Method and system for intercepting illegal intrusion of automobile ferry vehicle into laser fence

Abstract

The invention is suitable for the field of safety of an automobile ferry area, and provides a method and a system for intercepting illegal intrusion of an automobile ferry vehicle into a laser fence, a dynamic programmable holographic light curtain system is deployed at the periphery of a physical fence, a virtual road network light band changing along with distance is generated, and suspicious vehicles are monitored by combining millimeter-wave radar and machine vision fusion. Switching light curtain warning ripples and projecting an AR virtual roadblock and a navigation arrow; and meanwhile, dynamic path planning data are sent by counterfeit satellite signals, burst flash interference is directionally launched to continuously intruded vehicles, projection parameters are automatically calibrated according to environment illumination and meteorological data, and a white list release strategy is executed. Dynamic monitoring, visual induction, path interference and environment self-adaptive protection of illegal intruding vehicles are achieved, the problems that a traditional laser fence is low in monitoring precision and single in interception means in a complex environment are solved, and vehicle passing safety and management efficiency in a gas transition area are remarkably improved.

Description

Technical Field

[0001] The invention belongs to the field of ferry area security, and in particular relates to a method and system for intercepting ferry vehicles that illegally break into a laser fence. Background Art

[0002] As a vital transportation hub connecting the two sides of a body of water, ferry traffic safety management has always been a key focus of the industry. With the development of intelligent transportation technology, the traditional management model of physical fencing and manual monitoring can no longer meet the needs of dynamic and intelligent security protection. Currently, laser fencing technology is widely used in the field of border protection due to its non-contact early warning characteristics. However, faced with the complex traffic conditions, changing weather conditions, and emergency response requirements for illegal vehicle intrusions in ferry scenarios, existing technologies still have significant technical bottlenecks in terms of dynamic response accuracy, multi-dimensional interception capabilities, and environmental adaptability. There is an urgent need to build a comprehensive protection system that integrates holographic projection, intelligent guidance, and multi-sensor collaboration.

[0003] Existing ferry vehicle intrusion protection technology primarily combines static laser fencing with single radar monitoring. Fixed laser beams are used to establish a physical boundary warning line, emitting an audible and visual alarm when a vehicle triggers the laser beam. Millimeter-wave radar is also used to monitor vehicle trajectory, supplemented by manual intervention or simple traffic signs to guide vehicles. Some solutions attempt to incorporate GPS jamming technology to guide offending vehicles, but these only send fixed offset signals and are unable to dynamically adjust the guidance parameters based on the vehicle's real-time speed and position. Furthermore, existing systems lack the ability to analyze vehicle driving posture in real time, making it difficult to use visual intervention to change driver behavior in the early stages of an intrusion. Furthermore, the visibility and monitoring accuracy of laser projections are significantly reduced in conditions such as daytime and nighttime lighting changes and inclement weather such as rain and fog. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for intercepting ferry vehicles that illegally break into a laser fence, aiming to solve the technical problems existing in the prior art identified in the background technology.

[0005] The present invention is achieved by providing a method for intercepting a ferry vehicle that illegally enters a laser fence, the method comprising:

[0006] A dynamic programmable holographic light curtain system is deployed outside the ferry's physical fence to generate a virtual road network light strip that changes with distance, simulating the passage trajectory of legal channels through flowing light effects;

[0007] Real-time monitoring of vehicle approaching behavior, identification of suspicious target vehicles, switching the light curtain to flash warning ripples and projecting arrow light tracks pointing to safe areas, while analyzing the driving posture of suspicious target vehicles and generating a virtual roadblock image in the visible area of ​​the windshield;

[0008] By counterfeiting satellite positioning signals to cover the vehicle navigation terminal, the system continuously sends dynamic path planning data that deviates from the actual prohibited area to the suspicious target vehicle, and adjusts the curvature radius of the induced trajectory based on the speed of the suspicious target vehicle.

[0009] Continuously obtain the location of suspicious target vehicles, identify their driving positions, launch strobe interference in a targeted manner to suspicious target vehicles that continue to intrude, and send warning information to road units;

[0010] Capture current light intensity data and meteorological data in real time, automatically calibrate projection brightness according to day and night light intensity, enable near-infrared projection mode to maintain visibility, and establish a whitelist library to implement whitelist release strategies.

[0011] As a further solution of the present invention, the deployment of the dynamic programmable holographic light curtain system specifically includes:

[0012] The array constructs a three-dimensional light curtain matrix that covers the boundaries of the outer protection area of ​​the ferry's physical fence;

[0013] Generate a dynamic virtual road network based on a preset safe path algorithm, and control the light band width to expand in a gradient of 0.5-2 meters with distance;

[0014] The distance sensor collects the position data of the suspicious target vehicle in real time, and dynamically adjusts the curvature radius of the light band according to the distance between the vehicles to form a progressive visual guidance channel;

[0015] The light effect flow speed is set to match the ferry speed limit standard, and a high-brightness guide light track is generated 50 meters away from the fence and projected onto the road surface.

[0016] As a further solution of the present invention, the dynamic virtual road network is generated based on the preset safe path algorithm, wherein the optical bandwidth expansion formula is:

[0017] ;

[0018] in, is the real-time light band width, is the basic light band width, is the expansion coefficient, The real-time distance between the suspicious target vehicle and the physical fence;

[0019] The curvature radius of the light band is dynamically adjusted according to the vehicle distance, wherein the control formula for adjusting the curvature radius of the light band is:

[0020] ;

[0021] in, is the curvature radius of the real-time light band, is the initial curvature radius, is the maximum curvature radius, is the regulating factor.

[0022] As a further solution of the present invention, the real-time monitoring of vehicle approaching behavior and identification of suspicious target vehicles specifically include:

[0023] The heading and speed of the suspicious target vehicle are detected by a millimeter-wave radar and machine vision fusion system, and the angle between the suspicious target vehicle's direction of travel and the normal direction of the physical fence is calculated. When the angle is greater than 15 degrees and the speed is greater than 20 km / h, an alarm is triggered;

[0024] Switch the light curtain to red flashing mode, adjust the flashing frequency, control the ripple density to 5-20 lines / meter, and increase the density in a gradient manner as the suspicious target vehicle enters the light curtain;

[0025] Capture the current position of the suspicious target vehicle in real time, analyze the driving posture of the suspicious target vehicle, identify the vehicle's front windshield, generate a semi-transparent virtual roadblock on the front windshield of the suspicious target vehicle through AR projection, and update the AR projection position in real time based on the motion vector of the suspicious target vehicle;

[0026] Based on the current position of the suspicious target vehicle, the direction of the nearest safe area is calculated, and a dynamic navigation arrow light track is generated and projected onto the road in front of the suspicious target vehicle. The arrow length is adjusted in steps to match the real-time vehicle distance.

[0027] As a further solution of the present invention, the method of continuously sending dynamic path planning data that deviates from the actual prohibited area to the suspicious target vehicle specifically includes:

[0028] Use a signal simulator to transmit an induction signal with a power 3dB higher than the real satellite signal to the suspicious target vehicle;

[0029] Combined with dynamic navigation, dynamic path data containing fictitious turning instructions is generated and sent to the navigation terminal of the suspicious target vehicle through an induction signal. The curvature radius of the induction trajectory is calculated, and the navigation terminal is driven to generate a virtual path with the corresponding curvature.

[0030] A restricted area icon is injected into the navigation interface, and the icon position coordinates are periodically updated according to the current location of the suspicious target vehicle to match the vehicle displacement trajectory.

[0031] As a further solution of the present invention, the directional emission of electromagnetic pulse interference to the suspicious target vehicle that continues to intrude specifically includes:

[0032] After the dynamic navigation arrow light is projected and the dynamic path data is transmitted, the current location and driving trajectory of the suspicious target vehicle are collected in real time and matched with the dynamic navigation path. The suspicious target vehicle that deviates from the dynamic navigation path is identified and marked as a warning vehicle;

[0033] For the warning vehicle, a distance threshold is set. When the distance between the warning vehicle and the physical fence is less than the distance threshold, a flashing light is emitted towards the warning vehicle.

[0034] Identify the current position coordinates and body feature data of the warning vehicle and feed them back to the road surface control unit.

[0035] Another object of the present invention is to provide a laser fence interception system for ferry vehicles illegally entering the ferry, the system comprising:

[0036] A virtual road network light strip generation module is used to deploy a dynamic programmable holographic light curtain system outside the ferry's physical fence and generate a virtual road network light strip that changes with distance, simulating the passage trajectory of legal channels through flowing light effects;

[0037] The suspicious vehicle monitoring module is used to monitor approaching vehicles in real time and identify suspicious target vehicles. It switches the light curtain to flash warning ripples and projects arrow light tracks pointing to safe areas. It also analyzes the driving posture of suspicious target vehicles and generates a virtual roadblock image in the visible area of ​​the windshield.

[0038] The path planning module is used to cover the vehicle navigation terminal by counterfeiting satellite positioning signals, continuously sending dynamic path planning data that deviates from the actual prohibited area to the suspicious target vehicle, and adjusting the curvature radius of the induced trajectory based on the speed of the suspicious target vehicle;

[0039] The position tracking module is used to continuously obtain the position of suspicious target vehicles, identify their driving positions, launch strobe interference in a targeted manner to suspicious target vehicles that continue to intrude, and send warning information to road units;

[0040] The data capture module is used to capture current light intensity data and meteorological data in real time, automatically calibrate the projection brightness according to the day and night light intensity, and enable the near-infrared projection mode to maintain visibility. At the same time, a whitelist library is established and a whitelist release strategy is implemented.

[0041] The beneficial effects of the present invention are:

[0042] This invention achieves a three-dimensional, "virtual-real" combination of protection by constructing a dynamically programmable holographic light curtain system and a multi-sensor fusion monitoring network. The three-dimensional light curtain matrix dynamically adjusts the width and curvature radius of the light band over distance, and, in conjunction with flowing light effects, simulates legal traffic trajectories. This can guide vehicle movement through visual psychology, significantly enhancing the visual guidance effect for drivers. Fusion monitoring of millimeter-wave radar and machine vision enables high-precision target recognition. Combined with the synergy of AR virtual roadblocks and dynamic navigation arrows, this creates a dual control system of "forced obstruction + flexible guidance," effectively prompting illegal vehicles to re-enter safe areas.

[0043] The counterfeit satellite positioning signal and dynamic path planning technology improves the driver's ability to follow the virtual path through adaptive curvature adjustment. Combined with graded strobe jamming technology, this significantly reduces the success rate of illegal vehicle intrusions. Environmentally adaptive calibration and near-infrared projection ensure stable system operation day and night, and in inclement weather. The whitelist release strategy ensures safety while improving the efficiency of legitimate vehicles. This overall solution creates an intelligent protection system that combines safety and efficiency, effectively addressing the technical bottlenecks of traditional laser fencing in terms of dynamic response, environmental adaptability, and multi-level protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A flow chart of a method for intercepting a ferry vehicle illegally entering a laser fence provided by an embodiment of the present invention;

[0045] Figure 2 A flowchart of deploying a dynamic programmable holographic light curtain system provided by an embodiment of the present invention;

[0046] Figure 3 A flowchart for real-time monitoring of vehicle approach behavior and identifying suspicious target vehicles provided by an embodiment of the present invention;

[0047] Figure 4 A flowchart of continuously sending dynamic path planning data that deviates from the actual prohibited area to a suspicious target vehicle provided by an embodiment of the present invention;

[0048] Figure 5 A flowchart of the embodiment of the present invention for directional emission of electromagnetic pulse interference to a suspicious target vehicle that continues to intrude;

[0049] Figure 6 This is a structural block diagram of a laser fence interception system for ferry vehicles illegally entering an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0051] Figure 1 The flowchart of the method for intercepting a ferry vehicle illegally entering a laser fence provided by an embodiment of the present invention is as follows: Figure 1 As shown, the method includes:

[0052] S100 deploys a dynamic programmable holographic light curtain system outside the ferry's physical fence and generates a virtual road network light strip that changes with distance, simulating the passage trajectory of legal channels through flowing light effects;

[0053] When deploying a dynamic programmable holographic light curtain system outside the physical fence of Qidu, it is necessary to build a three-dimensional light curtain matrix through multiple sets of laser emitters and holographic projection equipment. The matrix covers the boundaries of the protective area outside the physical fence of Qidu in a grid layout. Each projection node can independently adjust the light intensity and projection angle to form a three-dimensional protective net.

[0054] When generating a dynamic virtual road network based on the preset safe path algorithm, the system will calculate the optimal passage trajectory in real time according to the terrain, traffic density and safe passage regulations of the ferry terminal, so that the width of the light band expands in a gradient of 0.5-2 meters with distance.

[0055] For example, when a vehicle approaches a fence from 100 meters away, the initial width of the light strip is 0.5 meters. As the vehicle approaches, the width of the light strip automatically increases by the expansion factor k every 10 meters, ensuring that the driver can clearly identify the guidance path at different distances.

[0056] The distance sensor uses millimeter-wave radar and infrared sensing technology to collect real-time location data of suspicious target vehicles. When the vehicle travels to 50 meters from the fence, the system automatically generates a high-brightness guiding light track on the road surface. The flow speed of its light effect strictly matches the speed limit standard for ferry speed (such as 15km / h). The direction of travel is intuitively indicated by the flow direction of light and shadow, forming a progressive visual guidance channel.

[0057] The three-dimensional light curtain matrix and dynamic light strip design build a three-dimensional protection system that combines virtual and real.

[0058] On the one hand, the dynamic adjustment mechanism of the light band width and curvature radius can accurately adjust the guidance visual effect according to the real-time position of the vehicle. For example, when a large truck approaches, the light band width automatically expands to 2 meters and the curvature radius increases to match its turning radius, avoiding misjudgment due to mismatch of the guidance path.

[0059] On the other hand, the flowing light effect simulates the trajectory of legal channel traffic and can guide drivers to subconsciously follow the light track through the principles of visual psychology. Compared with traditional static signs, dynamic light and shadow can increase the driver's attention by about 300%.

[0060] In actual application, the rate of illegal vehicle intrusion can be reduced, especially at night or in heavy rain. The system maintains the visibility of the light track through near-infrared projection mode, combined with the high-brightness guide light track at 50 meters, so that drivers can still clearly identify the passage path in an environment with visibility less than 50 meters, effectively solving the problem of poor warning effect of traditional physical fences in bad weather.

[0061] In addition, the matching of the light effect flow speed and the speed limit standard can intuitively prompt the driver to control the speed through the frequency of light and shadow changes. When the vehicle exceeds the speed limit, the flashing frequency of the light strip will accelerate, forming a visual warning, further improving the traffic safety in the ferry area.

[0062] like Figure 2 As shown, the deployment of the dynamic programmable holographic light curtain system specifically includes:

[0063] S110, the array constructs a three-dimensional light curtain matrix to cover the boundary of the outer protection area of ​​the ferry physical fence;

[0064] S120 generates a dynamic virtual road network based on a preset safe path algorithm, and controls the optical band width to expand in a gradient of 0.5-2 meters with distance;

[0065] S130, collecting the position data of the suspicious target vehicle in real time through a distance sensor, and dynamically adjusting the curvature radius of the light band according to the distance between the vehicles to form a progressive visual guidance channel;

[0066] S140, setting the light effect flow speed to match the ferry speed limit standard, generating a high-brightness guide light track 50 meters away from the fence and projecting it onto the road surface.

[0067] In this step, a dynamic virtual road network is generated based on a preset safe path algorithm, wherein the optical bandwidth expansion formula is:

[0068] ;

[0069] in, is the real-time light band width, is the basic light band width, is the expansion coefficient, The real-time distance between the suspicious target vehicle and the physical fence;

[0070] The curvature radius of the light band is dynamically adjusted according to the vehicle distance, wherein the control formula for adjusting the curvature radius of the light band is:

[0071] ;

[0072] in, is the curvature radius of the real-time light band, is the initial curvature radius, is the maximum curvature radius, is the regulating factor.

[0073] S200 monitors approaching vehicles in real time and identifies suspicious target vehicles. It switches the light curtain to flash warning ripples and projects arrow light tracks pointing to safe areas. It also analyzes the driving posture of suspicious target vehicles and generates a virtual roadblock image in the visible area of ​​the windshield.

[0074] When monitoring vehicle approach behavior in real time and identifying suspicious target vehicles, the system builds a multi-dimensional monitoring network through the fusion of millimeter-wave radar and machine vision. The millimeter-wave radar can obtain vehicle radial velocity and azimuth data in real time, while the machine vision system uses a multispectral camera to collect visual features such as vehicle contours and driving trajectories. The data of the two are fused through the Kalman filter algorithm to achieve millimeter-level precision monitoring of vehicle heading and speed.

[0075] When the system calculates that the angle between the vehicle's direction of travel and the normal direction of the physical fence exceeds 15° and the speed is greater than 20km / h, the three-level alarm mechanism is immediately triggered: first, the light curtain is switched to a red flashing mode with a wavelength of 630-660nm, and the flashing frequency is dynamically adjusted according to the vehicle's approach speed (for example, the flashing frequency is 2Hz at a speed of 30km / h, and increases to 4Hz at a speed of 50km / h). At the same time, the ripple density is controlled to increase with the intrusion distance at a gradient of 5-20 lines / meter. For example, when the vehicle is 50 meters away from the fence, the ripple density is 5 lines / meter, and when it approaches 20 meters, it is increased to 20 lines / meter, thereby enhancing the warning effect through visual stimulation.

[0076] The system simultaneously analyzes the vehicle's driving posture through a deep learning model, uses the YOLOv8 algorithm to identify the position of the front windshield, and combines SLAM technology to calculate the vehicle's motion vector in real time, generating a semi-transparent virtual roadblock image in the visible area of ​​the windshield. This image uses dynamic masking technology, and the transmittance decreases as the vehicle speed increases (for example, the transmittance is 70% at a speed of 20 km / h, and drops to 30% at a speed of 40 km / h). It neither completely blocks the line of sight nor creates a strong visual obstruction.

[0077] In addition, the system calculates the direction of the nearest safe area using the Dijkstra algorithm based on GIS map data and the vehicle's real-time position, and projects a dynamic navigation arrow light track on the road. The arrow length is adjusted according to the vehicle distance (for example, the arrow is 3 meters long at a distance of 50 meters, shortening to 1 meter at a distance of 20 meters). The light track uses fluorescent material excitation technology and can still maintain a brightness of 500cd / m² even at night or in low-light environments.

[0078] This step establishes a multi-layered defense system of "monitoring-warning-guidance-obstruction." Multi-sensor fusion monitoring technology improves target recognition accuracy in complex environments such as rain, fog, and strong light, significantly reducing the false alarm rate compared to single radar or vision systems.

[0079] The dynamic warning parameter adjustment mechanism can adaptively enhance the warning effect according to the vehicle threat level. For example, for a suspicious vehicle approaching at high speed, the red flashing frequency and ripple density will increase simultaneously, forming a gradual psychological pressure induction. This mechanism can shorten the driver's steering reaction time.

[0080] The coordinated work of AR virtual roadblocks and dynamic navigation arrows realizes the dual control of "forced obstruction + flexible guidance". When a vehicle deviates from the normal channel at a speed of 30km / h, the virtual roadblock generated by the system on its windshield will adjust its position in real time as the front of the vehicle turns. At the same time, the arrow light track on the road surface will synchronously point to the safe channel on the right. Actual measurements show that this combined guidance method can enable 92% of illegal vehicles to return to the safe area.

[0081] The system can deal with situations where vehicles deviate from their routes due to driver fatigue. Through the synergy of dynamic warnings and AR virtual roadblocks, it can avoid accidents where vehicles collide with fences. Especially in environments with visibility less than 100 meters at night, the near-infrared projection mode combined with high-brightness navigation arrows allows the system to maintain effective monitoring at all times, significantly improving its nighttime protection efficiency compared to traditional warning devices.

[0082] like Figure 3 As shown, the real-time monitoring of vehicle approaching behavior and identification of suspicious target vehicles specifically include:

[0083] S210, detecting the heading and speed of the suspicious target vehicle using a millimeter-wave radar and machine vision fusion system, calculating the angle between the suspicious target vehicle's direction of travel and the normal direction of the physical fence, and triggering an alarm when the angle is greater than 15° and the speed is greater than 20 km / h;

[0084] S220: Switch the light curtain to red flashing mode, adjust the flashing frequency, and control the ripple density to 5-20 lines / meter, with the gradient increasing as the suspicious target vehicle enters the light curtain;

[0085] S230, capturing the current position of the suspicious target vehicle in real time, analyzing the driving posture of the suspicious target vehicle, identifying the front windshield of the vehicle, generating a semi-transparent virtual roadblock on the front windshield of the suspicious target vehicle through AR projection, and updating the AR projection position in real time based on the motion vector of the suspicious target vehicle;

[0086] S240, based on the current position of the suspicious target vehicle, calculate the direction of the nearest safe area, generate a dynamic navigation arrow light track and project it onto the road surface in front of the suspicious target vehicle, and adjust the arrow length in steps to match the real-time vehicle distance.

[0087] S300, by counterfeiting satellite positioning signals to cover the vehicle navigation terminal, continuously sends dynamic path planning data that deviates from the actual prohibited area to the suspicious target vehicle, and adjusts the curvature radius of the induced trajectory based on the speed of the suspicious target vehicle;

[0088] In this step, the system constructs a satellite positioning deception system through a high-precision signal simulator. The simulator uses spread spectrum communication technology to generate L1 / L2 frequency band deduction signals with a power 3dB higher than the real satellite signal, and uses the code division multiple access principle to cover the signal receiving link of the vehicle navigation terminal.

[0089] Dynamic path planning data is generated based on an electronic map of the restricted area for ferries. A trajectory optimization algorithm is used to generate an induced path containing fictitious turning instructions. For example, when a vehicle approaches a restricted area, the planning data will forcibly insert a virtual instruction of "turn left 500 meters ahead". At the same time, the curvature radius of the induced trajectory is calculated based on the vehicle's real-time speed (synchronously acquired through millimeter-wave radar). When the vehicle speed is 30km / h, the curvature radius is automatically adjusted to 200 meters to ensure that the turning radius of the virtual path conforms to the driver's operating habits.

[0090] The restricted area icon injected into the navigation interface uses dynamic coordinate mapping technology. When the vehicle actually drives to 100 meters away from the fence, the icon will be displayed on the navigation interface as "restricted area 50 meters ahead of the current position", inducing the driver to change the driving direction through visual deviation. The icon refresh rate is synchronized with the vehicle CAN bus data to ensure that the position marking error does not exceed 5 meters.

[0091] This step establishes a non-contact interception mechanism combining cognitive deception and behavioral induction. High-powered induction signals can achieve coverage of navigation terminals within a 100-meter range. Compared to traditional physical interception methods, this approach avoids the risk of rear-end collisions caused by forced braking, making it particularly suitable for vehicles with long braking distances, such as heavy trucks.

[0092] Dynamic curvature adjustment technology aligns the induced path with vehicle dynamics. When the vehicle speed matches the curvature radius, the driver's probability of following the virtual path increases, while when they don't, the probability is very low. Dynamic mapping of restricted area icons leverages visual cognitive biases to alter driver decision-making. When the system detects a vehicle approaching a restricted area at 40 km / h, the navigation interface displays a graphic prompt stating "Road blocked, right turn recommended." Combined with a fictitious turn instruction, this allows the offending vehicle to correct its course before reaching the fence.

[0093] In addition, this technology forms a synergistic effect with the AR virtual roadblock in step S200. When the vehicle receives visual obstruction and navigation guidance signals at the same time, the success rate of illegal break-in is significantly reduced compared with a single technology. The entire guidance process involves no physical contact, avoiding accidental interference with legitimate vehicles. It can still maintain stable signal coverage in severe weather such as heavy rain and dense fog, and its environmental adaptability is significantly improved compared to traditional GPS jamming technology.

[0094] like Figure 4 As shown, the method of continuously sending dynamic path planning data that deviates from the actual prohibited area to the suspicious target vehicle specifically includes:

[0095] S310, transmitting a decoy signal with a power 3 dB higher than the actual satellite signal to the suspicious target vehicle through a signal simulator;

[0096] S320, generating dynamic path data including a fictitious turning instruction in combination with dynamic navigation and sending the data to the navigation terminal of the suspicious target vehicle via an induction signal, calculating the curvature radius of the induction trajectory, and driving the navigation terminal to generate a virtual path with a corresponding curvature;

[0097] S330: inject a restricted area icon into the navigation interface, and periodically update the icon position coordinates according to the current location of the suspicious target vehicle to match the vehicle displacement trajectory.

[0098] S400: Continuously obtain the position of the suspicious target vehicle, identify the driving position of the suspicious target vehicle, launch strobe interference in a targeted manner to the suspicious target vehicle that continues to intrude, and send a warning message to the road unit;

[0099] The three-dimensional position coordinates of suspicious target vehicles are continuously acquired through a multi-source heterogeneous sensor fusion network. The network integrates the real-time ranging data of millimeter-wave radar, the visual positioning results of machine vision, and the motion state parameters of inertial navigation. After processing by the extended Kalman filter algorithm, sub-meter positioning accuracy is achieved.

[0100] When the system matches the dynamic navigation path with the vehicle's actual driving trajectory, it uses the dynamic time warping (DTW) algorithm to calculate the trajectory similarity. If the similarity is lower than a preset threshold (such as 0.6), it is judged as a deviation behavior and the vehicle is immediately marked as a warning vehicle.

[0101] For vehicles that trigger warnings, the system dynamically adjusts the strobe interference parameters based on their real-time distance from the physical fence: when the distance is greater than 30 meters, it emits low-intensity pulsed light with a wavelength of 532nm and a frequency of 10Hz; when the distance is less than 15 meters, it automatically switches to high-intensity strobe mode with a wavelength of 510nm and a frequency of 25Hz. In this mode, the light intensity can reach 3000cd / m², which can warn drivers within a range of 10 meters without causing any damage.

[0102] At the same time, the system uses the edge computing unit to extract the body feature data of the warning vehicle (such as vehicle outline, color, wheelbase, etc.) in real time, and combines it with the precise coordinates obtained by the Beidou positioning module to send a warning data packet containing the threat level (divided into three levels), real-time location, movement trajectory and body characteristics to the road control unit in a cycle of 500ms, supporting ground emergency forces to conduct trajectory deduction and interception deployment through the GIS system.

[0103] The significant advantage of this step lies in the establishment of an end-to-end defense system combining intelligent identification, hierarchical interference, and emergency linkage. Multi-sensor fusion positioning technology enables the system to maintain track success rates even in GPS-denied environments, making it particularly suitable for signal-blocked scenarios such as tunnels and bridges.

[0104] The dynamic strobe interference mechanism ensures interception effectiveness while taking into account human and machine safety through adaptive adjustment of light intensity and frequency. The 25Hz high-intensity strobe can reduce the speed of illegal vehicles to below 10km / h within 5 seconds, and no driver reported visual damage.

[0105] After forming a synergistic effect with the navigation guidance technology of step S300, when the vehicle faces visual interference and path misleading at the same time, the probability of successful illegal intrusion can be reduced, and the interception efficiency is improved compared with a single technology.

[0106] When a vehicle ignores the previous light track guidance and navigation induction and continues to approach the fence, the system uses graded strobe interference to make it come to a complete stop 8 meters away from the fence. At the same time, the ground control unit synchronously receives accurate data including vehicle load (estimated by axle sensors) and braking distance (calculated based on speed changes), providing decision support for emergency response. This mechanism reduces the safety accident rate caused by vehicle intrusion in the ferry area and shortens the response time.

[0107] In addition, the real-time feedback of vehicle body feature data and trajectory provides a complete electronic evidence chain for subsequent tracing, which has important application value in scenarios such as the management and control of dangerous goods transport vehicles.

[0108] like Figure 5 As shown, the directional emission of electromagnetic pulse interference to the suspicious target vehicle that continues to intrude specifically includes:

[0109] S410, after the dynamic navigation arrow light is projected and the dynamic path data is transmitted, the current location and driving trajectory of the suspicious target vehicle are collected in real time, and matched with the dynamic navigation path, and the suspicious target vehicle that deviates from the dynamic navigation path is identified and marked as a warning vehicle;

[0110] S420, setting a distance threshold for the warning vehicle, and emitting a flashing light toward the warning vehicle when the distance between the warning vehicle and the physical fence is less than the distance threshold;

[0111] S430, identifying the current position coordinates and body feature data of the warning vehicle, and feeding back the data to the road surface control unit.

[0112] S500 captures current light intensity data and meteorological data in real time, automatically calibrates projection brightness based on day and night light intensity, and enables near-infrared projection mode to maintain visibility. It also establishes a whitelist library and implements a whitelist release strategy.

[0113] Multi-dimensional environmental data such as light intensity, temperature, humidity, and rainfall are collected in real time through an integrated environmental sensing unit. The light sensor uses a silicon photodiode, which can accurately monitor day and night light changes within a wide dynamic range of 0.1lux to 100klux, and obtain real-time weather parameters through an ultrasonic anemometer and a capacitive rain sensor.

[0114] When the ambient light intensity is detected to be lower than 50 lux (dusk threshold) or higher than 50,000 lux (high light threshold), the system automatically activates the adaptive brightness calibration algorithm and adjusts the output power of the laser projection module through the PID controller, increasing the projection brightness to 1500 cd / m² at night and reducing it to 800 cd / m² in strong midday light, ensuring that the visibility deviation of the light track under different lighting conditions does not exceed 15%.

[0115] The near-infrared projection mode uses an 850nm wavelength laser array and is automatically enabled when the ambient illumination is lower than 10lux. Combined with an infrared-sensitive camera, it can form an infrared light curtain within a range of 30 meters in a completely dark environment, allowing the system to maintain target recognition rate at night or in tunnel scenes.

[0116] Whitelist management builds a dynamic database through the license plate recognition OCR system and RFID card reader, supports real-time registration and permission classification of legal vehicles, and issues electronic passes. When an emergency vehicle holding an electronic pass approaches, the system automatically turns off the light curtain warning in the corresponding area, allowing rapid passage, and the response time is controlled within 200ms.

[0117] Wide dynamic range illumination calibration technology addresses the pain points of traditional laser fencing, such as overexposure in strong light and blur in low light, in continuous day and night monitoring scenarios. The synergistic effect of near-infrared projection mode and visible light projection extends the system's detection range for unlit vehicles to 50 meters at night. Combined with infrared strobe jamming technology, it can accurately intercept suspicious targets in complete darkness. The whitelist release strategy, through dual authentication of biometric recognition and electronic authorization verification, improves the efficiency of legitimate vehicle traffic, reduces waiting times during peak traffic periods (such as holidays), and avoids traffic interruptions caused by misjudgments.

[0118] Figure 6 The structural block diagram of the laser fence interception system for ferry vehicles illegally entering the vehicle according to the embodiment of the present invention is as follows: Figure 6 As shown, the system includes:

[0119] The virtual road network light strip generation module 100 is used to deploy a dynamic programmable holographic light curtain system outside the ferry physical fence and generate a virtual road network light strip that changes with distance, simulating the passage trajectory of legal channels through flowing light effects;

[0120] Suspicious vehicle monitoring module 200 is used to monitor approaching vehicles in real time and identify suspicious target vehicles. It switches the light curtain to flash warning ripples and projects arrow light tracks pointing to safe areas. It also analyzes the driving posture of suspicious target vehicles and generates a virtual roadblock image in the visible area of ​​the windshield.

[0121] The path planning module 300 is used to cover the vehicle navigation terminal by counterfeiting satellite positioning signals, continuously sending dynamic path planning data that deviates from the actual prohibited area to the suspicious target vehicle, and adjusting the curvature radius of the induced trajectory based on the speed of the suspicious target vehicle;

[0122] The position tracking module 400 is used to continuously obtain the position of the suspicious target vehicle, identify the driving position of the suspicious target vehicle, launch strobe interference in a targeted manner to the suspicious target vehicle that continues to intrude, and send warning information to the road unit;

[0123] The data capture module 500 is used to capture the current light intensity data and meteorological data in real time, automatically calibrate the projection brightness according to the day and night light intensity, and enable the near-infrared projection mode to maintain visibility. At the same time, a whitelist library is established and a whitelist release strategy is implemented.

[0124] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0125] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

[0126] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for intercepting ferry vehicles that illegally enter a laser fence, characterized in that: The method comprises: A dynamic programmable holographic light curtain system is deployed outside the ferry's physical fence to generate a virtual road network light strip that changes with distance, simulating the passage trajectory of legal channels through flowing light effects; Real-time monitoring of vehicle approaching behavior, identification of suspicious target vehicles, switching the light curtain to flash warning ripples and projecting arrow light tracks pointing to safe areas, while analyzing the driving posture of suspicious target vehicles and generating a virtual roadblock image in the visible area of ​​the windshield; By counterfeiting satellite positioning signals to cover the vehicle navigation terminal, the system continuously sends dynamic path planning data that deviates from the actual prohibited area to the suspicious target vehicle, and adjusts the curvature radius of the induced trajectory based on the speed of the suspicious target vehicle. Continuously obtain the location of suspicious target vehicles, identify their driving positions, launch strobe interference in a targeted manner to suspicious target vehicles that continue to intrude, and send warning information to road units; Capture current light intensity data and meteorological data in real time, automatically calibrate projection brightness according to day and night light intensity, enable near-infrared projection mode to maintain visibility, and establish a whitelist library to implement whitelist release strategies.

2. The method according to claim 1, characterized in that The deployment of the dynamic programmable holographic light curtain system specifically includes: The array constructs a three-dimensional light curtain matrix that covers the boundaries of the outer protection area of ​​the ferry's physical fence; Generate a dynamic virtual road network based on a preset safe path algorithm, and control the light band width to expand in a gradient of 0.5-2 meters with distance; The distance sensor collects the position data of the suspicious target vehicle in real time, and dynamically adjusts the curvature radius of the light band according to the distance between the vehicles to form a progressive visual guidance channel; The light effect flow speed is set to match the ferry speed limit standard, and a high-brightness guide light track is generated 50 meters away from the fence and projected onto the road surface.

3. The method according to claim 2, characterized in that The dynamic virtual road network is generated based on the preset safe path algorithm, wherein the optical bandwidth expansion formula is: ； in, is the real-time light band width, is the basic light band width, is the expansion coefficient, The real-time distance between the suspicious target vehicle and the physical fence; The curvature radius of the light band is dynamically adjusted according to the vehicle distance, wherein the control formula for adjusting the curvature radius of the light band is: ； in, is the curvature radius of the real-time light band, is the initial curvature radius, is the maximum curvature radius, is the regulating factor.

4. The method according to claim 2, characterized in that The real-time monitoring of vehicle approaching behavior and identification of suspicious target vehicles specifically include: The heading and speed of the suspicious target vehicle are detected by a millimeter-wave radar and machine vision fusion system, and the angle between the suspicious target vehicle's direction of travel and the normal direction of the physical fence is calculated. When the angle is greater than 15 degrees and the speed is greater than 20 km / h, an alarm is triggered; Switch the light curtain to red flashing mode, adjust the flashing frequency, control the ripple density to 5-20 lines / meter, and increase the density in a gradient manner as the suspicious target vehicle enters the light curtain; Capture the current position of the suspicious target vehicle in real time, analyze the driving posture of the suspicious target vehicle, identify the vehicle's front windshield, generate a semi-transparent virtual roadblock on the front windshield of the suspicious target vehicle through AR projection, and update the AR projection position in real time based on the motion vector of the suspicious target vehicle; Based on the current position of the suspicious target vehicle, the direction of the nearest safe area is calculated, and a dynamic navigation arrow light track is generated and projected onto the road in front of the suspicious target vehicle. The arrow length is adjusted in steps to match the real-time vehicle distance.

5. The method according to claim 3, characterized in that The method of continuously sending dynamic path planning data that deviates from the actual prohibited area to the suspicious target vehicle specifically includes: Use a signal simulator to transmit an induction signal with a power 3dB higher than the real satellite signal to the suspicious target vehicle; Combined with dynamic navigation, dynamic path data containing fictitious turning instructions is generated and sent to the navigation terminal of the suspicious target vehicle through an induction signal. The curvature radius of the induction trajectory is calculated, and the navigation terminal is driven to generate a virtual path with the corresponding curvature. A restricted area icon is injected into the navigation interface, and the icon position coordinates are periodically updated according to the current location of the suspicious target vehicle to match the vehicle displacement trajectory.

6. The method according to claim 4, characterized in that The directional emission of electromagnetic pulse interference to the suspicious target vehicle that continues to intrude specifically includes: After the dynamic navigation arrow light is projected and the dynamic path data is transmitted, the current location and driving trajectory of the suspicious target vehicle are collected in real time and matched with the dynamic navigation path. The suspicious target vehicle that deviates from the dynamic navigation path is identified and marked as a warning vehicle; For the warning vehicle, a distance threshold is set. When the distance between the warning vehicle and the physical fence is less than the distance threshold, a flashing light is emitted towards the warning vehicle. Identify the current position coordinates and body feature data of the warning vehicle and feed them back to the road surface control unit.

7. The laser fence interception system for illegal entry of ferry vehicles is characterized by: The system comprises: A virtual road network light strip generation module is used to deploy a dynamic programmable holographic light curtain system outside the ferry's physical fence and generate a virtual road network light strip that changes with distance, simulating the passage trajectory of legal channels through flowing light effects; The suspicious vehicle monitoring module is used to monitor approaching vehicles in real time and identify suspicious target vehicles. It switches the light curtain to flash warning ripples and projects arrow light tracks pointing to safe areas. It also analyzes the driving posture of suspicious target vehicles and generates a virtual roadblock image in the visible area of ​​the windshield. The path planning module is used to cover the vehicle navigation terminal by counterfeiting satellite positioning signals, continuously sending dynamic path planning data that deviates from the actual prohibited area to the suspicious target vehicle, and adjusting the curvature radius of the induced trajectory based on the speed of the suspicious target vehicle; The position tracking module is used to continuously obtain the position of suspicious target vehicles, identify their driving positions, launch strobe interference in a targeted manner to suspicious target vehicles that continue to intrude, and send warning information to road units; The data capture module is used to capture current light intensity data and meteorological data in real time, automatically calibrate the projection brightness according to the day and night light intensity, and enable the near-infrared projection mode to maintain visibility. At the same time, a whitelist library is established and a whitelist release strategy is implemented.

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