Self-release and self-walking warning and early warning system, control method and automobile

Abstract

The invention relates to the technical field of automobile safety early warning, in particular to a self-release and self-walking warning and early warning system, a control method and an automobile. The invention provides a self-releasing and self-walking warning and early warning system which comprises a self-walking warning device, a connecting device, an accident detection device and a control module. The self-walking warning device is connected to a chassis of the automobile through the connecting device; the accident detection devices are arranged on the front side, the left side and the right side of an automobile body and used for detecting collision information of the front side, the left side and the right side of the automobile body. The control module controls the connecting device to release the self-walking warning device based on detection information of the accident detection device and controls the self-walking warning device to walk towards the rear side of the automobile body by a preset distance. Manual intervention is not needed, personal safety is ensured, the response is timely, a follow-up vehicle can be rapidly warned, meanwhile, the self-walking warning device has the independent walking capacity, the vehicle can automatically run to a proper position, and the warning effect is ensured.

Description

Technical Field

[0001] This invention relates to the field of automotive safety warning technology, and in particular to a self-release and self-propelled warning system, control method, and automobile. Background Technology

[0002] In the current automotive traffic field, after a traffic accident, in order to prevent rear-end collisions and avoid chain-reaction accidents or secondary accidents, drivers usually need to take a warning triangle from the trunk and place it at a certain distance behind the accident vehicle. However, this traditional warning method has many shortcomings and limitations.

[0003] First, manually placing a warning triangle is time-consuming and cumbersome. In an emergency, drivers need to quickly leave the accident scene to ensure their safety, but removing the warning triangle and placing it in the appropriate position takes time, which may delay the best opportunity for escape and rescue.

[0004] Secondly, manually placed warning triangles pose safety hazards. On highways, where speeds are high, following vehicles may not see the accident vehicle and warning triangle in time due to obstructed visibility or insufficient reaction time, leading to rear-end collisions. Furthermore, in inclement weather or low-light conditions, the visibility and warning effectiveness of manually placed warning triangles are significantly reduced.

[0005] In addition, traditional warning triangles cannot detect the approach of vehicles behind in real time after they are placed, and cannot actively issue alarms or signals to remind vehicles behind, so the warning effect is limited.

[0006] In conclusion, existing vehicle accident warning methods have many shortcomings, and a more advanced, intelligent, and reliable warning device is needed to improve traffic safety and accident prevention capabilities. Summary of the Invention

[0007] The purpose of this invention is to provide a self-release and self-propelled warning system, control method, and vehicle to solve the technical problem of risks associated with manually placing warning racks.

[0008] In a first aspect, the present invention provides a self-release and self-walking warning system installed on a vehicle, the self-release and self-walking warning system comprising: a self-walking warning device, a connecting device, an accident detection device, and a control module; The self-propelled warning device is connected to the chassis of the vehicle via the connecting device; The accident detection device is installed on the front, left and right sides of the vehicle body to detect collision information on the front, left and right sides of the vehicle body. The control module controls the connecting device to release the self-propelled warning device based on the detection information of the accident detection device, and controls the self-propelled warning device to move a preset distance to the rear of the vehicle.

[0009] In an optional implementation, the control module includes a first control unit and a second control unit; The first control unit is located in the vehicle's control system and is electrically connected to the connecting device and the accident detection device. The first control unit controls the connecting device to release the self-propelled warning device based on the detection information from the accident detection device. The second control unit is disposed on the self-propelled warning device and is used to control the self-propelled warning device to travel a preset distance to the rear of the vehicle.

[0010] In an optional embodiment, the self-propelled warning device includes a sensing mechanism, a photoelectric warning mechanism, a power battery, and a walking mechanism. The second control unit, the sensing mechanism, the photoelectric warning mechanism, and the power battery are all mounted on the walking mechanism; The sensing mechanism, the photoelectric warning mechanism, the power battery, and the walking mechanism are all electrically connected to the second control unit, and the second control unit is also used to control the photoelectric warning mechanism to issue an alarm.

[0011] In an optional implementation, the walking mechanism includes a first motor, Mecanum wheels, and a frame; Both the first motor and the Mecanum wheel are mounted on the frame, and the first motor is connected to the Mecanum wheel via a transmission.

[0012] In an optional implementation, the sensing mechanism includes an ultrasonic sensor and a camera.

[0013] In an optional embodiment, the connecting device includes a lifting mechanism and an electromagnet; The lifting mechanism is connected to the chassis of the vehicle; The electromagnet is installed at the lifting end of the lifting mechanism and is magnetically connected to the self-propelled warning device. The electromagnet is electrically connected to the control module.

[0014] In an optional embodiment, the connecting device further includes a mounting base, and the lifting mechanism includes a worm gear, a turbine, and a second motor; The mounting base is connected to the chassis of the vehicle; The worm gear is connected to the mounting base and meshes with the turbine. The second motor is connected to the turbine.

[0015] In an optional implementation, the accident detection device includes an accelerometer and a gyroscope.

[0016] Secondly, the present invention provides a control method for a self-release and self-walking warning system, employing the self-release and self-walking warning system described in any of the foregoing embodiments, wherein the control method includes the following steps: S1, Obtain detection information from the accident detection device; S2, determine whether an accident has occurred based on the detection information from the accident detection device; S3, if so, send a signal to the connecting device to release the self-propelled warning device; S4, the connecting device releases the self-propelled warning device; S5, determine whether the self-propelled warning device has landed; S6, if so, the walking mechanism is activated and the photoelectric warning mechanism is activated to issue an alarm; S7, the sensing mechanism is activated, and the walking mechanism begins to move; S8: The walking mechanism travels a preset distance, and the photoelectric warning mechanism maintains the warning.

[0017] Thirdly, the present invention provides a vehicle including the self-release and self-walking warning system described in any of the foregoing embodiments.

[0018] Compared with existing technologies, the technical advantages of the self-release and self-propelled warning and early warning system, control method, and automobile provided by this invention are as follows: The self-release and self-walking warning system provided by this invention is installed on a vehicle. The self-release and self-walking warning system includes: a self-walking warning device, a connecting device, an accident detection device, and a control module. The self-walking warning device is connected to the chassis of the vehicle via the connecting device. The accident detection device is located on the front, left, and right sides of the vehicle body and is used to detect collision information on the front, left, and right sides of the vehicle body. The control module controls the connecting device to release the self-walking warning device based on the detection information from the accident detection device, and controls the self-walking warning device to walk a preset distance to the rear of the vehicle body.

[0019] When a collision occurs on any of the front, left, or right sides of a vehicle, the accident detection device can detect the collision information. Based on the detection information from the accident detection device, the control module controls the connecting device to release the self-propelled warning device and controls the self-propelled warning device to move a preset distance to the rear of the vehicle to issue a warning. No manual intervention is required, ensuring personal safety. The device also responds promptly and can quickly warn following vehicles. Furthermore, because the self-propelled warning device has independent walking capabilities, it can automatically drive to a suitable position to ensure the warning effect.

[0020] The control method of the self-release and self-walking warning system provided by the present invention adopts the above-mentioned self-release and self-walking warning system. Therefore, the technical advantages and effects achieved therein include those achieved by the above-mentioned self-release and self-walking warning system, which will not be elaborated here.

[0021] The automobile provided by this invention includes the aforementioned self-release and self-walking warning system. Therefore, the technical advantages and effects achieved by this invention are the same as those achieved by the aforementioned self-release and self-walking warning system, which will not be elaborated here.

[0022] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the connection device structure provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the self-propelled warning device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the top structure of the vehicle frame provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the bottom structure of the vehicle frame provided in an embodiment of the present invention.

[0025] Icons: 1-Self-propelled warning device; 2-Connecting device; 3-Power battery; 4-First motor; 5-Worm gear; 6-Mecanum wheel; 7-Frame; 8-Camera; 9-Electromagnet; 10-Mounting base; 11-Second motor; 12-Worm gear protective cover; 13-Turbine box; 14-Second control unit; 15-Photoelectric warning mechanism; 16-Battery support plate; 17-Housing; 18-Magnetic suction part. Detailed Implementation

[0026] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0030] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0031] The specific structure is as follows: Figures 1 to 4 As shown.

[0032] This embodiment provides a self-release and self-walking warning system installed on a vehicle. The self-release and self-walking warning system includes: a self-walking warning device 1, a connecting device 2, an accident detection device, and a control module. The self-walking warning device 1 is connected to the chassis of the vehicle via the connecting device 2. The accident detection device is installed on the front, left, and right sides of the vehicle body to detect collision information on the front, left, and right sides of the vehicle body. The control module controls the connecting device 2 to release the self-walking warning device 1 based on the detection information from the accident detection device, and controls the self-walking warning device 1 to walk a preset distance to the rear of the vehicle body.

[0033] In this embodiment, when a collision occurs on any of the front, left, or right sides of the vehicle, the accident detection device can detect the collision information. Based on the detection information from the accident detection device, the control module controls the connecting device 2 to release the self-propelled warning device 1 and controls the self-propelled warning device 1 to travel a preset distance to the rear of the vehicle to issue a warning. No manual intervention is required, ensuring personal safety. The response is timely and can quickly warn subsequent vehicles. At the same time, since the self-propelled warning device 1 has independent walking ability, it can automatically drive to a suitable position to ensure the warning effect.

[0034] In the optional technical solution of this embodiment, the control module includes a first control unit and a second control unit 14. The first control unit is installed in the vehicle's control system and electrically connected to the connecting device 2 and the accident detection device. Based on the detection information from the accident detection device, the first control unit controls the connecting device 2 to release the self-propelled warning device 1. The second control unit 14 is installed on the self-propelled warning device 1 and is used to control the self-propelled warning device 1 to move a preset distance to the rear of the vehicle. The control effect is ensured by independent control from the two control units. The first control unit is integrated into the vehicle's control system. It should be noted that this embodiment is not limited to this; the control module can also be integrated into the vehicle's control system, not only controlling the connecting device 2 to release the self-propelled warning device 1 but also remotely controlling the self-propelled warning device 1 to move a preset distance to the rear of the vehicle.

[0035] In the optional technical solution of this embodiment, the self-propelled warning device 1 includes a sensing mechanism, a photoelectric warning mechanism 15, a power battery 3, and a walking mechanism; the second control unit 14, the sensing mechanism, the photoelectric warning mechanism 15, and the power battery 3 are all mounted on the walking mechanism; the sensing mechanism, the photoelectric warning mechanism 15, the power battery 3, and the walking mechanism are all electrically connected to the second control unit 14, and the second control unit 14 is also used to control the photoelectric warning mechanism 15 to issue an alarm. The overall structure is simple. The sensing mechanism is used to sense external road conditions and realize the obstacle avoidance function when the walking mechanism is moving. The photoelectric warning mechanism 15 ensures the warning effect in bad weather or low light conditions through photoelectric warning.

[0036] In the optional technical solution of this embodiment, the photoelectric warning mechanism 15 includes a light source and an optical diffuser plate, with the optical diffuser plate disposed at the emitting end of the light source.

[0037] In this embodiment, an optical diffuser is placed in front of the light source. The light from the light source is diffused evenly over a larger area using the principle of optical diffusion, effectively reducing the number and size of the light source. The light source can be any array of LEDs.

[0038] In the optional technical solution of this embodiment, the walking mechanism includes a first motor 4, a Mecanum wheel 6 and a frame 7; the first motor 4 and the Mecanum wheel 6 are both mounted on the frame 7, and the first motor 4 and the Mecanum wheel 6 are connected in a transmission connection.

[0039] In this embodiment, four Mecanum wheels 6 are mounted on the frame 7, and each Mecanum wheel 6 is equipped with a first motor 4 for independent drive. The Mecanum wheels 6 can not only move forward or backward like conventional wheels, but also turn and laterally on the spot, enabling the walking mechanism to move in confined spaces. The center of each Mecanum wheel 6 is connected to the first motor 4.

[0040] Specifically, the frame 7 consists of four beams, two horizontal and two vertical. It is composed of structural steel sections, with longer sections arranged in two longitudinal directions. The steel sections are relatively short in both transverse directions. Structural steel. The surface of the steel profile is treated to achieve lightweighting. Four Mecanum wheels 6 are mounted on the frame 7, with a central roller shaft connecting each Mecanum wheel 6 to a hub. Each Mecanum wheel 6's roller shaft is connected to a first motor 4 for independent drive. Four fixed mounting seats are provided on the frame 7, and the four first motors 4 are fixed to these seats one-to-one. The Mecanum wheels 6 can move forward or backward like traditional wheels, and can also turn and laterally, enabling the walking mechanism to move in confined spaces. The four Mecanum wheels 6 are arranged in an ABBA pattern, with diagonally opposite Mecanum wheels 6 having the same angular direction. Based on the direction and speed of each Mecanum wheel 6, the final resultant force vector is generated in any desired direction, ensuring that the frame 7 can move freely in the direction of the final resultant force vector without changing the direction of the Mecanum wheels 6 themselves. The combination of Mecanum wheels results in a compact structure, allowing for more flexible and convenient omnidirectional movement.

[0041] In the optional technical solution of this embodiment, the sensing mechanism includes an ultrasonic sensor and / or a camera 8. Preferably, the sensing mechanism includes an ultrasonic sensor and a camera 8. The ultrasonic sensor implements obstacle avoidance functionality, detecting obstacles and providing feedback to the control module. Simultaneously, a front-facing dynamic camera 8 is provided, mounted on the front of the walking mechanism and positioned on the housing 17, ensuring its field of view covers the lane lines ahead. The mounting angle needs to be adjusted according to the structure of the walking mechanism and the usage scenario to obtain the best lane line recognition effect.

[0042] In the optional technical solution of this embodiment, the connecting device 2 includes a lifting mechanism and an electromagnet 9; the lifting mechanism is connected to the chassis of the vehicle; the electromagnet 9 is disposed at the lifting end of the lifting mechanism and is magnetically connected to the self-propelled warning device 1; the electromagnet 9 is electrically connected to the control module. The lifting mechanism can drive the self-propelled warning device 1 to rise and fall, preventing the vehicle from hitting the bottom while driving. At the same time, the lifting mechanism is magnetically connected to the self-propelled warning device 1 through the electromagnet 9, and the self-propelled warning device 1 can be retracted and extended by controlling the on and off of the electromagnet 9, which is convenient for retraction and extension.

[0043] In this embodiment, a housing 17 is provided on the frame 7, the photoelectric warning mechanism 15 is provided inside the housing 17, and a magnetic part 18 is provided on the top of the housing 17. The magnetic part 18 can be attracted with the electromagnet 9. A battery support plate 16 is also provided on the frame 7, and the power battery 3 is provided on the power support plate.

[0044] In the optional technical solutions of this embodiment, the lifting mechanism can be a lifting motor or a scissor lift. Preferably, the lifting mechanism includes a worm gear 5, a turbine, and a second motor 11; the mounting base 10 is connected to the chassis of the vehicle; the worm gear 5 is connected to the mounting base 10 and meshes with the turbine; the second motor 11 is driven and connected to the turbine. The worm gear and worm wheel 5 have good stability in their engagement, ensuring that lifting is smooth and uninterrupted during use.

[0045] Specifically, the mounting base 10 is installed under the chassis of the car. The mounting base 10 is designed as a four-hole flange and is connected to the chassis by four bolts. The worm gear 5 is welded to the middle position of the mounting base 10, and the perpendicularity of the worm gear 5 to the mounting base 10 is ensured.

[0046] The lifting mechanism also includes a worm gear protective cover 12 and a turbine housing 13; the worm gear protective cover 12 is connected to the mounting base 10, and the turbine housing 13 is connected to the worm gear protective cover 12; the worm 5 is housed inside the worm gear protective cover 12, and the turbine is housed inside the turbine housing 13. This ensures the worm 5 and turbine surfaces remain clean and free from contamination. The output end of the turbine is connected to the output shaft of the second motor 11, which drives the turbine to engage with the worm 5 to achieve vertical lifting and lowering movement. An electromagnet 9 is installed at the lower end of the worm 5.

[0047] In the optional technical solution of this embodiment, the accident detection device includes an accelerometer and / or a gyroscope sensor. Preferably, the accident detection device includes an accelerometer and a gyroscope sensor.

[0048] In this embodiment, accident detection devices are installed on the front, left, and right sides of the vehicle body, and these devices integrate accelerometers and gyroscopes. The accelerometers detect changes in the vehicle's acceleration; a sudden change in acceleration occurs during a collision, and the control module sends a signal to release the self-propelled warning device 1 accordingly. The gyroscopes detect changes in the vehicle's posture, such as tilting or rolling, and the control module also sends a signal to release the self-propelled warning device 1 accordingly.

[0049] In this embodiment, the power battery 3 is used to power the self-propelled warning device 1 and the second control unit 14.

[0050] This embodiment provides a control method for a self-release and self-walking warning system. By adopting the aforementioned self-release and self-walking warning system, the technical advantages and effects achieved by the control method of this self-release and self-walking warning system include those achieved by the aforementioned self-release and self-walking warning system, which will not be elaborated here.

[0051] The control method includes the following steps: S1, Obtain detection information from the accident detection device; S2, determine whether an accident has occurred based on the detection information from the accident detection device; S3, if so, send a signal to the connecting device 2 to release the self-propelled warning device 1; S4, Connecting device 2 releases self-propelled warning device 1; S5, determine whether the self-propelled warning device 1 has landed; S6, if so, the walking mechanism is activated and the photoelectric warning mechanism 15 is activated to issue an alarm; S7, the sensing mechanism is activated, and the walking mechanism begins to move; S8, the walking mechanism travels a preset distance, and the photoelectric warning mechanism 15 maintains the warning.

[0052] Specifically, taking a car rear-ending another vehicle as an example, when a car rear-ends another vehicle, the accident detection device can quickly detect the collision signal and transmit the signal to the vehicle control system. After receiving the collision signal, the vehicle control system will immediately send a command to the connecting device 2 to activate the automatically released self-propelled warning device 1. After the self-propelled warning device 1 is released and landed, the walking mechanism starts to move automatically, and at the same time, the photoelectric warning mechanism 15 works synchronously to attract the attention of surrounding people; the sensing mechanism is activated, and the walking mechanism moves forward according to the preset walking mode. When a stop command is received or a specific stopping condition is met (such as reaching a preset distance, encountering an obstacle, etc.), the walking mechanism stops moving.

[0053] When the walking mechanism is walking, it adjusts the speed and direction of the first motor 4 according to the preset speed parameters or real-time control commands to control the walking speed and direction, ensuring that it can travel accurately along the predetermined path.

[0054] This embodiment provides a car that includes the aforementioned self-release and self-walking warning system. Therefore, the technical advantages and effects achieved by this car include those achieved by the aforementioned self-release and self-walking warning system, which will not be elaborated here.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-releasing, self-propelled warning and alert system, installed on a vehicle, characterized in that, The self-release and self-walking warning system includes: a self-walking warning device (1), a connecting device (2), an accident detection device, and a control module; The self-propelled warning device (1) is connected to the chassis of the vehicle via the connecting device (2); The accident detection device is installed on the front, left and right sides of the vehicle body to detect collision information on the front, left and right sides of the vehicle body. The control module controls the connecting device (2) to release the self-propelled warning device (1) based on the detection information of the accident detection device, and controls the self-propelled warning device (1) to walk a preset distance to the rear of the vehicle.

2. The self-releasing, self-propelled warning and early warning system according to claim 1, characterized in that, The control module includes a first control unit and a second control unit (14). The first control unit is located in the control system of the vehicle and is electrically connected to the connecting device (2) and the accident detection device. The first control unit controls the connecting device (2) to release the self-propelled warning device (1) based on the detection information of the accident detection device. The second control unit (14) is disposed on the self-propelled warning device (1) and is used to control the self-propelled warning device (1) to travel a preset distance to the rear of the vehicle.

3. The self-releasing, self-propelled warning and early warning system according to claim 2, characterized in that, The self-propelled warning device (1) includes a sensing mechanism, a photoelectric warning mechanism (15), a power battery (3), and a walking mechanism; The second control unit (14), the sensing mechanism, the photoelectric warning mechanism (15) and the power battery (3) are all mounted on the walking mechanism; The sensing mechanism, the photoelectric warning mechanism (15), the power battery (3) and the walking mechanism are all electrically connected to the second control unit (14), and the second control unit (14) is also used to control the photoelectric warning mechanism (15) to issue an alarm.

4. The self-releasing, self-propelled warning and early warning system according to claim 3, characterized in that, The walking mechanism includes a first motor (4), Mecanum wheels (6) and a frame (7). The first motor (4) and the Mecanum wheel (6) are both mounted on the frame (7), and the first motor (4) is connected to the Mecanum wheel (6) in a transmission connection.

5. The self-releasing, self-propelled warning and early warning system according to claim 3, characterized in that, The sensing mechanism includes an ultrasonic sensor and a camera (8).

6. The self-releasing, self-propelled warning and early warning system according to any one of claims 1-5, characterized in that, The connecting device (2) includes a lifting mechanism and an electromagnet (9); The lifting mechanism is connected to the chassis of the vehicle; The electromagnet (9) is located at the lifting end of the lifting mechanism and is magnetically connected to the self-propelled warning device (1); The electromagnet (9) is electrically connected to the control module.

7. The self-releasing, self-propelled warning and early warning system according to claim 6, characterized in that, The connecting device (2) also includes a mounting base (10), and the lifting mechanism includes a worm gear (5), a turbine, and a second motor (11). The mounting base (10) is connected to the chassis of the vehicle; The worm (5) is connected to the mounting base (10) and meshes with the turbine; The second motor (11) is connected to the turbine.

8. The self-releasing, self-propelled warning and early warning system according to claim 1, characterized in that, The accident detection device includes an accelerometer and a gyroscope.

9. A control method for a self-releasing, self-propelled warning and early warning system, characterized in that, The control method of the self-release and self-walking warning system according to any one of claims 1-8 includes the following steps: S1, Obtain detection information from the accident detection device; S1, determine whether an accident has occurred based on the detection information from the accident detection device; S3, if so, then send a signal to the connecting device (2) to release the self-propelled warning device (1); S4, Connecting device (2) releases self-propelled warning device (1); S5, determine whether the self-propelled warning device (1) has landed; S6, if so, the walking mechanism is activated and the photoelectric warning mechanism (15) is activated to issue an alarm; S7, the sensing mechanism is activated, and the walking mechanism begins to move; S8, the walking mechanism travels a preset distance, and the photoelectric warning mechanism (15) maintains the warning.

10. A car, characterized in that, Includes the self-release and self-walking warning system as described in any one of claims 1-8.

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