Intelligent road cone and vehicle dynamic guiding method

Abstract

The invention discloses an intelligent road cone and a vehicle dynamic guiding method, and belongs to the technical field of intelligent traffic facilities, the intelligent road cone comprises a cone structure, a counterweight base, a sensing unit module, a microcontroller, a communication module and a warning module.The inclination state is monitored through a posture detection assembly, a sensing unit collects multi-dimensional data, and the warning module sends the multi-dimensional data to the microcontroller; according to the guiding method based on the road cone, coherent electromagnetic waves are emitted through the intelligent road cones on the two sides of a road to form an interference enhancement area, a repulsive force-gravitational force virtual force field model is constructed in combination with multi-channel signal detection, and the interference enhancement area and the repulsive force-gravitational force field model are combined. And guiding the vehicle to drive towards a safe area by using the control logic that the gravitation weight is dynamically higher than the repulsive force. According to the invention, hot plug expansion is realized by adopting a modular architecture, the structural stability and the function expansibility are enhanced, the vehicle guiding precision is improved through dual-source electromagnetic wave interference and an intelligent control algorithm, the traffic conflict risk in a construction area is effectively reduced, and the road construction safety and the management efficiency are improved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent transportation facilities and Internet of Things integration technology, specifically involving intelligent road cone technology in traffic engineering safety protection, intelligent sensing and communication, embedded system integration and electromagnetic wave application. Background Technology

[0002] Intelligent traffic cones are traffic facilities that integrate sensing, communication, and warning technologies. They are applied in scenarios such as road construction and temporary traffic control. By integrating sensors, communication modules, and warning devices, they achieve environmental monitoring, risk warning, and traffic guidance functions, making them intelligent devices that improve road construction safety and traffic management efficiency. In existing technologies, traditional traffic cones are mainly cone-shaped and only have basic visual warning functions. Early intelligent traffic cones gradually integrated LED warning lights, simple sensors (such as vibration sensors), and short-range communication modules, enabling basic audio-visual warnings and simple status reporting. Some products attempted to achieve location tracking through GPS positioning, but their functionality remained relatively limited.

[0003] Existing technologies have significant limitations: they lack modular design in structure, making functional expansion and maintenance difficult; their perception and warning accuracy is low, relying heavily on single sensors and lacking digital filtering and pattern recognition algorithms, making them prone to false alarms and missed alarms; their communication capabilities are weak, making it difficult to achieve large-scale self-organizing networks and real-time synchronization with navigation platforms; their power adaptability is poor, lacking wide-temperature anti-interference design, resulting in insufficient stability in complex environments; and they lack dynamic guidance mechanisms, only able to issue warnings but unable to actively guide vehicles to avoid risks.

[0004] Addressing the current issues of limited functionality, instability, and inadequate warning accuracy and guidance capabilities of existing intelligent traffic cones, and meeting the safety requirements of complex construction scenarios, is of great significance for improving traffic construction safety and intelligent management. Summary of the Invention

[0005] To address the shortcomings and problems of existing technologies, this invention provides an intelligent traffic cone. It aims to improve traffic construction safety and management efficiency by integrating multi-module collaboration and dual-source electromagnetic wave interference guidance technology into a modular intelligent traffic cone.

[0006] The solution to the technical problem of this invention is as follows: An intelligent traffic cone is adopted, comprising a cone structure, a counterweight base, a sensing unit module, a microcontroller, a communication module, and a warning module. The counterweight base is fixedly connected to the bottom of the cone structure. The cone structure and / or the counterweight base have a built-in attitude detection component. When the tilt angle of the intelligent traffic cone exceeds a preset threshold, a tilt signal is generated. The sensing unit module is electrically connected to the microcontroller and is used to collect environmental data, traffic target data, and video data. The microcontroller is electrically connected to the attitude detection component, the sensing unit module, the communication module, and the warning module, respectively, and is used to receive the tilt signal, environmental data, traffic target data, and video data, and generate control commands. The communication module is used to send the control commands generated by the microcontroller and the collected data to an external platform and receive feedback information from the external platform. The warning module is used to execute warning operations according to the control commands of the microcontroller.

[0007] Preferably, the preset threshold is 15°. When the tilt angle of the smart traffic cone exceeds 15°, the attitude detection component generates a tilt signal and sends it to the microcontroller. The microcontroller then triggers the warning module to perform an alarm operation.

[0008] Preferably, the sensing unit module includes: a Doppler microwave radar module, a wide-angle camera, and a positioning module; the Doppler microwave radar module is used to detect the intrusion behavior, speed, and direction of traffic targets, generate analog signals, convert them into digital signals through an ADC module, and then send them to the microcontroller; the wide-angle camera is used to collect video data of the construction area and record intruding vehicle data and send them to the microcontroller; the positioning module is a Beidou navigation chip, used to collect the location information of the smart traffic cone and send it to the microcontroller.

[0009] Preferably, the microcontroller processes the digital signal sent by the Doppler microwave radar module using a digital filtering algorithm to eliminate environmental interference noise; and determines valid intrusion events through threshold comparison and pattern recognition algorithms. When a speeding traffic target is detected, a preset voice template is invoked and a voice control command is generated. When the microcontroller detects unauthorized intrusion through the Doppler microwave radar module, it sends a trigger command to the anti-intrusion device terminal through the short-range communication submodule to control the anti-intrusion device terminal to perform vibration and strobe operations.

[0010] Preferably, the counterweight base includes a base battery box and a box cover; the battery box is used to accommodate and fix the battery pack, and the box cover is fixed above the battery box and located between the battery box and the central column; the central column is vertically fixed to the upper center of the box cover, and the fixing screw passes through and connects the base, the box cover, and the battery box; a hollow area is provided on the side wall of the conical structure for assembling an electrical box, and a collar provided inside the electrical box is fitted onto the central column; the intelligent module is fixed inside the electrical box, and its panel is exposed on the outside; the intelligent module includes a main control module, a sensing module, a communication module, an alarm module, and a storage module.

[0011] Preferably, the system also includes a kit and a solar panel. The kit is fitted onto the top of the central column, is rotatable, and is fixed in place. The solar panel is fixed to one side of the kit. The cap is fitted onto the top of the central column to prevent the kit from falling off.

[0012] Preferably, the microcontroller also runs an AI dynamic guidance algorithm, which combines the location information and traffic target data collected by the positioning module to generate a dynamic traffic diversion plan, and sends it to the navigation platform through the 5G communication submodule, thereby linking the navigation terminal to realize real-time traffic diversion guidance in the construction area; the 5G communication submodule also pushes the three-dimensional coordinates of the controlled area and lane-level closure information to the navigation platform through a standardized API.

[0013] Preferably, a phase-locked loop synchronization module is also configured to transmit electromagnetic waves of a specific frequency band with a fixed frequency, constant phase difference, and consistent polarization state. An attitude sensor and a transmission angle calibration module are also configured. The attitude sensor is used to detect the installation attitude deviation of the smart road cone, and the transmission angle calibration module adjusts the electromagnetic wave transmission angle according to the attitude deviation data.

[0014] A method for dynamic vehicle guidance based on the intelligent traffic cone includes the following steps: S1: By emitting electromagnetic waves of a specific frequency band with a fixed frequency, constant phase difference and consistent polarization state through smart road cones A and B deployed on both sides of the road, an interference enhancement zone is formed in the road plane centered on the perpendicular bisector of the line connecting smart road cones A and B. S2: The anti-intrusion device terminal or vehicle-mounted device collects spatial electromagnetic wave signals through a multi-channel array antenna. After spectrum analysis and signal demodulation, it identifies the single-source direct wave signals and interference field characteristic signals of smart road cone A and smart road cone B, and calculates the electromagnetic wave intensity distribution and field strength gradient. S3: Based on the electromagnetic wave intensity distribution and field strength gradient, a virtual force field model is constructed. When the intensity of the single-source direct wave signal received by the vehicle exceeds the preset repulsion threshold, avoidance control is triggered. A gravity target is set for the interference enhancement zone. Steering and speed adjustment commands are generated by tracking the peak signal intensity. The gravity control weight is dynamically higher than the repulsion control weight, guiding the vehicle to drive towards the interference enhancement zone. S4: Once the vehicle has completely passed the line connecting intelligent traffic cone A and intelligent traffic cone B, the guidance control will terminate because the interference field signal attenuates below the threshold.

[0015] Preferably, in step S1, the installation attitude deviation is detected by the attitude sensor configured in the smart road cone, and the electromagnetic wave emission angle is adjusted by the emission angle calibration module to compensate for the influence of the attitude deviation on the interference field distribution.

[0016] The beneficial effects of this invention are as follows: 1. Modular architecture improves system reliability and scalability: Through modular layered design and standardized interfaces, hot-swappable expansion is achieved. Each module works together to form a full-link system of "physical stability - intelligent perception - linkage protection - data empowerment", which not only enhances the structural stability of the traffic cone (base fixing holes and positioning water tanks improve anti-tipping ability), but also facilitates later functional upgrades and component maintenance, reducing operation and maintenance costs.

[0017] 2. Multi-module collaboration enhances safety protection in construction areas: 5G self-organizing network and Beidou high-precision positioning enable "second-level" synchronization of location and construction information in the navigation platform. Doppler radar combined with digital filtering algorithm accurately identifies vehicle intrusions. It links dual-color LEDs, audio warnings and anti-intrusion devices to form a multi-dimensional early warning system of sound, light and terminal, and builds a "monitoring-analysis-response" closed loop, which significantly reduces the risk of vehicle intrusion and improves the safety of construction areas.

[0018] 3. High-reliability power supply ensures long-term equipment operation: The multi-rail power management circuit integrates reverse connection protection, overcurrent protection, and wide-temperature anti-interference design, adapting to outdoor environments of -20℃ to +60℃. It provides stable and low-noise power supply for core modules such as MCU and sensors, ensuring that the equipment can work stably for a long time in complex environments and reducing safety hazards caused by power supply failures.

[0019] 4. Dual-source electromagnetic wave interference enables precise dynamic vehicle guidance: Dual intelligent road cones emit coherent electromagnetic waves to form a stable interference enhancement zone, which, combined with an attitude calibration module, ensures the stability of the interference field; the "repulsion-attraction" virtual force field model guides vehicles to converge toward a safe area through targeted tracking and weight control, effectively preventing vehicles from deviating from the permitted passage area and reducing the risk of traffic conflicts during road construction.

[0020] 5. Enhanced Management Efficiency Through Intelligent Process: After vehicle intrusion detection is triggered, 5G broadcast warnings, navigation platform push notifications, video capture and storage, and cloud backup are executed simultaneously, enabling real-time risk response and standardized data recording. This provides precise data support for construction management and improves the level of intelligent management in traffic construction areas. Attached Figure Description

[0021] Figure 1 Block diagram of the control system of the intelligent traffic cone in Example 1; Figure 2 This is a hardware module relationship diagram of the intelligent traffic cone in Example 1; Figure 3 This is a schematic diagram of the external structure of the intelligent traffic cone in Example 1; Figure 4 This is a schematic diagram of the side and internal structure of the intelligent traffic cone in Example 1; Figure 5 This is a schematic diagram of the assembly relationship of the intelligent traffic cone in Example 1; Figure 6 This is the power management circuit diagram of the intelligent road cone in Example 1; Figure 7 This is the sensor signal conditioning circuit diagram of the intelligent traffic cone in Example 1; Figure 8 This is the audio warning drive circuit diagram of the intelligent road cone in Example 1; Figure 9 Schematic diagram of the overall architecture of the dual-path cone system in Example 2.

[0022] Numbered in the diagram: 1-Base; 2-Conical structure; 3-Battery box; 4-Box cover; 5-Central column; 6-Fixing screw; 7-Hollowed-out area; 8-Electrical box; 9-Intelligent module; 10-Kit; 11-Solar panel; 12-Sealing cap; 13-Positioning water tank; 14-Loop ring; 15-Warning light array; 16-Main control module; 17-Power module; 18-Sensing module; 19-Warning module; 20-Camera module; 21-Electromagnetic wave transmitter; 22-Communication module. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] The intelligent traffic cone system of the present invention will be described in detail below with reference to the accompanying drawings, and will be analyzed layer by layer from hardware architecture and circuit principle to working process to ensure that those skilled in the art can reproduce and implement it.

[0025] Example 1: The structural relationship of the intelligent traffic cone is as follows Figures 3-5As shown, the base 1 is a square structure with fixing holes at each of its four corners for securing the entire smart traffic cone to the ground using bolts or other connectors. The cone structure 2 is cone-shaped, with its bottom edge connected to the upper surface edge of the base 1 by welding or bolting, forming the main support structure of the traffic cone. The battery box 3 is a square box structure, and the cover plate 4 is made of aluminum alloy or stainless steel. The cover plate 4 is bolted to the top of the battery box 3, while the bottom of the battery box 3 contacts the upper surface of the base 1. The cover plate 4 is located between the battery box 3 and the subsequent central column 5. Fixing screws 6 pass through the corresponding through holes on the base 1, cover plate 4, and battery box 3, tightly connecting and fixing the three to enhance the stability of the overall structure. The central column 5 is a columnar structure, with its lower end vertically fixed to the center of the upper part of the cover plate 4, and the fixing method can be welding or threaded connection. A hollow area 7 is located on the lower side of the conical structure 2. The electrical box 8 is assembled inside the conical structure 2 through this hollow area 7. A collar 14 is provided inside the electrical box 8, which is fitted onto the central column 5 to fix the electrical box 8 to the central column 5. The intelligent module 9 is fixedly installed inside the battery box 3, with its panel exposed on the outside of the electrical box 8 for easy operation and information display. The intelligent module 9 integrates functional modules such as a main control module, a sensing module, a communication module, an alarm module, and a storage module. The kit 10 is fitted onto the top of the central column 5. The kit 10 and the central column 5 use a rotatable and fixable connection structure, allowing it to be fixed after rotating around the central column 5 at a certain angle. The solar panel 11 is fixed to one side of the kit 10 with bolts, adjusting its orientation as the kit 10 rotates. The cap 12 is a cover with internal threads or a snap-fit ​​structure, sealingly fitted onto the top of the central column 5, restricting the kit 10 to the central column 5 and preventing the kit 10 from falling off. The positioning water tank 13 has a ring-shaped structure, and its inner diameter matches the outer diameter of the battery box 3. It is fitted onto the outside of the battery box 3 and positions the traffic cone by contacting the ground. The warning light array 15 is assembled to the surface of the cone structure 2 by clips or bolts. Some warning light arrays can also be assembled on the panel of the intelligent module 9 and electrically connected to the intelligent module 9.

[0026] The square structure and corner fixing holes of the base 1 increase the contact area with the ground. Combined with the connectors in the fixing holes, this effectively improves the overall installation stability of the traffic cone and prevents it from easily shifting under external forces. The cone-shaped design of the cone structure 2 conforms to the conventional form of a traffic cone, providing a good visual warning effect while also providing space for internal components. The square structure of the battery box 3 facilitates the installation of the battery pack, providing power to the electrical components of the entire intelligent traffic cone. The cover plate 4, made of aluminum alloy or stainless steel, has good strength and corrosion resistance, protecting the battery inside the battery box 3 and providing a stable support foundation for the central column 5. Fixing screws 6 tightly connect the base, cover plate, and battery box, enhancing the overall structural strength of the traffic cone and preventing loosening between components. The central column 5, as the core support component, provides stable support for the upper components such as the kit 10 and solar panel 11. The hollow area 7 provides a space channel for the assembly of the electrical box 8, ensuring that the electrical box 8 can be smoothly installed inside the cone structure 2. The electrical box 8 is secured to the central column 5 via a collar 14, ensuring stable fixation and facilitating subsequent maintenance and replacement. The intelligent module 9 integrates multiple functional modules: the main control module coordinates the operation of each module; the sensing module monitors environmental information in real time (such as light, temperature, and vibration); the communication module enables information exchange with the outside world (such as data upload and remote control command reception); the warning module triggers warning actions based on monitoring information or control commands; and the storage module stores relevant data to ensure the intelligent operation of the traffic cone. The kit 10 can rotate and is fixed, allowing the solar panel 11 to adjust its angle according to the direction of sunlight, improving solar energy absorption efficiency and thus efficiently charging the battery pack. The cap 12 effectively prevents the kit 10 from falling off the top of the column, ensuring the installation reliability of components such as the solar panel 11. The positioning water tank 13 is fitted onto the outside of the battery box. Filling the tank with water increases the weight at the bottom of the traffic cone, improving its anti-tipping ability. Simultaneously, the ring structure's contact with the ground ensures precise positioning of the traffic cone, preventing misalignment during use. The warning light row 15 provides clear warning signals to surrounding vehicles and pedestrians both day and night by emitting light (such as flashing or constant light), improving the safety of road construction or temporary control areas.

[0027] like Figure 1 and Figure 2 As shown, the intelligent traffic cone adopts a modular, layered design, consisting of a power module, main control module, sensing module, communication module, warning module, and storage module. It achieves hot-swappable expansion through standardized interfaces (UART, I2C, SPI, and power bus). This intelligent traffic cone, through the coordinated operation of its structural, sensing, communication, and data modules, achieves a full-chain upgrade from physical stability to intelligent sensing, coordinated protection, and data empowerment, building a technological advantage in the field of traffic construction safety.

[0028] like Figure 2 The control system architecture diagram shows a microcontroller (MCU) as the core control unit, integrating the following key modules: Core Control Module: Microcontroller (MCU), serving as the system's data processing and command scheduling center. Communication Module: 4G / 5G communication module, supporting self-organizing networks between devices and cloud data transmission. Positioning Module: Gaode positioning module (integrating a Beidou navigation chip), achieving high-precision location acquisition. Warning Output Module: Dual-color LED light group (red and blue lights), controlled via independent GPIO pins. Radar Detection Module: Doppler microwave radar module, including an ADC signal conversion unit. Linkage Control Module: 433 protocol communication interface, used to connect anti-intrusion devices (vibration terminal, strobe light). Power Supply Module: Provides stable power to all components.

[0029] Location and navigation linkage: After the Gaode location module is powered on, it collects location information in real time and transmits it to the MCU through the signal line. The MCU pushes the location data and construction information (such as lane closure information) to the Gaode / Baidu navigation platform through the 5G communication module to achieve "second-level" synchronization; at the same time, it receives linkage instructions from the navigation platform and triggers dynamic guidance logic.

[0030] Warning light control: The MCU outputs control signals through the general purpose input / output port (GPIO), where PA3 / PA4 pins drive the red light and PA6 / PA7 pins drive the blue light. The signal is amplified by the transistor / NMOS transistor and then directly controls the LED group to turn on and off, realizing photoelectric warning.

[0031] Radar detection and early warning: The Doppler microwave radar module detects vehicle intrusion signals, outputs an analog signal which is converted into a digital signal by the ADC module and then input to the MCU; the MCU runs a digital filtering algorithm to eliminate noise, and determines the intrusion event based on threshold comparison and pattern recognition. If an early warning is triggered, a signal is sent to the anti-intrusion device via the 433 protocol, which triggers the vibration terminal and strobe light.

[0032] As the core control framework of the intelligent traffic cone, it enables the coordinated operation of location reporting, dynamic navigation linkage, risk detection and multi-dimensional warning (photoelectric, linkage equipment), supports closed-loop management of "monitoring-analysis-response", and improves traffic safety and management efficiency in the construction area.

[0033] like Figure 6 The power management circuit shown includes the core chip TP554002 (power management chip) and U5 (5554, interface driver chip); passive components: resistors (R7, R9, R11, R14, etc., 10K, 18K, etc.), capacitors (C19, C20, etc., 22uF); power interfaces: input voltage interface and multiple output interfaces.

[0034] The external input voltage is filtered by capacitors C19 and C20 before entering the TP554002 power management chip to remove high-frequency noise; resistors R11 and R14 form a voltage divider network to provide a reference voltage for the TP554002 to stabilize the output voltage; the TP554002 converts the input voltage into a stable operating voltage (such as 3.3V or 4.2V), which is then enhanced by the U5 (5554) interface driver chip before being output to core components such as the MCU and radar module.

[0035] It provides a stable, low-noise power output, adapting to the working requirements of intelligent traffic cones in environments ranging from -20℃ to +60℃, ensuring the power supply reliability of core modules such as MCU and sensors, and supporting the long-term stable operation of the equipment.

[0036] The input protection features reverse connection protection: diode B2 (5MB12CA) blocks reverse current, and fuse F1 (3A) limits overcurrent (fuse time ≤10ms). Power enable: P-channel MOSFET Q1 (AO4407) acts as the main switch, with its gate pulled up to +12V via R5 (470KΩ), and is normally on by default; it can be expanded with main controller GPIO control to achieve low-power standby (current ≤100μA).

[0037] Voltage Conversion (Multi-track Output): +5V Main Rail: Stepped down by TPS54302DDA (U1), input +12V, filtered by L1 (10μH inductor) and C6 / C7 (22μF / 10μF electrolytic capacitor), feedback is regulated by D4 (4.7V Zener diode), output accuracy ±2%, ripple ≤50mV. 4.2V Rail: PX3019IM6-L1T5 (U2) converts +5V to +4.2V, supplying bias for Bluetooth module and audio amplifier (e.g., U13, U14), load regulation ≤1%. +3.3V Rail: AMS1117-3.3 (U3) linear regulator, with C8 / C9 (10μF / 100nF) filter, supplies power to STM32 and sensors, voltage drop ≤1.5V, efficiency ≥85%. +3V auxiliary rail: TPS5402 (U4) step-down +12V to +3V, adapted for Doppler radar (output current ≥500mA, ripple ≤30mV). +24V high-power rail: TPS55340PWPR (U5) boost +12V to +24V, driving TPA3118D2 (U14) power amplifier (output power ≥10W, meeting long-distance warning requirements).

[0038] Anti-interference design: Ceramic capacitors (C2, C4) filter out high-frequency noise from 100kHz to 10MHz, electrolytic capacitors (C6, C7) filter out low-frequency ripple from 50Hz to 100kHz, and ferrite beads (L8) suppress radio frequency interference, ensuring stable operation over a wide temperature range of -20℃ to +60℃.

[0039] like Figure 7The sensor signal conditioning circuit shown includes the core chip 8A7540 (operational amplifier, used for signal amplification and conditioning), passive components such as resistors (0550R51A, etc., used to set the amplification factor) and capacitors (used for filtering), and the interface circuit: sensor input interface (GEHSOR_H1CP, adapted for temperature, humidity, radar and other sensors).

[0040] The weak analog signal output from external sensors (such as temperature and humidity sensors, radar front end) is input to the interface circuit; after being divided by a resistor network, the signal enters the 8A7540 operational amplifier, and the gain is set by configuring the resistor to amplify the signal; the amplified signal is filtered by a capacitor to remove noise, and then output to the ADC sampling interface of the MCU for subsequent data processing.

[0041] The raw sensor signals are amplified, filtered, and conditioned to improve the signal-to-noise ratio, ensuring that the MCU can accurately collect environmental parameters (such as temperature and humidity) and radar target signals (such as vehicle speed and distance), providing reliable data input for risk assessment.

[0042] Minimum System: Clock Y2 (8MHz crystal oscillator) oscillates in conjunction with C25 / C27 (22pF) to provide a reference clock for the main controller (expandable to RTC for timed wake-up). Reset: A pull-up resistor R21 (10KΩ) enables power-on reset; button SW1 supports manual reset; C24 (100nF) filters noise to prevent false triggering. Power Supply Filtering: C20-C24 (100nF / 1μF) are connected in parallel on the VDD pin to construct a π-type filter, ensuring ADC sampling accuracy ≤±0.5%. Sensor Interface: The temperature and humidity sensor communicates via I2C1 (PB6 / PB7) with a data refresh rate of 1Hz, supporting "temperature and humidity adaptive mode". The Doppler radar transmits vehicle speed and direction signals via UART3 (PA9 / PA10, baud rate 9600bps), which are digitally filtered (mean + median filtering) to eliminate interference. Communication Interface: The 5G module achieves a 200-meter self-organizing network via UART4 (PB10 / PB11, baud rate 115200bps). Beidou Module: Receives positioning information (accuracy ≤1 meter) via UART1 (PA9 / PA10, NMEA-0183 protocol), supporting "lane-level construction push notifications". Warning Interface: The dual-color LED is directly driven by PA0-PA7GPIO (or amplified by a transistor), controlling the red / blue light mode. Audio Mute: The PBX outputs a MUTE signal, which, via NAND gate U15 (SN74LVC1G00), controls the power amplifier standby (low level enables, high level silences). Debugging Interface: SWD (PA13 / SWCLK, PA14 / SWDIO) supports J-Link / ST-Link debugging; program download time ≤5 seconds.

[0043] like Figure 8The audio alert driver circuit shown includes the core chip TPA3118D2 (audio power amplifier, driving the speaker) and SN74LVC1G00DBVR (single-channel AND gate chip, used for logic control); passive components: filter capacitors (C52, C68, etc., 220uF / 35V, used for power supply filtering; C55, C56, etc., 10uF, used for audio signal filtering), resistors (R39=2K, R40=56K, setting amplifier gain), and inductor (10uH, suppressing high-frequency interference); output device: SPEAKER (speaker, used to play voice alerts).

[0044] Power signals: +3.3V and +4.2V supply power to the logic chip and power amplifier respectively, and are filtered by capacitors C52 and C68 to remove power ripple. Control signals: The audio signal output by the MCU and the MUTE (mute) control signal are input to the SN74LVC1G00 AND gate, and after logic operation, the output is sent to the signal input terminal of TPA3118D2; when the MUTE signal is low, the AND gate allows the audio signal to pass. Audio amplification: TPA3118D2 amplifies the input audio signal, and after filtering by inductors and capacitors, drives the speaker to produce sound; resistors R39 and R40, together with the internal circuit of the chip, set the amplification gain, referring to the gain parameters in Table 1 of the TPA3118 datasheet. This implements a voice warning function. When the MCU detects risks such as speeding or unauthorized entry, it calls a preset voice template to generate an audio signal, which is amplified by this circuit and played through the speaker as a warning sound (such as "Construction ahead, please slow down"), forming a diversified risk reminder in conjunction with photoelectric warnings. Among them, Bluetooth audio transmission (U13: BY9001): receives master control voice commands (such as "Construction ahead, please give way"), synchronizes data via UART4, outputs 44.1kHz / 16bit audio via SPK1, and uses C59 (10μF) and L8 (ferrite bead) to suppress noise (bit error rate ≤10⁻). 6 The signal path for the Class D amplifier driver (U14: TPA3118D2) is as follows: Bluetooth audio is input via C55 / C56 (1μF coupling capacitor), filtered by R36 (10kΩ) and C60 (1μF) (cutoff frequency ≈ 16kHz), covering the frequency band sensitive to the human ear. Power supply and output: +24V main power supply (peak current ≥ 2A), second-order filtering by L6 / L7 (10μH inductor) + C53 / C54 (220μF capacitor) to suppress EMI (compliant with EN55032 Class B), driving 4Ω / 8Ω speakers (power ≤ 20W, sound pressure level ≥ 100dB).

[0045] Electromagnetic wave transmission module: Equipped with a phase-locked loop synchronization module for transmitting electromagnetic waves of a specific frequency band with fixed frequency, constant phase difference, and consistent polarization state. It also includes an attitude sensor and a transmission angle calibration module. The attitude sensor detects installation attitude deviations of the smart traffic cone, and the transmission angle calibration module adjusts the electromagnetic wave transmission angle based on the attitude deviation data. Local storage: A wide-angle camera (120° field of view, 30-meter infrared) stores video data (H.264 encoding, 2Mbps bitrate) to an SD card (≥32GB) via an SPI interface, enabling 72-hour loop storage. Cloud backup: After the main control unit identifies key events (collision, tilt alarm), it uploads video clips (first 10 seconds + last 10 seconds) via a 5G module according to the GB / T28181 protocol, supporting remote evidence collection. When using the above solution, vehicle intrusion detection and linkage, taking "vehicle speeding into a construction area" as an example, involves the following steps: Perception trigger: Doppler radar detects the vehicle and outputs an analog signal → ADC converts it to a digital signal (speed ≥60km / h, direction pointing towards the construction area). Main Control Processing: Runs a digital filtering algorithm (mean filtering to eliminate noise), then uses pattern recognition (threshold + direction determination) to determine "valid intrusion." Calls AI dynamic guidance algorithm: Combines BeiDou positioning (lane-level coordinates) to generate a "Second lane left construction, please give way" diversion plan. Communication Linkage: 5G self-organizing network: Broadcasts alarms (intrusion location, speed) to traffic cones within 200 meters, forming a "virtual defense line." Navigation Integration: Pushes lane-level closure information (e.g., "Second lane left closed") to Gaode / Baidu via standardized API + GB / T28181, achieving second-level updates. Warning Output: Audible and visual warnings: LED red light flashes at 10Hz (warning distance ≥ 200 meters); audio module plays warning voice (sound pressure level ≥ 100dB, coverage 80 meters). Anti-intrusion Linkage: Triggers the construction worker's terminal via a 433MHz module, executing vibration + 15Hz flash. Data recording: The camera captures intrusion video (first 10 seconds + last 10 seconds), stores it to the SD card and marks it as a "critical event", and uploads it to the cloud to form a video evidence chain.

[0046] Example 2: A vehicle dynamic guidance system based on the same dual intelligent road cones as in Example 1, using dual-source electromagnetic wave interference, aims to achieve autonomous vehicle guidance in specific road areas by combining a stable interference field formed by dual-source coherent electromagnetic waves with signal detection and dynamic force field control from onboard equipment. For example... Figure 9 As shown, the overall architecture of the system mainly consists of a dual-source coherent electromagnetic wave transmission subsystem, a signal detection and analysis subsystem, and a dynamic force field control subsystem. The subsystems work together through electromagnetic wave signal transmission and data communication.

[0047] The dual-source coherent electromagnetic wave transmission subsystem consists of intelligent road cones A and B deployed on both sides of the road. Both intelligent road cones A and B are equipped with phase-locked loop synchronization modules to transmit electromagnetic waves of a specific frequency band with fixed frequency, constant phase difference and consistent polarization state. This forms a stable interference field centered on the perpendicular bisector of the line connecting intelligent road cones A and B in the road plane. The region of the perpendicular bisector is the interference enhancement region.

[0048] Specifically, the core equipment of the dual-source coherent electromagnetic wave transmission subsystem consists of intelligent traffic cones A and B, deployed on both sides of the road. In practical applications, intelligent traffic cones A and B are placed at the edges of the restricted areas on the left and right sides of the road, respectively, with the area between them being the permitted passage area. The hardware configurations of intelligent traffic cones A and B are basically the same, both including an electromagnetic wave transmitter, a phase-locked loop synchronization module, an attitude sensor, a transmission angle calibration module, and a power supply module. The electromagnetic wave transmitter is used to transmit electromagnetic waves in a specific frequency band. In this embodiment, the C-V2X-specific 5.9GHz frequency band electromagnetic waves are selected. This frequency band has advantages such as stable propagation characteristics and strong anti-interference capabilities, making it suitable for road vehicle communication and guidance scenarios.

[0049] The phase-locked loop (PLL) synchronization module is a key component ensuring that the two smart road cones emit coherent electromagnetic waves. It uses a high-precision crystal oscillator as a reference source and employs PLL technology to achieve precise control over the frequency and phase of the electromagnetic waves. After debugging, the frequency deviation of this PLL synchronization module can be controlled within less than 1 ppm, and the phase jitter less than 0.1 rad, thus ensuring that the electromagnetic waves emitted by smart road cones A and B have a fixed frequency and a constant phase difference, meeting the coherence requirements.

[0050] The attitude sensor employs a combination of a MEMS (Micro-Electro-Mechanical Systems) gyroscope and an accelerometer to detect tilting, offset, and other attitude deviations that occur during the installation of the smart traffic cone in real time. This detected attitude deviation data is then transmitted to the transmission angle calibration module. The transmission angle calibration module incorporates an attitude deviation compensation algorithm. Based on the received attitude deviation data, it adjusts the antenna angle of the electromagnetic wave transmitter to calibrate the transmission direction of the electromagnetic waves, compensating for the impact of attitude deviations on the interference field distribution and ensuring the stable formation of the interference field. The power supply module uses a rechargeable lithium battery, coupled with a solar charging panel, to provide continuous power and meet the needs of long-term outdoor operation.

[0051] During operation, intelligent traffic cones A and B, under the control of the phase-locked loop synchronization module, simultaneously emit 5.9GHz electromagnetic waves with fixed frequency, constant phase difference, and consistent polarization state. Since the two electromagnetic wave sources meet the coherence condition, a stable interference field is formed within the road plane. The region centered on the perpendicular bisector of the line connecting intelligent traffic cones A and B is the interference enhancement region, where the electromagnetic wave signal intensity is significantly higher than in other regions.

[0052] The signal detection and analysis subsystem includes a multi-channel array antenna, a spectrum analysis unit, and a signal demodulation module. The multi-channel array antenna is used to acquire spatial electromagnetic wave signals in real time. The spectrum analysis unit and the signal demodulation module work together to process the acquired electromagnetic wave signals, thereby identifying the single-source direct wave signals and interference field characteristic signals of intelligent road cone A and intelligent road cone B, and calculating the electromagnetic wave intensity distribution and field strength gradient.

[0053] Specifically, the signal detection and analysis subsystem is located at the anti-intrusion device terminal beside the road or installed inside the vehicle. It mainly consists of a multi-channel array antenna, a spectrum analysis unit, a signal demodulation module, a spread spectrum communication module, a digital filtering unit, a timestamp synchronization unit, and a data processing unit. The multi-channel array antenna uses a 4-element microstrip antenna array, installed inside the vehicle's windshield, enabling it to receive electromagnetic wave signals from all directions, ensuring stable acquisition of electromagnetic wave signals and interference field signals emitted by intelligent road cones A and B throughout the vehicle's operation.

[0054] The spectrum analysis unit employs a high-speed spectrum analysis chip based on an FPGA (Field-Programmable Gate Array), enabling real-time spectrum analysis of electromagnetic wave signals acquired by a multi-channel array antenna, extracting characteristic parameters such as frequency, amplitude, and phase. The signal demodulation module works in conjunction with the spectrum analysis unit, demodulating the received electromagnetic wave signals according to a known modulation scheme to recover the information from the original signal, thereby achieving accurate identification of the single-source direct wave signals and interference field characteristic signals of intelligent road cones A and B.

[0055] The spread spectrum communication module employs CDMA (Code Division Multiple Access) spread spectrum technology to spread the received electromagnetic wave signal, thereby expanding the signal spectrum to a wider frequency band and improving the signal's anti-interference capability and confidentiality. The digital filtering unit uses an FIR (Finite Impulse Response) filter, which can effectively suppress the influence of co-channel interference signals and noise on the useful signal, improving the signal-to-noise ratio.

[0056] The timestamp synchronization unit receives time signals from GPS (Global Positioning System) or BeiDou Navigation Satellite System to calibrate the local clock of the vehicle-mounted equipment, ensuring time synchronization during signal acquisition and processing. During electromagnetic wave propagation, multipath effects may occur due to ground reflection, obstacle obstruction, and other factors, leading to signal delay errors. The timestamp synchronization unit can compensate for the delay of multipath signals based on time synchronization information, eliminating the impact of delay errors on signal interpretation.

[0057] The data processing unit uses a high-performance embedded processor to receive processing results from the spectrum analysis unit and the signal demodulation module, calculate the electromagnetic wave intensity distribution and field strength gradient, and transmit the relevant data to the dynamic force field control subsystem.

[0058] The dynamic force field control subsystem, communicatively connected to the signal detection and analysis subsystem, is used to construct a virtual force field model based on the electromagnetic wave intensity distribution and field strength gradient. The virtual force field model sets a repulsion threshold for single-source direct wave signals. When the intensity of the single-source direct wave signal received by the vehicle exceeds the repulsion threshold, an avoidance control command is triggered. A gravity target is set for the interference enhancement region of the interference field. Steering and speed adjustment commands are generated by tracking the signal intensity peak of the interference enhancement region. Furthermore, the dynamic force field control subsystem presets a gravity control weight coefficient greater than a repulsion control weight coefficient to ensure that the vehicle converges towards the interference enhancement region.

[0059] Specifically, the dynamic force field control subsystem communicates with the signal detection and analysis subsystem via a CAN (Controller Area Network) bus, and mainly consists of a virtual force field model construction module, a PID control algorithm module, and a control command generation module. The virtual force field model construction module constructs a virtual "repulsion-attraction" force field model based on the electromagnetic wave intensity distribution and field strength gradient data transmitted by the signal detection and analysis subsystem. In this model, a repulsion threshold is set for the single-source direct wave signals of intelligent road cones A and B. When a vehicle approaches an intelligent road cone, the intensity of the received single-source direct wave signal gradually increases. When the signal intensity exceeds the repulsion threshold, an avoidance control command is triggered. Simultaneously, an attraction target is set for the interference enhancement region of the interference field. The signal intensity peak in the interference enhancement region is used as the target point, and steering and speed adjustment commands are generated by tracking this peak. To ensure that the vehicle can converge towards the interference enhancement region, the dynamic force field control subsystem presets an attraction control weight coefficient greater than the repulsion control weight coefficient. In this embodiment, the attraction control weight coefficient is set to 1.5 times the repulsion control weight coefficient.

[0060] The PID control algorithm module is the core of achieving precise control. Based on the deviation between the gravitational target signal and the vehicle's actual position, it dynamically adjusts the output parameters of steering and speed control commands through proportional, integral, and derivative operations. The proportional terminator is used for rapid response to deviations, the integral term for eliminating static deviations, and the derivative term for suppressing overshoot. Through the synergistic effect of these three components, the stability and accuracy of vehicle control are improved. The control command generation module converts the parameters output by the PID control algorithm module into specific control commands such as steering angle, throttle opening, and braking force. These commands are then executed by the vehicle's electronic control system, enabling real-time adjustments to the vehicle's driving state.

[0061] The vehicle dynamic guidance method based on the dual-source electromagnetic wave interferometry of the above system specifically includes the following steps: S1: Formation of interference enhancement zone. Smart traffic cones A and B are deployed at the edges of the no-entry zones on both sides of the road. The power to the smart traffic cones is turned on, and the phase-locked loop (PLL) synchronization module starts and performs frequency and phase calibration on the electromagnetic wave transmitter. Under the control of the PLL synchronization module, smart traffic cones A and B transmit 5.9GHz electromagnetic waves with a fixed frequency, constant phase difference, and consistent polarization state.

[0062] During launch, the attitude sensor detects the installation attitude deviation of the smart road cone in real time and transmits the data to the launch angle calibration module. The launch angle calibration module adjusts the electromagnetic wave launch angle based on the attitude deviation data to compensate for the influence of the attitude deviation on the interference field distribution, ultimately forming an interference enhancement zone centered on the perpendicular bisector of the line connecting smart road cone A and smart road cone B within the road plane.

[0063] S2: Signal Acquisition and Analysis. After a vehicle enters the electromagnetic wave coverage area of ​​intelligent road cones A and B, the multi-channel array antenna of the signal detection and analysis subsystem begins to acquire spatial electromagnetic wave signals in real time. The acquired signals are spread spectrum processed by the spread spectrum communication module to improve anti-interference capability, and then filtered by the digital filtering unit to remove noise and co-channel interference signals.

[0064] The spectrum analysis unit performs spectrum analysis on the filtered signal, extracting signal characteristic parameters. The signal demodulation module demodulates the signal according to the known modulation method, identifying the single-source direct wave signals and interference field characteristic signals of intelligent road cones A and B. The timestamp synchronization unit performs time calibration on the signal, eliminating time delay errors of multipath signals. The data processing unit calculates the electromagnetic wave intensity distribution and field strength gradient based on the above processing results and transmits the data to the dynamic force field control subsystem.

[0065] S3: Vehicle Guidance Control. The virtual force field model construction module of the dynamic force field control subsystem constructs a virtual force field model based on the received electromagnetic wave intensity distribution and field strength gradient data. When the intensity of the single-source direct wave signal received by the vehicle exceeds the preset repulsion threshold, an avoidance control command is triggered, controlling the vehicle to move away from the restricted area where the intelligent traffic cone is located.

[0066] Simultaneously, the virtual force field model sets a gravitational target for the interference enhancement region. By tracking the peak signal intensity in the interference enhancement region, it generates steering and speed adjustment commands in conjunction with the PID control algorithm module. Since the gravity control weight coefficient (1.5 times that of the repulsion control weight coefficient) is dynamically higher than the repulsion control weight coefficient, the vehicle travels towards the interference enhancement region under the dominant influence of gravity.

[0067] S4: Termination of Guidance Control. After the vehicle has completely passed the line connecting intelligent traffic cones A and B, the intensity of the interference field signal received by the onboard equipment attenuates below the threshold due to being outside the effective range of the interference field. Upon detecting this signal change, the dynamic force field control subsystem terminates the output of guidance control commands, and the vehicle resumes normal driving.

[0068] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An intelligent road cone, comprising a cone structure, a counterweight base, a sensing unit module, a microcontroller, a communication module and a warning module; the counterweight base is fixedly connected with the bottom of the cone structure, characterized in that, The cone structure and / or the counterweight base are provided with a posture detection component, which generates a tilt signal when detecting that the intelligent road cone is tilted beyond a preset threshold; The sensing unit module is electrically connected with the microcontroller, and is configured to collect environmental data, traffic target data and video data; The microcontroller is electrically connected with the posture detection component, the sensing unit module, the communication module and the warning module, respectively, and is configured to receive the tilt signal, the environmental data, the traffic target data and the video data, and generate a control instruction; The communication module is configured to send the control instruction generated by the microcontroller and the collected data to an external platform, and receive feedback information from the external platform; The warning module is configured to perform a warning operation according to the control instruction of the microcontroller.

2. The intelligent road cone of claim 1, wherein, The preset threshold is 15°, and when the intelligent road cone is tilted beyond 15°, the posture detection component generates a tilt signal and sends it to the microcontroller, and the microcontroller triggers the warning module to perform an alarm operation.

3. The intelligent road cone of claim 1, wherein, The sensing unit module includes a Doppler microwave radar module, a wide-angle camera and a positioning module; the Doppler microwave radar module is configured to detect the intrusion behavior, speed and direction of a traffic target, generate an analog signal, convert the analog signal into a digital signal through an ADC module, and then send the digital signal to the microcontroller; the wide-angle camera is configured to collect video data of a construction area and record intrusion vehicle data, and send the video data and the intrusion vehicle data to the microcontroller; and the positioning module is a Beidou navigation chip, configured to collect position information of the intelligent road cone and send the position information to the microcontroller.

4. The intelligent road cone of claim 3, wherein, The microcontroller runs a digital filtering algorithm to process the digital signal sent by the Doppler microwave radar module, eliminates environmental interference noise, and determines an effective intrusion event through threshold comparison and pattern recognition algorithm; when detecting a speeding traffic target, the microcontroller calls a preset voice template and generates a voice control instruction; when the microcontroller detects an unauthorized intrusion behavior through the Doppler microwave radar module, the microcontroller sends a trigger instruction to a break-in prevention device terminal through the short-distance communication submodule, and controls the break-in prevention device terminal to perform a vibration and flash operation.

5. The intelligent road cone of claim 1, wherein, The counterweight base includes a base (1), a battery box (3) and a box cover plate (4); the battery box (3) is configured to accommodate a fixed battery pack, and the box cover plate (4) is fixed above the battery box (3) and located between the battery box (3) and a central column (5); the central column (5) is vertically fixed to the upper center of the box cover plate (4), and a fixed wire (6) penetrates and connects the base (1), the box cover plate (4) and the battery box (3); a hollow area (7) is arranged on the side wall of the cone structure, and is configured to accommodate an electric appliance box (8); a sleeve ring arranged inside the electric appliance box (8) is sleeved on the central column (5); and an intelligent module (9) is fixed in the electric appliance box (8), and a panel of the intelligent module (9) is exposed to the outside; the intelligent module (9) includes a main control module, a sensing module, a communication module, a warning module and a storage module.

6. The intelligent road cone of claim 5, wherein, Also include a kit (10) and solar panels (11), the kit (10) is sleeved on the top of the center pillar (5), can rotate angle and be fixed, solar panels (11) are fixed on one side of the kit (10);The cap (12) is sealed and sleeved on the top of the center pillar (5), prevents the kit (10) from falling off.

7. The intelligent road cone of claim 1, wherein, The microcontroller also runs an AI dynamic guidance algorithm, generates a dynamic traffic diversion scheme combining the position information and traffic target data collected by the positioning module, and sends it to the navigation platform through the 5G communication submodule, and the navigation terminal realizes real-time traffic diversion guidance in the construction area;The 5G communication submodule also pushes the three-dimensional coordinates and lane-level closure information of the regulated area to the navigation platform through the standardized API.

8. The intelligent road cone of claim 3, wherein, Also configured with a phase-locked loop synchronization module for transmitting specific frequency band electromagnetic waves with fixed frequency, constant phase difference and consistent polarization state, and an attitude sensor and transmission angle calibration module, the attitude sensor is used to detect the installation attitude deviation of the intelligent road cone, and the transmission angle calibration module adjusts the electromagnetic wave transmission angle according to the attitude deviation data.

9. A method of dynamic guidance of vehicles based on the smart road cone according to any one of claims 1-8, characterized in that, The method comprises the following steps: S1: Transmit specific frequency band electromagnetic waves with fixed frequency, constant phase difference and consistent polarization state through intelligent road cones A and B deployed on both sides of the road, and form an interference enhancement zone in the road plane with the center line of the intelligent road cone A and the intelligent road cone B as the center; S2: The anti-intrusion device terminal or vehicle-mounted device collects spatial electromagnetic wave signals through a multi-channel array antenna, and after frequency spectrum analysis and signal demodulation, identifies the single-source direct wave signal and interference field characteristic signal of the intelligent road cone A and the intelligent road cone B, and calculates the electromagnetic wave intensity distribution and field strength gradient; S3: Based on the electromagnetic wave intensity distribution and field strength gradient, a virtual force field model is constructed, and when the single-source direct wave signal strength received by the vehicle exceeds the preset repulsive force threshold, the avoidance control is triggered;Set the attractive force target for the interference enhancement zone, generate the steering and speed adjustment instructions by tracking the signal strength peak value, and the attractive force control weight is dynamically higher than the repulsive force control weight, guiding the vehicle to drive to the interference enhancement zone; S4: When the vehicle completely passes through the line connecting the intelligent road cone A and the intelligent road cone B, the interference field signal decays below the threshold, and the guidance control is terminated.

10. The method of claim 9, wherein, In step S1, the installation attitude deviation is detected by the attitude sensor configured on the intelligent road cone, and the electromagnetic wave transmission angle is adjusted by the transmission angle calibration module to compensate for the influence of the attitude deviation on the interference field distribution.

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