danger avoidance system and method for a traffic moving cone, and relates to the technical field of data processing. Obtaining coordinates of the target vehicle in the target coordinate system to obtain initial coordinates, obtaining vehicle data sent by all the traffic moving cones in a first preset time period, and updating the initial coordinates according to all the vehicle data to obtain an updated coordinate set; performing path prediction on the target vehicle according to the updated coordinate set to obtain a predicted path; and if the target traffic moving cone is collided in the predicted path, avoiding the target traffic moving cone according to the predicted path. The position of the target vehicle is updated through the initial coordinate of the target vehicle and the vehicle data in the preset time period, the relative position change between the target vehicle and the traffic cone is identified in time, and then the path of the target vehicle is predicted to determine whether collision occurs, so that the collision risk with the traffic cone is identified in advance; therefore, the traffic moving cone can adopt avoidance in advance, and the traffic safety during road construction and traffic control is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of data processing, and in particular relates to a danger avoidance system and method for traffic moving cones. Background Art

[0002] Traffic cones are common and important safety facilities in road traffic management. They are widely used in various temporary traffic control, road construction, traffic accident scenes and other occasions. They are mainly used to indicate traffic flow, demarcate safe areas and remind drivers of potential traffic hazards to ensure the safety and smoothness of road traffic. Traffic cones are light and easy to carry, brightly colored and eye-catching in shape. In particular, their strong reflective function can effectively improve visibility at night or in low visibility environments, thereby enhancing road safety.

[0003] However, despite the high practicality and warning effect of traffic cones, they also have certain limitations in practical applications. In particular, during road construction and traffic control, traffic cones are usually used for temporary traffic control, and their positions will be constantly adjusted and moved with the progress of construction, changes in road conditions or traffic management needs. This constantly changing layout may cause drivers to fail to notice the placement of traffic cones in time, and thus fail to make avoidance preparations in advance. When drivers fail to avoid traffic cones in time, vehicle collision accidents often occur, increasing the risk of traffic accidents, bringing safety hazards to drivers and passengers, and reducing traffic safety during road construction and traffic control. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that when the driver fails to avoid the traffic cone in time, vehicle collision accidents often occur, the risk of traffic accidents is increased, safety hazards are brought to the driver and passengers, and traffic safety during road construction and traffic control is reduced, and a traffic mobile cone danger avoidance system and method are proposed.

[0005] In a first aspect of the present invention, a method for avoiding danger of traffic moving cones is first proposed. A plurality of traffic moving cones are arranged in a working area to obtain a detection array. The method comprises:

[0006] Acquire the coordinates of the target vehicle in the target coordinate system to obtain initial coordinates, acquire vehicle data sent by all traffic moving cones in a first preset time period, and update the initial coordinates according to all vehicle data to obtain an updated coordinate set;

[0007] Performing path prediction on the target vehicle according to the updated coordinate set to obtain a predicted path;

[0008] If there is a target traffic moving cone that is hit in the predicted path, the target traffic moving cone is avoided according to the predicted path; the target traffic moving cone is any traffic moving cone that the target vehicle will collide with when passing through the predicted path.

[0009] Optionally, obtaining the coordinates of the target vehicle in the target coordinate system before obtaining the initial coordinates includes:

[0010] For the detection array, obtaining the absolute coordinates of each traffic moving cone in the detection array to obtain an absolute coordinate set;

[0011] According to the absolute coordinate set, the center of the detection array is calculated by the centroid method to obtain the target origin, and a coordinate system is established with the arrangement direction of the traffic cones as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the target origin as the center of the circle to obtain a target coordinate system.

[0012] Optionally, performing path prediction on the target vehicle according to the updated coordinate set to obtain a predicted path includes:

[0013] Determine an angular velocity change set and a linear velocity change set of the target vehicle according to the updated coordinate set;

[0014] The angular velocity change set, the linear velocity change set, the target coordinate system and the updated coordinate set are substituted into a preset path model to obtain a predicted path.

[0015] Optionally, substituting the angular velocity change set, the linear velocity change set, the target coordinate system and the updated coordinate set into a preset path model to obtain a predicted path includes:

[0016] For the angular velocity change set, curve fitting is performed on all angular velocity change values ​​to obtain an angular velocity change curve, and a predicted angular velocity change curve of the target vehicle is determined according to an upper envelope curve and a lower envelope curve of the angular velocity change curve;

[0017] For the linear speed change set, curve fitting is performed on all linear speed change values ​​to obtain a linear speed change curve, and a predicted linear speed change curve of the target vehicle is determined according to an upper envelope curve and a lower envelope curve of the linear speed change curve;

[0018] The target initial position of the target vehicle in the target coordinate system at the current moment is obtained, and a predicted path is obtained by performing path fitting according to the predicted angular velocity change curve and the predicted linear velocity change curve.

[0019] Optionally, if there is a collision with a target traffic moving cone in the predicted path, avoiding the target traffic moving cone according to the predicted path includes:

[0020] If the predicted path hits a target traffic moving cone, the initial predicted path is corrected by the A* algorithm to obtain a corrected predicted path;

[0021] Calculate the shortest distance between the target traffic moving cone and the predicted path, and take the direction of the shortest distance away from the predicted path as the moving direction;

[0022] The time when the target vehicle hits the target traffic moving cone is determined according to the predicted path to obtain a target time, and the target traffic moving cone is moved according to the moving direction and the target time.

[0023] In a second aspect of the present invention, a traffic cone hazard avoidance system is provided, wherein a plurality of traffic cones are arranged in a working area to obtain a detection array, and the system comprises:

[0024] An updated coordinate set determination module is used to obtain the coordinates of the target vehicle in the target coordinate system to obtain initial coordinates, obtain vehicle data sent by all traffic moving cones in a first preset time period, and update the initial coordinates according to all vehicle data to obtain an updated coordinate set;

[0025] A predicted path determination module, used for performing path prediction on the target vehicle according to the updated coordinate set to obtain a predicted path;

[0026] The avoidance module is used to avoid the target traffic moving cone according to the predicted path if there is a target traffic moving cone in the predicted path; the target traffic moving cone is any traffic moving cone that the target vehicle will collide with when passing through the predicted path.

[0027] Optionally, the system further includes:

[0028] An absolute coordinate set determination module, for obtaining the absolute coordinates of each traffic moving cone in the detection array to obtain an absolute coordinate set;

[0029] The target coordinate system establishment module is used to calculate the center of the detection array according to the absolute coordinate set by the centroid method to obtain the target origin, and to establish a coordinate system with the arrangement direction of the traffic cones as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the target origin as the center of the circle to obtain the target coordinate system.

[0030] Optionally, the predicted path determination module includes:

[0031] A speed change module, used to determine an angular speed change set and a linear speed change set of the target vehicle according to the updated coordinate set;

[0032] The predicted path generation module is used to substitute the angular velocity change set, the linear velocity change set, the target coordinate system and the updated coordinate set into a preset path model to obtain a predicted path.

[0033] Optionally, the predicted path generation module includes:

[0034] A predicted angular velocity change curve determination module is used to perform curve fitting on all angular velocity change values ​​to obtain an angular velocity change curve for the angular velocity change set, and determine the predicted angular velocity change curve of the target vehicle according to an upper envelope curve and a lower envelope curve of the angular velocity change curve;

[0035] A predicted linear speed change curve determination module is used to perform curve fitting on all linear speed change values ​​to obtain a linear speed change curve for the linear speed change set, and determine the predicted linear speed change curve of the target vehicle according to an upper envelope curve and a lower envelope curve of the linear speed change curve;

[0036] The path fitting module is used to obtain the target initial position of the target vehicle in the target coordinate system at the current moment, and to perform path fitting according to the predicted angular velocity change curve and the predicted linear velocity change curve to obtain a predicted path.

[0037] Optionally, if there is a collision with a target traffic moving cone in the predicted path, avoiding the target traffic moving cone according to the predicted path includes:

[0038] A path correction module, used for correcting the initial predicted path by using an A* algorithm to obtain a corrected predicted path if there is a collision with a target traffic moving cone in the predicted path;

[0039] A moving direction determination module, used for calculating the shortest distance between the target traffic moving cone and the predicted path, and taking the direction of the shortest distance away from the predicted path as the moving direction;

[0040] The target traffic moving cone moving module is used to determine the time when the target vehicle hits the target traffic moving cone according to the predicted path to obtain a target time, and move the target traffic moving cone according to the moving direction and the target time.

[0041] Beneficial effects of the present invention:

[0042] The present invention proposes a method for avoiding danger of traffic moving cones, which includes obtaining the coordinates of a target vehicle in a target coordinate system to obtain initial coordinates, obtaining vehicle data sent by all traffic moving cones in a first preset time period, updating the initial coordinates according to all vehicle data to obtain an updated coordinate set; predicting the path of the target vehicle according to the updated coordinate set to obtain a predicted path; if there is a collision with a target traffic moving cone in the predicted path, avoiding the target traffic moving cone according to the predicted path; the target traffic moving cone is any traffic moving cone that the target vehicle will collide with when passing through the predicted path. The position of the target vehicle is dynamically updated through the initial coordinates of the target vehicle and the vehicle data within the preset time period, so that the relative position change between the target vehicle and the traffic cone can be identified in time, reducing the risk of collision caused by the relative position change not being discovered in time; by predicting the path of the target vehicle to determine whether there is a collision, the risk of collision with the traffic cone can be identified in advance, so that the traffic moving cone can take avoidance measures in advance, thereby improving traffic safety during road construction and traffic control. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The present invention will be further described below in conjunction with the accompanying drawings.

[0044] Figure 1 A flow chart of a method for avoiding danger of moving traffic cones is provided for an embodiment of the present invention;

[0045] Figure 2 A framework diagram of a traffic moving cone hazard avoidance system is provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The term "and / or" herein is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the present invention, the description of "first", "second", etc. is only used for descriptive purposes, and cannot be understood as indicating or implying its relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0047] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

[0048] The embodiment of the present invention provides a method for avoiding danger of moving traffic cones. Figure 1 , Figure 1 A flow chart of a method for avoiding danger of moving traffic cones provided by an embodiment of the present invention, wherein a plurality of moving traffic cones are arranged in a working area to obtain a detection array, and the method comprises the following steps:

[0049] S101, obtaining the coordinates of the target vehicle in the target coordinate system to obtain initial coordinates, obtaining vehicle data sent by all traffic moving cones in a first preset time period, and updating the initial coordinates according to all vehicle data to obtain an updated coordinate set;

[0050] S102, predicting the path of the target vehicle according to the updated coordinate set to obtain a predicted path;

[0051] S103: If there is a collision with a target traffic moving cone in the predicted path, avoid the target traffic moving cone according to the predicted path.

[0052] The target traffic moving cone is any traffic moving cone that the target vehicle will collide with when passing through the predicted path.

[0053] A traffic cone hazard avoidance method provided by an embodiment of the present invention dynamically updates the position of a target vehicle through the initial coordinates of the target vehicle and the vehicle data within a preset time period, and can timely identify the relative position change between the target vehicle and the traffic cone, thereby reducing the risk of collision caused by the relative position change not being discovered in time; by predicting the path of the target vehicle to determine whether there will be a collision, the risk of collision with the traffic cone is identified in advance, so that the traffic cone can take avoidance measures in advance, thereby improving traffic safety during road construction and traffic control.

[0054] In one implementation, by predicting the target vehicle's path and detecting whether it will collide with moving traffic cones, avoidance measures can be taken in a timely manner to reduce the probability of accidents. By acquiring traffic cone data and updating the initial coordinates and the position of the target vehicle within each preset time period, the system can adjust the prediction results in real time to ensure that the system can respond in a timely manner and avoid potential collisions.

[0055] In one implementation, the target vehicle is a vehicle that enters the detection array and is identified by the traffic moving cone; the first preset time period is determined by a technician; the vehicle data is the distance and angle of the vehicle from the traffic moving cone; for each traffic cone, the coordinate difference relative to the target origin is calculated, and then the difference vector is projected onto the X-axis and Y-axis of the target coordinate system, and the coordinates of all traffic cones are converted to the target coordinate system; the initial coordinates are updated according to all vehicle data to obtain an updated coordinate set, specifically, for each vehicle data obtained from the mobile traffic cone, the vehicle data is mapped to the target coordinate system, and the data mapped by all mobile traffic cones are obtained and averaged to obtain the updated position of the target vehicle.

[0056] In one implementation, obtaining the coordinates of the target vehicle in the target coordinate system before obtaining the initial coordinates includes:

[0057] For the detection array, the absolute coordinates of each traffic moving cone in the detection array are obtained to obtain an absolute coordinate set;

[0058] According to the absolute coordinate set, the center of the detection array is calculated by the centroid method to obtain the target origin. The target coordinate system is established with the arrangement direction of the traffic cones as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the target origin as the center of the circle.

[0059] In one implementation, the center of the traffic cone array is calculated by the centroid method and set as the target origin. The establishment of the target coordinate system makes the subsequent path planning more accurate and the relative position of the vehicle and the traffic cone more intuitive, thereby improving the accuracy of path prediction and obstacle avoidance decisions; the arrangement direction of the traffic cones is used as the X-axis, and the target origin is located at the centroid of the traffic cone array, which can better reflect the influence of the traffic cones on the target vehicle's driving path, avoid the calculation complexity caused by the change of the global coordinate system angle, and enable the path prediction and obstacle avoidance algorithms to make decisions more efficiently and intuitively.

[0060] In one embodiment, performing path prediction on the target vehicle according to the updated coordinate set to obtain a predicted path includes:

[0061] Determine an angular velocity change set and a linear velocity change set of the target vehicle according to the updated coordinate set;

[0062] The angular velocity change set, linear velocity change set, target coordinate system and updated coordinate set are substituted into the preset path model to obtain the predicted path.

[0063] In one implementation, by determining the linear velocity change set and angular velocity change set of the target vehicle, the system can fully consider the changes in speed and direction of the vehicle during driving. This makes the path prediction not only based on position data, but also comprehensively considers speed changes and steering information, thereby improving the accuracy of path prediction.

[0064] In one implementation, by predicting the path, it is possible to identify in advance whether the target vehicle is likely to collide with traffic cones or other obstacles in the future. If there is a potential collision risk in the predicted path, the system can adjust the obstacle avoidance strategy in a timely manner based on changes in the vehicle's speed and direction.

[0065] In one implementation, by combining the target coordinate system, updating the coordinate set and the vehicle's speed and angular velocity information, the predicted path model can calculate the path more efficiently. The establishment of the target coordinate system simplifies the relative position relationship between the vehicle and the traffic cones, making the path planning calculation more streamlined and efficient.

[0066] In one embodiment, substituting the angular velocity change set, the linear velocity change set, the target coordinate system, and the updated coordinate set into the preset path model to obtain the predicted path includes:

[0067] For the angular velocity change set, curve fitting is performed on all angular velocity change values ​​to obtain an angular velocity change curve, and a predicted angular velocity change curve of the target vehicle is determined according to an upper envelope curve and a lower envelope curve of the angular velocity change curve;

[0068] For the linear speed change set, curve fitting is performed on all linear speed change values ​​to obtain a linear speed change curve, and a predicted linear speed change curve of the target vehicle is determined according to an upper envelope curve and a lower envelope curve of the linear speed change curve;

[0069] The target initial position of the target vehicle in the target coordinate system at the current moment is obtained, and the path fitting is performed according to the predicted angular velocity change curve and the predicted linear velocity change curve to obtain the predicted path.

[0070] In one implementation, by performing curve fitting on the angular velocity change set and the linear velocity change set, we can more accurately reflect the dynamic change trend of the target vehicle over a period of time. The fitted curve makes the path prediction not only dependent on the current position, but also combines the vehicle's movement trend and changes to predict a more accurate future position.

[0071] In one implementation, by extracting the upper envelope and lower envelope of the curve, the predicted path can be further smoothed and some instabilities caused by measurement noise or local fluctuations can be eliminated. The use of upper and lower envelope curves ensures that the predicted path not only conforms to the actual physical motion constraints, but also reflects the motion boundaries of the vehicle, avoiding overfitting due to over-reliance on local data.

[0072] In one implementation, by combining the angular velocity change set and the linear velocity change set, the system can accurately simulate the motion response of the target vehicle in the actual environment, especially in cases of turning, acceleration or deceleration. The dynamic model makes the path prediction not only based on the calculation of the static position, but also takes into account the real-time motion changes of the vehicle, making the predicted path more realistic and executable.

[0073] In one implementation, first, for each time period corresponding to the linear velocity change value and the angular velocity change value, the next moment position of the target vehicle is calculated using the linear velocity and angular velocity of the vehicle. For each preset first time period, the following kinematic formula can be used to update:

[0074] x t+1 =x t +v t ·cos(θ t )·Δt, where x t+1 is the X-axis coordinate after updating for the first preset time period t+1, x t is the X-axis coordinate after updating for the first preset time period of t, v t is the updated linear velocity after t preset first time periods, θ t is the updated heading angle of t preset first time periods, and Δt is the time period of the preset first time period;

[0075] y t+1 =y t +v t ·sin(θ t )·Δt, where y t+1 The Y-axis coordinate after updating for the first preset time period t+1, y t The Y-axis coordinates after updating for t preset first time periods;

[0076] θ t+1 =θ t +ω t ·Δt, where θ t+1 is the heading angle updated after t+1 preset first time period, ω t The angular velocities updated for t preset first time periods are connected to form a predicted path.

[0077] In one embodiment, if there is a collision with a target traffic moving cone in the predicted path, avoiding the target traffic moving cone according to the predicted path includes:

[0078] If the predicted path hits the target traffic moving cone, the initial predicted path is corrected by the A* algorithm to obtain the corrected predicted path;

[0079] Calculate the shortest distance between the target traffic moving cone and the predicted path, and take the direction of the shortest distance away from the predicted path as the moving direction;

[0080] The time when the target vehicle hits the target traffic moving cone is determined according to the predicted path to obtain the target time, and the target traffic moving cone is moved according to the moving direction and the target time.

[0081] In one implementation, by calculating the shortest distance between the target traffic moving cone and the predicted path, the system can accurately understand the relative position of the target traffic moving cone and the vehicle; after calculating the shortest distance, the system can determine the direction in which the target traffic moving cone should move, that is, the direction away from the predicted path, thereby avoiding collision, and can make real-time adjustments through the vehicle's motion model to ensure that the vehicle's driving path no longer passes through the target traffic cone.

[0082] In one implementation, when the target traffic moving cone is located on the predicted path, the A* algorithm will locally optimize the path so that the vehicle avoids direct collision with obstacles and maintains the smoothness of the original driving route as much as possible.

[0083] In one implementation, the target time is obtained by determining the time when the target vehicle hits the target traffic moving cone according to the predicted path. For the changed path segment, the travel time of the changed path segment is obtained by dividing the changed path segment by the average speed of all travel paths before the change. The target time is obtained by adding the travel time when the path segment is not changed and the travel time of the changed path segment.

[0084] In one implementation, by calculating the shortest distance between the target traffic cone and the predicted path, the system can accurately predict when the vehicle will collide with the traffic cone, which provides sufficient time for obstacle avoidance; combined with the target time (i.e., the time point when the vehicle collides with the traffic cone), the system can make adjustments in advance to avoid collision based on the relative speed, distance and direction between the target vehicle and the traffic cone.

[0085] In one implementation, if there is no collision with the target traffic moving cone in the predicted path, no operation is performed.

[0086] Based on the same inventive concept, the embodiment of the present invention also provides a traffic moving cone danger avoidance system. Figure 2 , Figure 2 A framework diagram of a traffic moving cone danger avoidance system provided by an embodiment of the present invention, wherein a plurality of traffic moving cones are arranged in a working area to obtain a detection array, and the system comprises:

[0087] An updated coordinate set determination module is used to obtain the coordinates of the target vehicle in the target coordinate system to obtain initial coordinates, obtain vehicle data sent by all traffic moving cones in a first preset time period, and update the initial coordinates according to all vehicle data to obtain an updated coordinate set;

[0088] A predicted path determination module is used to predict the path of the target vehicle according to the updated coordinate set to obtain a predicted path;

[0089] The avoidance module is used to avoid the target traffic moving cone according to the predicted path if there is a target traffic moving cone in the predicted path; the target traffic moving cone is any traffic moving cone that the target vehicle will collide with when passing through the predicted path.

[0090] A traffic cone hazard avoidance system provided by an embodiment of the present invention dynamically updates the position of a target vehicle through the initial coordinates of the target vehicle and the vehicle data within a preset time period, and can timely identify the relative position change between the target vehicle and the traffic cone, thereby reducing the risk of collision caused by the relative position change not being discovered in time; by predicting the path of the target vehicle to determine whether there will be a collision, the risk of collision with the traffic cone is identified in advance, so that the traffic cone can take avoidance measures in advance, thereby improving traffic safety during road construction and traffic control.

[0091] In one embodiment, the system further comprises:

[0092] An absolute coordinate set determination module is used to obtain the absolute coordinates of each traffic moving cone in the detection array to obtain an absolute coordinate set;

[0093] The target coordinate system establishment module is used to calculate the center of the detection array by the centroid method according to the absolute coordinate set to obtain the target origin, and to establish a coordinate system with the arrangement direction of the traffic cones as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the target origin as the center of the circle to obtain the target coordinate system.

[0094] In one embodiment, the predicted path determination module includes:

[0095] A speed change module, used to determine an angular speed change set and a linear speed change set of the target vehicle according to the updated coordinate set;

[0096] The predicted path generation module is used to substitute the angular velocity change set, the linear velocity change set, the target coordinate system and the updated coordinate set into the preset path model to obtain the predicted path.

[0097] In one embodiment, the prediction path generation module includes:

[0098] A module for determining a predicted angular velocity change curve is used to obtain an angular velocity change curve by performing curve fitting on all angular velocity change values ​​according to an angular velocity change set, and to determine a predicted angular velocity change curve of a target vehicle according to an upper envelope curve and a lower envelope curve of the angular velocity change curve;

[0099] A predicted linear speed change curve determination module is used to obtain a linear speed change curve by curve fitting for all linear speed change values ​​according to the linear speed change set, and determine the predicted linear speed change curve of the target vehicle according to the upper envelope curve and the lower envelope curve of the linear speed change curve;

[0100] The path fitting module is used to obtain the target initial position of the target vehicle in the target coordinate system at the current moment, and to obtain the predicted path by performing path fitting according to the predicted angular velocity change curve and the predicted linear velocity change curve.

[0101] In one embodiment, if there is a collision with a target traffic moving cone in the predicted path, avoiding the target traffic moving cone according to the predicted path includes:

[0102] The path correction module is used to correct the initial predicted path by using the A* algorithm to obtain a corrected predicted path if there is a collision with the target traffic moving cone in the predicted path;

[0103] A moving direction determination module is used to calculate the shortest distance between the target traffic moving cone and the predicted path, and the direction away from the predicted path by the shortest distance is taken as the moving direction;

[0104] The target traffic moving cone moving module is used to determine the time when the target vehicle hits the target traffic moving cone according to the predicted path to obtain the target time, and move the target traffic moving cone according to the moving direction and the target time.

[0105] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A method for avoiding danger of traffic moving cones, characterized in that: A plurality of traffic moving cones are arranged in the working area to obtain a detection array, and the method comprises: Acquire the coordinates of the target vehicle in the target coordinate system to obtain initial coordinates, acquire vehicle data sent by all traffic moving cones in a first preset time period, and update the initial coordinates according to all vehicle data to obtain an updated coordinate set; Performing path prediction on the target vehicle according to the updated coordinate set to obtain a predicted path; If there is a target traffic moving cone that is hit in the predicted path, the target traffic moving cone is avoided according to the predicted path; the target traffic moving cone is any traffic moving cone that the target vehicle will collide with when passing through the predicted path.

2. A method for avoiding danger of traffic moving cones according to claim 1, characterized in that: Obtaining the coordinates of the target vehicle in the target coordinate system before obtaining the initial coordinates includes: For the detection array, obtaining the absolute coordinates of each traffic moving cone in the detection array to obtain an absolute coordinate set; According to the absolute coordinate set, the center of the detection array is calculated by the centroid method to obtain the target origin, and a coordinate system is established with the arrangement direction of the traffic cones as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the target origin as the center of the circle to obtain a target coordinate system.

3. A method for avoiding danger of traffic moving cones according to claim 2, characterized in that: Predicting the path of the target vehicle according to the updated coordinate set to obtain a predicted path includes: Determine an angular velocity change set and a linear velocity change set of the target vehicle according to the updated coordinate set; The angular velocity change set, the linear velocity change set, the target coordinate system and the updated coordinate set are substituted into a preset path model to obtain a predicted path.

4. A method for avoiding danger of moving traffic cones according to claim 3, characterized in that: Substituting the angular velocity change set, the linear velocity change set, the target coordinate system and the updated coordinate set into a preset path model to obtain a predicted path includes: For the angular velocity change set, curve fitting is performed on all angular velocity change values ​​to obtain an angular velocity change curve, and a predicted angular velocity change curve of the target vehicle is determined according to an upper envelope curve and a lower envelope curve of the angular velocity change curve; For the linear speed change set, curve fitting is performed on all linear speed change values ​​to obtain a linear speed change curve, and a predicted linear speed change curve of the target vehicle is determined according to an upper envelope curve and a lower envelope curve of the linear speed change curve; The target initial position of the target vehicle in the target coordinate system at the current moment is obtained, and a predicted path is obtained by performing path fitting according to the predicted angular velocity change curve and the predicted linear velocity change curve.

5. The method for avoiding danger of traffic moving cones according to claim 1, characterized in that: If there is a target traffic moving cone in the predicted path, avoiding the target traffic moving cone according to the predicted path includes: If the predicted path hits a target traffic moving cone, the initial predicted path is corrected by the A* algorithm to obtain a corrected predicted path; Calculate the shortest distance between the target traffic moving cone and the predicted path, and take the direction of the shortest distance away from the predicted path as the moving direction; The time when the target vehicle hits the target traffic moving cone is determined according to the predicted path to obtain a target time, and the target traffic moving cone is moved according to the moving direction and the target time.

6. A traffic cone hazard avoidance system, characterized in that: The working area is provided with a plurality of traffic moving cones to obtain a detection array, and the system comprises: An updated coordinate set determination module is used to obtain the coordinates of the target vehicle in the target coordinate system to obtain initial coordinates, obtain vehicle data sent by all traffic moving cones in a first preset time period, and update the initial coordinates according to all vehicle data to obtain an updated coordinate set; A predicted path determination module, used for performing path prediction on the target vehicle according to the updated coordinate set to obtain a predicted path; The avoidance module is used to avoid the target traffic moving cone according to the predicted path if there is a target traffic moving cone in the predicted path; the target traffic moving cone is any traffic moving cone that the target vehicle will collide with when passing through the predicted path.

7. A traffic moving cone danger avoidance system according to claim 6, characterized in that: The system further comprises: An absolute coordinate set determination module, for obtaining the absolute coordinates of each traffic moving cone in the detection array to obtain an absolute coordinate set; The target coordinate system establishment module is used to calculate the center of the detection array according to the absolute coordinate set by the centroid method to obtain the target origin, and to establish a coordinate system with the arrangement direction of the traffic cones as the X-axis, the direction perpendicular to the X-axis as the Y-axis, and the target origin as the center of the circle to obtain the target coordinate system.

8. A traffic moving cone danger avoidance system according to claim 7, characterized in that: The predicted path determination module comprises: A speed change module, used to determine an angular speed change set and a linear speed change set of the target vehicle according to the updated coordinate set; The predicted path generation module is used to substitute the angular velocity change set, the linear velocity change set, the target coordinate system and the updated coordinate set into a preset path model to obtain a predicted path.

9. A traffic moving cone danger avoidance system according to claim 8, characterized in that: The predicted path generation module comprises: A predicted angular velocity change curve determination module is used to perform curve fitting on all angular velocity change values ​​to obtain an angular velocity change curve for the angular velocity change set, and determine the predicted angular velocity change curve of the target vehicle according to an upper envelope curve and a lower envelope curve of the angular velocity change curve; A predicted linear speed change curve determination module is used to perform curve fitting on all linear speed change values ​​to obtain a linear speed change curve for the linear speed change set, and determine the predicted linear speed change curve of the target vehicle according to an upper envelope curve and a lower envelope curve of the linear speed change curve; The path fitting module is used to obtain the target initial position of the target vehicle in the target coordinate system at the current moment, and to perform path fitting according to the predicted angular velocity change curve and the predicted linear velocity change curve to obtain a predicted path.

10. The traffic moving cone danger avoidance system according to claim 6, characterized in that: If there is a target traffic moving cone in the predicted path, avoiding the target traffic moving cone according to the predicted path includes: A path correction module, used for correcting the initial predicted path by using an A* algorithm to obtain a corrected predicted path if there is a collision with a target traffic moving cone in the predicted path; A moving direction determination module, used for calculating the shortest distance between the target traffic moving cone and the predicted path, and taking the direction of the shortest distance away from the predicted path as the moving direction; The target traffic moving cone moving module is used to determine the time when the target vehicle hits the target traffic moving cone according to the predicted path to obtain a target time, and move the target traffic moving cone according to the moving direction and the target time.

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