Intelligent light-emitting curb device based on two-way safety warning of human-vehicle conflict

Abstract

The invention discloses an intelligent traffic safety warning device and a method thereof, and belongs to the technical field of road traffic safety. The device takes curbs as carriers, and the curbs are divided into two types of intelligent curbs, namely pedestrian crossings and roadways, which are both provided with laser radar sensors and LED early warning modules. Dynamic parameters of pedestrians and vehicles are detected in real time, a central processing unit predicts data such as pedestrian and vehicle conflict time difference and carries out six-level danger division, corresponding early warning schemes are triggered, and two-way warning of the pedestrians and the vehicles is achieved through light color change, voice prompt and projection light. The device adopts a three-level energy supply system, can be suitable for complex scenes such as single-person single-vehicle and single-person multi-vehicle, and selects an optimal early warning strategy based on a maximum risk principle. Through dynamic perception, track prediction and graded bidirectional early warning, road section traffic safety can be improved, accidents are reduced, urban traffic intelligent development is expected to be promoted, innovative technical support is provided for smart city construction, and the method has important social value and application prospects.

Description

Technical Field

[0001] The present invention relates to a traffic safety protection device, in particular to an intelligent two-way safety warning device designed based on human-vehicle collision. Background Art

[0002] In recent years, with increasing traffic volume, the number of accidents caused by pedestrian-vehicle conflicts has also been rising, especially on urban roads at night. According to the World Health Organization's "Road Traffic Injuries" report released in December 2018, approximately 1.35 million people die in road traffic accidents worldwide each year. Unlike intersections, urban roads lack warning systems. Drivers' visibility is reduced at night or in low-visibility conditions. Furthermore, dark areas between streetlights can easily lead to pedestrian-vehicle conflicts when crossing the street. Vehicles struggle to make timely decisions, making traffic accidents more likely and difficult to determine responsibility. Research has shown that improving warning systems around crosswalks and in the direction of oncoming vehicles can effectively reduce accident rates.

[0003] Currently, research on pedestrian crossing safety warning devices at home and abroad mainly falls into the following categories: first, installing traffic lights and intersection management to adjust the flow of people and vehicles, which is also a common traffic solution; second, on-board warning systems, which use GPS, high-definition cameras, and advanced algorithms to monitor road conditions in real time and provide warnings; third, roadside sensing devices. Some research has achieved warnings by installing sensing equipment (such as signboards and removable warning lights) on the roadside. Although these warning devices can improve traffic safety to a certain extent, they still face the following problems: first, roadside warning devices are mostly limited to intersections, with relatively few urban roads and insufficient coverage; second, vehicle warning devices are technically limited, costly, and not widely available; third, the accuracy, real-time performance, and reliability of existing devices need to be improved, and the warning devices are not significant enough; fourth, existing roadside warning devices are mostly limited to providing pedestrian warnings, and the real-time and interactive warnings provided to drivers are poor; fifth, existing devices have disadvantages such as frequent alarms, which can easily lead to driver fatigue and dissatisfaction.

[0004] In summary, although there are certain solutions to the problem of pedestrian-vehicle conflicts both at home and abroad, they all have some shortcomings to a greater or lesser extent, and none of them can widely and effectively solve the problem of pedestrian-vehicle conflicts on urban roads at night. Based on this, the present invention focuses on special areas where there are relatively few safety warning facilities but a high incidence of accidents. It uses intelligent luminous curbs and realizes precise control of the probability of pedestrian-vehicle conflicts based on real-time prediction of pedestrian-vehicle conflicts. It can provide two-way personalized safety warnings for pedestrians and drivers, reduce the occurrence of traffic accidents and improve traffic efficiency, promote the application of intelligent transportation systems in urban traffic management, and promote the improvement of the level of urban transportation intelligence, which has important social and scientific research significance. Summary of the Invention

[0005] The purpose of the present invention is to provide a diversified safety warning device that can predict and warn in both directions based on the prediction of human and vehicle movement trajectories and the determination of human and vehicle conflicts in order to solve the above problems. The device uses curbs as special carriers and can provide early prediction and two-way warning.

[0006] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0007] The present invention uses curbstones as carriers and is divided into two types: smart curbstones for pedestrian crossings and smart curbstones for roadways. Both types of curbstones are equipped with sensing devices, control devices, and warning devices. The sensing device includes a LiDAR sensor array, arranged at 25cm intervals beneath the side tempered glass cover, for detecting pedestrian / vehicle dynamic parameters. The warning device includes an LED warning module with three light colors: red, yellow, and green, corresponding to the three states of danger (stop, slow down), warning (slow down, caution), and safety (safe to pass), embedded in the top of the curbstone. The pedestrian crossing curbstone is also equipped with a projection light assembly and a voice prompter, which improve the recognizability and interactivity of the warning through projected light and voice prompts. The control device is external and includes a central processing system controlled by a single-chip microcomputer. It integrates a trajectory prediction module and a hierarchical warning module, including a multi-target processing unit, an abnormal acceleration detection unit, and a priority decision unit, which can perform data processing and decision-making. The sensing device and warning device are connected to the control device after being connected to a junction box, providing real-time safety warnings.

[0008] As an optional solution, the intelligent luminous curb adopts a hybrid power supply of solar energy and mains electricity for the power supply unit, and innovatively proposes the concept of surplus power sharing network to form a three-level energy supply system:

[0009] Primary energy (main supply): Embedded photovoltaic modules (integrated on the left and right ends of the curb), using monocrystalline silicon photovoltaic panels with a conversion efficiency of ≥22%. The tilt angle is optimized according to the city's latitude.

[0010] Secondary energy (backup): connected to the municipal power grid and connected in parallel with the photovoltaic system through a bidirectional inverter to support energy complementarity and surplus power feedback.

[0011] Level 3 energy (sharing): The surplus power of nearby traffic facilities (street lights, indicator lights, etc.) is connected, and dynamic energy scheduling is achieved through the intelligent microgrid controller to avoid waste of clean energy.

[0012] The operation of the invention device will follow the following road section two-way safety warning scheme:

[0013] When a vehicle enters the detection zone of the inventive device, the sensing device is triggered. The sensing device captures information such as the presence of pedestrians crossing the street, the real-time speeds of pedestrians and vehicles, and the projected trajectories of pedestrians and vehicles, and transmits it to the central controller for processing. Based on this data, the central processor predicts pedestrian-vehicle collisions, calculates the time difference between the collision and the vehicle, and classifies the collision into different risk levels based on different thresholds, thereby providing a two-way safety warning. The risk levels are divided into five categories: a safe level for unmanned vehicle collisions and a human-vehicle collision, covering essentially all types of pedestrian-vehicle collisions. A further solution involves maximizing the risk for four scenarios: single-vehicle collision, single-vehicle collision, multiple-vehicle collision, and multiple-vehicle collision. The solution identifies the most urgent pedestrian-vehicle collision based on the principle of maximum risk, sets different judgment thresholds, and makes corresponding intelligent curb safety warning decisions. Due to the diversity of traffic conditions, the warning solution also requires diverse decision-making. For example, when the time difference ΔT between the pedestrian and vehicle collision exceeds 3 seconds, representing the first risk level, the pedestrian curb lights green and a voice prompt activates, announcing: "Vehicle approaching, be careful." Upon receiving the signal, pedestrians should accelerate or maintain their speed while crossing the crosswalk. A yellow light on the curb alerts drivers to the presence of pedestrians ahead and the need to adjust their speed. Furthermore, corresponding decision-making plans are also implemented for speed changes, unusual vehicles, and other situations, ensuring personalized and diverse safety warnings.

[0014] The beneficial effects of the present invention are:

[0015] The present invention is a diversified safety warning device that is based on the prediction of human and vehicle movement trajectories and the determination of human and vehicle conflicts, with curbstones as special carriers, and can predict in advance and provide two-way warnings. Compared with the existing technology, the present invention changes the common warning pattern, is close to the lane, and has a special location, which can obtain more accurate and timely road information. Pedestrian and vehicle two-way warnings are set to improve the ability to deal with various types of traffic accidents and reduce risks. The intelligent curbstone interacts with pedestrians and vehicles through voice prompts, light projections, etc., which increases the recognizability of the warning, improves the alertness of pedestrians and drivers, and achieves a stronger warning capability than other collision warning systems. In addition, the present invention adopts a three-level power supply mode of solar energy-mains power hybrid + surplus power sharing, which is energy-saving and environmentally friendly, and the equipment is centralized and portable, does not require large-scale infrastructure construction, is easy to install, and has low maintenance costs and simple operation. The laying of the device of the present invention fully considers the road vehicle conditions, has a sufficient warning prompt range, and can provide drivers and pedestrians with more reaction time to make countermeasures to avoid the occurrence of human-vehicle conflicts. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the intelligent luminous curb device for two-way safety warning of the present invention;

[0017] Figure 2This is a diagram showing the internal structure of a pedestrian crossing curb of the present invention;

[0018] Figure 3 This is a diagram showing the internal structure of a road curb of the present invention;

[0019] Figure 4 This is a distribution map of the intelligent luminous curbs of the present invention on urban roads;

[0020] Figure 5 This is a schematic diagram of safety warning decision-making under unmanned vehicle conflict conditions of the present invention;

[0021] Figure 6 This is a schematic diagram of the first-level danger level safety warning decision under the human-vehicle conflict condition of the present invention;

[0022] Figure 7 This is a schematic diagram of the second-level danger level safety warning decision under the human-vehicle conflict condition of the present invention;

[0023] Figure 8 This is a schematic diagram of the third-level safety warning decision under the human-vehicle conflict condition of the present invention;

[0024] Figure 9 This is a schematic diagram of the fourth-level safety warning decision under the human-vehicle conflict condition of the present invention;

[0025] Figure 10 This is a schematic diagram of the fifth-level safety warning decision under the human-vehicle conflict condition of the present invention;

[0026] Figure 11 This is a working diagram of the intelligent luminous curb device for two-way safety warning of the present invention. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the accompanying drawings:

[0028] ① Inventive structure

[0029] The present invention uses curbstones as carriers and is divided into two types: pedestrian crossing smart curbstones and roadway smart curbstones. The two types of curbstone structures corresponding to the present invention are as follows: Figure 1 , Figure 2 and Figure 3As shown. Both types of curbstones are H1 type curbstones, the specifications of the vehicle road curbstone are 100×20×40, and the specifications of the pedestrian crossroad curbstone are 150×20×40, in cm. The material is a prefabricated component cast in cement concrete, of which 20cm is the ground height and 20cm is the underground height. The present invention is modified so that there is space inside to place the corresponding device, and the top and sides are covered with tempered glass with a height of 10cm and a thickness of 19mm. A platform with a length of 90×13×5, in cm, is set on the top of the device to facilitate the installation of LED light strips and the attachment of photovoltaic panels, which serve as lighting warning units and power supply units respectively. Four holes with a diameter of 5cm are reserved at intervals of 25cm (center distance) on the side of the device to place lidar sensors as sensing units.

[0030] This invention uses LED light strips as a warning lighting unit, with three light colors (red, yellow, and green) corresponding to three states: danger (stop, slow down), warning (slow down, caution), and safety (safe to pass). The projection lamp assembly includes two sets of projection units, one facing each side of the crosswalk, generating red, yellow, and white strips of light. The voice prompter can provide voice warnings to alert pedestrians in dangerous situations.

[0031] The curb device incorporates an external control unit, which includes a central processing unit (CPU) controlled by a single-chip microcomputer (MCU). The present invention utilizes an STM32F407ZET6 MCU for information processing and decision-making. The sensing and warning devices are connected to a wiring box and then connected to the control unit for data processing and decision-making, enabling real-time safety warnings.

[0032] The smart curbstone uses a hybrid solar-mains power supply unit and innovatively proposes a surplus power sharing network concept to form a three-level energy supply system:

[0033] Primary energy (main supply): Embedded photovoltaic modules (integrated on the left and right ends of the curb), using monocrystalline silicon photovoltaic panels with a conversion efficiency of ≥22%. The tilt angle is optimized according to the city's latitude.

[0034] Secondary energy (backup): connected to the municipal power grid and connected in parallel with the photovoltaic system through a bidirectional inverter to support energy complementarity and surplus power feedback.

[0035] Level 3 energy (sharing): The surplus power of nearby traffic facilities (street lights, indicator lights, etc.) is connected, and dynamic energy scheduling is achieved through the intelligent microgrid controller to avoid waste of clean energy.

[0036] ② Distribution of invention devices

[0037] The distribution diagram of the intelligent curb of the present invention is as follows: Figure 4 As shown;

[0038] Figure 4 Category A refers to pedestrian curbs, and the pedestrian speed V1 and the distance L1 between the pedestrian and the pedestrian curb can be detected by sensors.

[0039] Category B refers to the curb of the road. Similarly, the instantaneous speed V2 of the passing vehicle and the distance L2 between the vehicle and the curb of the road can be measured.

[0040] The laying rules for the two types of smart luminous curbs are as follows:

[0041] The smart curbstones will be laid in the direction of oncoming traffic. Considering national requirements for pedestrian crosswalk widths on urban roads, two 1.5m-long curbstones will be placed side by side to cover the width of the crosswalk. The vehicle-facing curbstones (1m long) will be placed two at 5m intervals along the direction of oncoming traffic, starting with the pedestrian curbstone, until the preset laying range is reached. The device will not lay in directions other than those facing oncoming traffic.

[0042] The paving range of the smart curbstones shall be based on the principles of safety, economy and efficiency and shall follow the following formula:

[0043] The scope of smart curb paving for the two-lane road section is:

[0044]

[0045] L——laying range, m;

[0046] V 85 ——85% speed of the road section, m / s;

[0047] n——number of lanes in one direction

[0048] w——Width of lane in one direction

[0049] In view of the actual situation, the above formula will not be economical and efficient for 4, 6, and 8 lanes.

[0050] Based on this, and taking into account the braking behavior of the vehicle owner, the smart curb paving range for the 4-lane road section is:

[0051]

[0052] When the number of lanes is 6 or 8, the paving range is reduced and corrected by adding the pedestrian acceleration behavior factor. The corresponding formula is:

[0053]

[0054] ③Construction of detection area coordinate system

[0055] To facilitate the prediction of pedestrian-vehicle conflicts, the device uses a plane coordinate diagram to construct a detection zone according to the following scheme. The detection zone covers the same lane as the oncoming vehicle. When the detection is triggered and a pedestrian-vehicle conflict exists, the pedestrian's (point a) trajectory is calculated as a straight line passing through the pedestrian's point and perpendicular to the curb of the crosswalk (as shown in the figure, line ac).

[0056] The trajectory of the vehicle (point b) is a straight line passing through the point where the vehicle is located and parallel to the curb (as shown in the figure, line bc).

[0057] Point b is selected based on the principle of maximum safety: based on the pedestrian's starting point and the vehicle's direction of travel, a position farther from the vehicle's front is chosen. For example, if a vehicle is traveling from east to west and the pedestrian's starting point is on the same lane (i.e., crossing from north to south), point b is the vehicle's left front end. If the pedestrian's starting point is on the opposite lane (i.e., crossing from south to north), point b is the vehicle's right front end.

[0058] Point C is the pedestrian-vehicle conflict point. By locating and assigning coordinates, it can be found that the distance between the pedestrian-vehicle conflict point and the pedestrian crosswalk curb is L3, and the distance from the vehicle is L4. Therefore, the distance from the pedestrian to the pedestrian-vehicle conflict point is L5 = L3 - L1.

[0059] ④Safety warning logic

[0060] The device of the present invention is installed along the direction of oncoming vehicles, defining a corresponding detection zone. When a vehicle passes, detection is triggered, and the inventive sensing device, central processing unit, and early warning device sequentially enter operation. The sensing device transmits relevant data such as speed, trajectory, and distance to the central processing unit. The central processing unit determines the danger level based on the safety warning scheme and issues a corresponding warning command. This command signal is then transmitted to the early warning device, providing a two-way safety warning.

[0061] ⑤Safety early warning plan

[0062] The safety warning plan is as follows:

[0063] This solution combines actual road traffic conditions and the reaction data patterns of pedestrians and drivers in different situations to divide the following six danger levels. The danger levels are safety levels under unmanned vehicle collision conditions and five danger levels under manned vehicle collision conditions. Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 and Figure 10 To analyze:

[0064] When autonomous vehicles collide, Figure 5As shown, when a vehicle enters the detection area, detection will be triggered. At this time, it is reported that no pedestrians are passing through the crosswalk. The curb of the vehicle lane lights up green to indicate safe passage for the vehicle; the curb of the crosswalk lights up yellow to indicate to the pedestrians behind that there is a vehicle approaching and they should pay attention to safety. If no vehicle passes through at night, all the intelligent curbs maintain a green light with a relatively low brightness.

[0065] When there is a conflict between pedestrians and vehicles, when a vehicle enters the detection area and triggers the detection, the pedestrian speed V1, the distance L1 between the pedestrian and the curb of the crosswalk, the instantaneous speed V2 of the vehicle, the distance L2 between the vehicle and the curb of the vehicle lane, the distance L3 from the pedestrian-vehicle conflict point (point c) to the curb of the crosswalk, the distance L4 to the vehicle, the distance L5 = L3 - L1 from the pedestrian to the pedestrian-vehicle conflict point, and the respective movement trajectories of the pedestrian and the vehicle (straight line ac and straight line bc) can be obtained.

[0066] The induction device will transmit the obtained signal to the central processor, which is used to process each signal. The calculation of the processor follows the following formula:

[0067] The time for the person to reach point c

[0068] The time for the vehicle to reach point c

[0069] The time difference |ΔT| = |T1 - T2|

[0070] The central processor will, according to the decision rule (divided into five danger levels, with the fifth danger level having the highest degree of danger), transmit the control signal to the lighting device and the voice prompt for safety warning.

[0071] When ΔT > 3s, that is, the first danger level, as Figure 6 shown, the curb of the crosswalk lights up green, the voice prompt works, and it prompts: "There is a vehicle approaching, pay attention to safety". After receiving the signal, the pedestrians should accelerate or maintain the original speed to pass through the crosswalk. The curb of the vehicle lane lights up yellow to inform the vehicle owner that there are pedestrians ahead and they should adjust by themselves.

[0072] When ΔT ≤ 3s, the increased distance L4 of the vehicle to the conflict point is used as the judgment criterion.

[0073] When L4 > 15m, that is, the second danger level, as Figure 7 shown, the curb of the crosswalk lights up green, the projection lamp is turned on, and a strip of white light is projected along the edge of the crosswalk. The voice prompt is: "There is a vehicle approaching, pay attention to safety" to indicate to the vehicle to pay attention to the pedestrians. The curb of the vehicle lane lights up red.

[0074] When 8m < L4 ≤ 15m, that is, the third danger level, as Figure 8As shown, the pedestrian curb lights up yellow, and a voice prompt says: "There is a vehicle approaching, please pay attention and cross the street as soon as possible." The projection lamp projects a yellow strip light to indicate that vehicles should slow down and move according to the specific situation. The lane curb lights up red and flashes.

[0075] When L4≤8m, it is necessary to determine the position of the pedestrian.

[0076] The pedestrian position determination will be based on the following method:

[0077] It is known that the pedestrian is at a distance of L1 from the pedestrian curb, and the vehicle is at a distance of L2 from the vehicle curb. According to national standards, the standard width of a lane is 3.5m. Based on this, we can determine the lane the car is in:

[0078] For example: when 0≤L2≤3.5m, the car's intended forward coverage area is the rightmost lane. Correspondingly, if L1 is in the interval [0, 3.5], the pedestrian is in the intended forward coverage area; otherwise, the pedestrian is not in the intended forward coverage area.

[0079] The remaining judgments can be made in the same way, that is, the lane is determined based on L2, thereby determining the planned forward coverage area, and then the pedestrian position is determined based on L1.

[0080] Therefore, if the pedestrian has not yet entered the area that the vehicle intends to cover, that is, the fourth danger level, then Figure 9 As shown, the pedestrian curb lights up red, the voice prompt "Pedestrians Stop" is displayed, and the projection light remains yellow. The lane curb lights up red and flashes constantly.

[0081] If pedestrians have entered the area that the vehicle intends to cover, that is, the fifth danger level, such as Figure 10 As shown, the pedestrian crossing curb lights up and flashes red, a voice prompt says "Danger, watch out for vehicles!", and a projector projects a red bar light to indicate that vehicles are slowing down and stopping, and pedestrians have the right of way. The lane curb lights always flash red.

[0082] ⑥Advanced early warning plan

[0083] The above decision is applicable to the conflict between one vehicle and one person. For the conflict between multiple vehicles and multiple people, multiple vehicles and one person, or multiple vehicles and multiple people, the principle of maximum danger will be followed based on the above decision:

[0084] In the case of multiple vehicles in the same lane, only the vehicle at the front is considered. According to the above formula, the time difference ΔT1, ΔT2, ... ΔT corresponding to each vehicle-vehicle conflict is calculated. n , the minimum time difference is ΔT min =min{ΔT1,ΔT2…ΔT n The minimum time difference corresponds to the situation with the highest danger level, so the decision can be made according to the principles described above.

[0085] ⑦Special early warning plan

[0086] If a collision occurs between a pedestrian and a vehicle and the vehicle's speed is detected to be abnormal (for safety reasons, only abnormal acceleration is considered), exceeding 30 km / h within a short period of time, the device will enter emergency mode. Both smart curbs will flash red, and the projection light will turn on red. A voice prompt will be emitted from the pedestrian curb: "Unusual vehicle approaching, be careful!"

[0087] ⑧Other precautions

[0088] Note that the curb lighting decision applies to the curb between the vehicle's location and the crosswalk. After a vehicle passes, the curb lighting decision returns to standby mode (a dim green light) for five seconds, allowing subsequent vehicles to enter a new round of inspection.

[0089] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the concept of the present invention. These improvements and modifications should also be considered within the scope of protection of the present invention.

[0090] ⑨Prospects

[0091] Looking to the future, this invention has the following significance and application prospects

[0092] (1) Improve traffic safety and efficiency

[0093] Through real-time two-way warning and multi-modal interaction functions, the accident rate on urban roads at night and in low visibility conditions is significantly reduced, while providing data support for traffic accident responsibility determination and helping to build an urban traffic safety system. It operates stably in complex environments, optimizes traffic flow, and improves traffic efficiency.

[0094] (2) Energy saving, environmental protection and low-cost and efficient deployment

[0095] Integrate solar energy and mains electricity to achieve green energy-saving goals; easy installation and low maintenance costs make it suitable for large-scale promotion and reduce the burden of urban management.

[0096] (4) Assisting vehicle-road collaboration and smart transportation construction

[0097] Intelligent luminous curbs have the ability to detect at close range and over a large area, and collect high-precision data. They can be combined with the vehicle-road collaborative strategy to realize real-time collection and processing of traffic environment data, provide basic support for the construction of vehicle-road-cloud integration, and promote the innovative development of smart transportation.

Claims

1. A curb-based traffic safety warning device, comprising a pedestrian crosswalk smart curb and a roadway smart curb, both types of curbs being precast cement concrete components; characterized in that: The curb device structure includes: (1) Sensing device, including a LiDAR sensor array, arranged at 25 cm intervals below the side tempered glass cover to detect pedestrian / vehicle dynamic parameters; (2) Control device: including a central processing system controlled by a single-chip microcomputer, integrated with a trajectory prediction module and a graded warning module for data processing and decision-making; (3) Warning device: including an LED warning module, including three light colors of red, yellow and green, corresponding to the three states of danger (stop, slow down), warning (slow down, pay attention), and safety (safe to pass), embedded in the top of the curb; the pedestrian crossing curb is additionally equipped with a projection light group and a voice prompter, which can improve the recognizability and interactivity of the warning through projection light and voice prompts; (4) Photovoltaic panels, installed on top of the curb and connected to batteries, can power the device.

2. The traffic safety warning device according to claim 1, characterized in that: Both types of curbstones are H1 type curbstones, with specifications of 100×20×40 for vehicle road curbstones and 150×20×40 for pedestrian crosswalk curbstones, both measured in cm. The material is prefabricated components cast in cement concrete. The curbstone is 20 cm above ground, with a top tempered glass covering layer of 10 cm in height and 19 mm in thickness.

3. The traffic safety warning device according to claim 1, characterized in that: The projection lamp group includes two groups of projection units, which are respectively directed towards the boundaries on both sides of the crosswalk and can generate red, yellow and white strip light bands.

4. The traffic safety warning device according to claim 1, characterized in that: The central processing system comprises: (1) Multi-target processing unit, used to handle conflict scenarios involving one person and one vehicle, one person and multiple vehicles, multiple people and one vehicle, or multiple people and multiple vehicles; (2) Abnormal acceleration detection unit, set the instantaneous abnormal acceleration threshold at 30 km / h; (3) Priority decision-making unit, implementing the maximum risk principle to select strategies.

5. The traffic safety warning device according to claim 1, characterized in that: The paving scope principles include: (1) The smart curbstones will be laid in the direction of the oncoming vehicle, wherein two pedestrian curbstones (1.5m in length) will be placed side by side, and the vehicle curbstones (1m in length) will be placed in the direction of the oncoming vehicle, starting from the pedestrian curbstone, and two curbstones will be placed every 5m until the preset laying range is reached. The device will not lay in the direction other than the oncoming vehicle direction; (2) The paving range of the smart curbstone shall be based on the principles of safety, economy and efficiency and shall follow the following formula: The scope of smart curb paving for the two-lane road section is: L——laying range, m; V 85 ——85% speed of the road section, m / s; n——number of lanes in one direction; w——width of lane in one direction; The scope of smart curb paving for the 4-lane road section is: The scope of smart curb paving for the 6-lane and 8-lane road sections is:

6. The traffic safety warning device according to claim 1, characterized in that: The logic of the two-way safety warning scheme includes: The device is laid along the oncoming vehicle direction and has a corresponding detection area range. When a vehicle passes by, detection is triggered, and the induction device, control device, and warning device of the invention enter the working state in sequence; the induction device transmits relevant data such as speed, trajectory, and distance to the central processor; the control device constructs a coordinate system for the detection area according to the safety warning scheme, discriminates the danger level, and issues corresponding warning instructions; the warning device receives the instructions and conducts two-way safety warning.

7. The traffic safety warning device according to claim 6, characterized in that: The general content of the two-way safety warning scheme is as follows: (1) Combining the actual road traffic conditions and the reaction data rules of pedestrians and drivers in different situations, the following six types of danger levels are divided, namely the safety level under the condition of no vehicle and pedestrian conflict and five types of danger levels under the condition of vehicle and pedestrian conflict; (2) When there is no vehicle and pedestrian conflict, when a vehicle enters the detection area, detection will be triggered. At this time, when it is feedback that no one passes at the crosswalk, the road curb of the vehicle lane lights up green to prompt the vehicle to pass safely; the road curb of the crosswalk lights up yellow to prompt the later pedestrians that there is a vehicle approaching and pay attention to safety; if there is no vehicle passing at night, all the intelligent road curbs maintain a green light with a relatively low brightness. (3) When there is a vehicle and pedestrian conflict, when a vehicle enters the detection area and triggers detection, the pedestrian speed V1, the distance L1 between the pedestrian and the road curb of the crosswalk, the instantaneous speed V2 of the vehicle, the distance L2 between the vehicle and the road curb of the vehicle lane, the distance L3 from the vehicle and pedestrian conflict point to the road curb of the crosswalk, the distance L4 to the vehicle, the distance L5 = L3 - L1 from the pedestrian to the vehicle and pedestrian conflict point, and the respective movement trajectories of the pedestrian and the vehicle can be obtained; The induction device obtains the signal and transmits it to the central processor, and the central processor is used to process each signal. The processor calculation follows the following formula: The time it takes for people to reach the conflict point The time when the vehicle arrives at the conflict point Time difference |ΔT| = |T1 - T2| The central processor will transmit the control signal to the warning device according to the decision rule for safety warning; (4) When ΔT > 3s, that is, the first danger level, the road curb of the crosswalk lights up green, and the voice prompt works, prompting: "There is a vehicle approaching, pay attention to safety"; after receiving the signal, the pedestrian should accelerate or maintain the original speed to pass the crosswalk; the road curb of the vehicle lane lights up yellow to inform the vehicle owner that there is a pedestrian ahead and should adjust by himself; (5) When ΔT ≤ 3s, the distance L4 from the vehicle to the conflict point is added as the judgment criterion; When L4 > 15m, that is, the second danger level, the road curb of the crosswalk lights up green, the projection lamp is turned on, and a strip of white light is projected along the edge of the crosswalk, with a voice prompt: "There is a vehicle approaching, pay attention to safety", to show the vehicle to pay attention to the pedestrian, and the road curb of the vehicle lane lights up red; (6) When 8m < L4 ≤ 15m, that is, the third danger level, the road curb of the crosswalk lights up yellow, with a voice prompt: "There is a vehicle approaching, pay attention to observation and cross the street as soon as possible", and the projection lamp projects a strip of yellow light to show the vehicle to slow down and act according to the specific situation, and the road curb of the vehicle lane lights up red and flashes; (7) When L4 ≤ 8m, at this time, the pedestrian position needs to be determined, The judgment of the pedestrian position will be based on the following method: It is known that the distance between the pedestrian and the curb at this time is L1, and the distance between the vehicle and the curb is L2. According to national standards, the standard width of a lane is 3.5m. Based on this, we can determine the lane the car is in: For example, when 0≤L2≤3.5m, the vehicle's intended forward coverage area is the rightmost lane. Correspondingly, if L1 is in the interval [0, 3.5], the pedestrian is in the intended forward coverage area. Otherwise, the pedestrian is not in the intended forward coverage area. The rest of the judgment can be performed similarly, that is, the lane is determined based on L2, thereby determining the intended forward coverage area, and then the pedestrian's position is determined based on L1. Therefore, if the pedestrian has not yet entered the area that the vehicle intends to cover, that is, the fourth danger level, the pedestrian curb lights up red, the voice prompt "Pedestrian Stop", the projection light color remains yellow, and the lane curb lights are constantly flashing red; If pedestrians have entered the area that the vehicle intends to cover, which is the fifth danger level, the pedestrian crosswalk curb lights up and flashes red, a voice prompt "Danger, watch out for vehicles!" is given, and the projection lamp projects a red strip light to indicate that the vehicle slows down and stops, giving pedestrians the right of way. The lane curb lights remain on and flashes red.

8. The traffic safety warning device according to claim 6, characterized in that: The advanced solution of the two-way safety warning solution is as follows: For conflicts involving multiple people in one vehicle, multiple vehicles with one person, or multiple vehicles with multiple people, the principle of maximum danger will be followed based on the general plan: In the case of multiple vehicles in the same lane, only the front vehicle is considered. According to the above formula, the time difference ΔT1, ΔT2, ... ΔT corresponding to each vehicle-vehicle collision is calculated. n , the minimum time difference is ΔT min =min{ΔT1,ΔT2…ΔT n }, the minimum time difference corresponds to the situation with the highest danger level, so the decision can be made according to the principles described above.

9. The traffic safety warning device according to claim 6, characterized in that: The special solution of the two-way safety warning solution is as follows: If there is a conflict between a person and a vehicle, and an abnormal speed change of a vehicle is detected (only abnormal acceleration is considered based on safety principles), and the speed increases by more than 30km / h in a short period of time, the device will enter an emergency state. The red lights of the two types of smart curbs will flash, and the red light of the projection lamp will be turned on. The pedestrian crossing curb will give a voice prompt "Abnormal vehicle approaching, please pay attention to safety."

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