Non-motor vehicle cooperative traffic guidance system based on internet of things

Abstract

The application discloses a non-motor vehicle cooperative traffic guidance system based on Internet of Things, relates to the technical field of traffic guidance, and is used for solving the problems of warning fragmentation, repeated warning and inconsistent guidance direction caused by independent triggering of multiple road side guidance devices on a complex road section. The non-motor vehicle target motion trajectory is collected, the target passing advance situation is determined, the road side guidance device layout sequence and the road side guidance device coverage boundary position are read, the device relay coverage chain is generated, and the to-be-triggered guidance device is screened. The cooperative warning beat table is planned in combination with the wireless response time delay of the road side guidance device, the cooperative warning beat table is corrected according to the feedback data feedback of the previous guidance device, and the warning on the complex road section is output by the multiple devices according to the passing advance process.

Description

Technical Field

[0001] This invention relates to the field of traffic guidance technology, and more specifically, to a non-motorized vehicle cooperative traffic guidance system based on the Internet of Things. Background Technology

[0002] Non-motorized vehicle cooperative traffic guidance systems are typically deployed at continuous intersections, curves, non-motorized vehicle lane breaks, construction detour sections, and areas where motorized and non-motorized vehicles share the road. These systems use roadside guidance equipment such as radar video integrated machines, guidance monitoring cameras, warning lights, projection lights, displays, and sound columns to sense the traffic status of non-motorized vehicles and provide on-site guidance. They also manage the equipment by connecting to a cloud platform or local device management unit via Internet of Things communication.

[0003] The existing technology has the following shortcomings: Currently, existing technologies cannot accurately screen the guidance devices to be triggered, resulting in fragmented prompts from devices before and after in complex road sections. There is a lack of a mechanism to incorporate the wireless response delay of roadside guidance devices and the execution feedback data of preceding guidance devices into the collaborative early warning cycle table, which can easily lead to early warnings, delayed warnings, or repeated triggering. Therefore, a non-motorized vehicle collaborative traffic guidance system based on the Internet of Things is proposed.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] To overcome the aforementioned deficiencies of the prior art, embodiments of the present invention provide a non-motorized vehicle cooperative traffic guidance system based on the Internet of Things. This system collects the movement trajectory of non-motorized vehicles and determines their traffic flow, generates a relay coverage chain by combining the deployment sequence of roadside guidance devices and their coverage boundary positions, and filters out guidance devices to be triggered. It also generates a cooperative early warning timetable by combining the wireless response delay of the roadside guidance devices, and updates the cooperative early warning timetable based on the feedback data from the preceding guidance devices, thereby solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a non-motorized vehicle cooperative traffic guidance system based on the Internet of Things, comprising a situation determination module, a relay screening module, a rhythm planning module, and a feedback correction module; The situation determination module is used to collect the movement trajectory of non-motorized vehicle targets, analyze the target's approach direction and advancing position based on the non-motorized vehicle target's movement trajectory, and determine the target's passage and advancing situation. It also reads the roadside guidance equipment deployment sequence and the roadside guidance equipment coverage boundary position and transmits them to the situation determination module. The relay screening module is used to generate a relay coverage chain of roadside guidance equipment based on the deployment sequence of roadside guidance equipment and the coverage boundary position of roadside guidance equipment. It also filters guidance equipment to be triggered based on the target traffic progress trend, generates a collaborative early warning trigger sequence based on the guidance equipment to be triggered, and passes it into the beat planning module. The timing planning module is used to obtain the wireless response delay of the roadside guidance device, plan the triggering timing of the coordinated early warning triggering sequence based on the wireless response delay of the roadside guidance device, generate a coordinated early warning timing table, drive the guidance device to be triggered to output an early warning according to the coordinated early warning timing table, and pass it to the feedback correction module. The feedback correction module is used to collect the execution feedback data of the preceding guidance device after the triggering guidance device outputs an early warning, and to update the collaborative early warning cycle table based on the execution feedback data of the preceding guidance device.

[0007] In a preferred embodiment, in the situation determination module, the trajectory of the non-motorized vehicle target is a set of the center positions of the non-motorized vehicle target, including the center position of the target and the acquisition time; The target approach direction is the direction in which the non-motorized vehicle target's trajectory advances along the traffic direction axis of the complex road section; The target advancement position is the current projection position of the non-motorized vehicle target's trajectory on the traffic direction axis of the complex road section; The target traffic progress status refers to the current traffic status of non-motorized vehicles, which is jointly characterized by the target's approach direction and its progress position. Project the center position of each target in the non-motorized vehicle target trajectory onto the traffic direction axis of the complex road section to obtain the trajectory projection position corresponding to each collection time. The trajectory projection position is standardized into intervals according to the starting and ending points of the traffic direction axis in complex road sections; The target approach direction is determined by the difference between the standardized results of the trajectory projection positions at adjacent acquisition times.

[0008] In a preferred embodiment, in the situation determination module, the roadside guidance device deployment sequence is the installation order of each roadside guidance device in the complex road section stored in the cloud platform or local device management unit. The coverage boundary of roadside guidance equipment refers to the start and end points of coverage where each roadside guidance device can generate early warnings for non-motorized vehicles.

[0009] In a preferred embodiment, in the relay screening module, the equipment relay coverage chain is an ordered set of equipment formed according to the deployment sequence of roadside guidance equipment and the connection relationship of the coverage boundary positions of adjacent roadside guidance equipment; First, arrange each roadside guidance device according to the deployment sequence of the roadside guidance device, then read the coverage boundary position of each roadside guidance device, and write the roadside guidance devices with adjacent coverage boundaries or overlapping coverage boundaries into the same relay link; For any roadside guidance device in the equipment relay coverage chain, calculate the coverage proximity between the target advancement position and the coverage boundary position of the roadside guidance device.

[0010] In a preferred embodiment, in the relay screening module, roadside guidance devices located in front of the target advancement position are retained from the equipment relay coverage chain according to the target approach direction, and the retained roadside guidance devices are arranged in order of increasing coverage approach amount to form guidance devices to be triggered; The order of the devices to be triggered in the device relay coverage chain is used as the basic order, and the order of multiple devices to be triggered in the same coverage area is corrected by the coverage proximity, so as to obtain the collaborative early warning trigger sequence.

[0011] In a preferred embodiment, in the takt planning module, the wireless response delay of the roadside guidance device refers to the length of time it takes for the roadside guidance device to enter the effective output state after issuing a warning trigger command. The estimated arrival time of the guidance device to be triggered is determined by the target's advancing position, the corresponding roadside guidance device's coverage boundary position, and the displacement changes of adjacent acquisition times in the non-motorized vehicle target's trajectory. The triggering time of the guidance device to be triggered in the collaborative early warning timetable is obtained by subtracting the expected arrival time of the guidance device to be triggered from the wireless response delay of the roadside guidance device.

[0012] In a preferred embodiment, in the beat planning module, the collaborative early warning beat table refers to an ordered data table that records the triggering device, the triggering time, and the output method. According to the coordinated early warning rhythm table, the early warning trigger command is issued to the guidance equipment to be triggered, so that the guidance equipment to be triggered will output early warnings sequentially along the direction of target approach.

[0013] In a preferred embodiment, in the feedback correction module, the preceding induction device executes feedback data as the execution status, actual execution time, and execution count of the induction device to be triggered that has completed or attempted to complete the early warning output according to the collaborative early warning rhythm table. The difference between the actual execution time in the feedback data of the preceding guidance device and the triggering time corresponding to the preceding guidance device in the collaborative early warning beat table is used to obtain the beat offset. The target device to be triggered after the preceding trigger device is used as the correction target, and the corresponding triggering time in the coordinated early warning beat table is moved according to the beat offset.

[0014] In a preferred embodiment, the feedback correction module classifies the execution status of the preceding guidance device based on the feedback data from the preceding guidance device: When the execution status characterization fails, the subsequent triggering device adjacent to the preceding triggering device in the collaborative early warning beat table will be marked as a replacement output object; When the execution status indicates repeated execution, delete the extra trigger record corresponding to the repeated execution in the collaborative early warning beat table; When the execution status representation is executed according to the collaborative early warning cycle table, the collaborative early warning cycle table remains unchanged.

[0015] The technical effects and advantages of this invention are as follows: This invention collects the movement trajectory of non-motorized vehicles, analyzes the target's approach direction and advancing position based on the trajectory, and determines the target's traffic advancing trend. It generates a relay coverage chain by integrating the deployment sequence of roadside guidance equipment and the coverage boundary position of the roadside guidance equipment. It selects guidance equipment to be triggered based on the target's traffic advancing trend and generates a collaborative warning trigger sequence. The wireless response delay of the roadside guidance equipment is used to plan the triggering timing of the collaborative warning trigger sequence, generating a collaborative warning beat table. The collaborative warning beat table is updated by feedback data from the execution of preceding guidance equipment, so that subsequent warning outputs can be adjusted according to the execution status of the preceding equipment. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of data flow in a non-motorized vehicle cooperative traffic guidance system based on the Internet of Things according to the present invention.

[0017] Figure 2 This is a schematic diagram of the modular framework of a non-motorized vehicle cooperative traffic guidance system based on the Internet of Things according to the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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.

[0019] This invention uses a situation determination module, a relay screening module, a rhythm planning module, and a feedback correction module to process the relay relationship between the non-motorized vehicle target trajectory and the roadside guidance equipment in complex road sections, so that warning lights, projection lights, displays and speakers can output early warnings according to the non-motorized vehicle passage process.

[0020] Example: A non-motorized vehicle cooperative traffic guidance system based on the Internet of Things, such as Figures 1 to 2 As shown, it includes a situation determination module, a relay selection module, a beat planning module, and a feedback correction module, with electrical signal connections between the modules; The functions of each module are as follows: The situation determination module is used to collect the movement trajectory of non-motorized vehicle targets, analyze the target's approach direction and advancing position based on the non-motorized vehicle target's movement trajectory, and determine the target's traffic advancing situation. It also reads the roadside guidance equipment deployment sequence and the roadside guidance equipment coverage boundary position and transmits them to the relay screening module. The relay screening module is used to generate a relay coverage chain of roadside guidance equipment based on the deployment sequence of roadside guidance equipment and the coverage boundary position of roadside guidance equipment. It also filters guidance equipment to be triggered based on the target traffic progress trend, generates a collaborative early warning trigger sequence based on the guidance equipment to be triggered, and passes it into the beat planning module. The timing planning module is used to obtain the wireless response delay of the roadside guidance device, plan the triggering timing of the coordinated early warning triggering sequence based on the wireless response delay of the roadside guidance device, generate a coordinated early warning timing table, drive the guidance device to be triggered to output an early warning according to the coordinated early warning timing table, and pass it to the feedback correction module. The feedback correction module is used to collect the execution feedback data of the preceding guidance device after the triggering guidance device outputs an early warning, and to update the collaborative early warning cycle table based on the execution feedback data of the preceding guidance device.

[0021] In the situation determination module, the motion trajectory of non-motorized vehicle targets is collected. The motion trajectory of non-motorized vehicle targets is a set of the center positions of non-motorized vehicle targets output by a radar video integrated machine at continuous sampling time. The motion trajectory of non-motorized vehicle targets includes the center position of the target and the time of collection. The radar-video integrated machine is used to continuously detect non-motorized vehicle targets in complex road sections. Its radar part outputs the target distance and speed, and its video part outputs the target category and image position. The two types of outputs form the non-motorized vehicle target's trajectory at the same acquisition time.

[0022] The target approach direction is the direction in which the non-motorized vehicle target's trajectory advances along the traffic direction axis of the complex road section; The target advancement position is the current projection position of the non-motorized vehicle target's trajectory on the traffic direction axis of the complex road section; The target traffic progress status refers to the current traffic status of non-motorized vehicles, which is jointly characterized by the target approach direction and the target's progress position.

[0023] The direction of travel in complex road sections refers to the preset direction of travel for non-motorized vehicles from the entrance to the exit in complex road sections. It is used to determine the direction of advancement of the target movement trajectory of non-motorized vehicles and the relay triggering sequence of roadside guidance equipment.

[0024] When performing dimension-unified processing on the motion trajectory of non-motorized vehicles, the center position of each target in the motion trajectory of non-motorized vehicles is projected onto the traffic direction axis of complex road sections to obtain the trajectory projection position corresponding to each collection time. The trajectory projection position is standardized into intervals according to the start and end points of the traffic direction axis in complex road sections: ,in, For the trajectory projection position, This indicates the starting point of the traffic direction axis in complex road sections. This represents the end point of the traffic direction axis in complex road sections. This is the result after standardizing the trajectory projection position.

[0025] The larger the standardized result of the trajectory projection position, the closer the target advancement position is to the end position of the travel direction axis of the complex road section; the smaller the standardized result of the trajectory projection position, the closer the target advancement position is to the start position of the travel direction axis of the complex road section.

[0026] The target approach direction is determined based on the difference between the standardized results of the trajectory projection positions at adjacent acquisition times. If the standardized result of the trajectory projection position at the later acquisition time is greater than the standardized result of the trajectory projection position at the previous acquisition time, the target approach direction points to the end position of the traffic direction axis of the complex road section. If the standardized result of the trajectory projection position at the next acquisition time is less than the standardized result of the trajectory projection position at the previous acquisition time, then the target approach direction points to the starting position of the traffic direction axis of the complex road section; if the two are equal, then the target approach direction determined in the previous acquisition cycle is used.

[0027] The deployment sequence of roadside guidance equipment is the installation order of each roadside guidance device in a complex road section, stored in the cloud platform or local equipment management unit; The coverage boundary position of roadside guidance equipment refers to the start and end positions of the coverage of each roadside guidance device that can generate perceptible warnings for non-motorized vehicles. The coverage boundary position of roadside guidance equipment is derived from equipment installation calibration information or platform configuration data.

[0028] In the relay screening module, the deployment sequence of roadside guidance equipment and the coverage boundary position of roadside guidance equipment are combined to generate a relay coverage chain of equipment. The equipment relay coverage chain is an ordered set of equipment formed according to the deployment sequence of roadside guidance equipment and the connection relationship of the coverage boundary positions of adjacent roadside guidance equipment. It is used to characterize the sequential relationship of relay warnings of each roadside guidance equipment in complex road sections. First, arrange the roadside guidance devices according to the deployment sequence. Then, read the coverage boundary position of each roadside guidance device and write the roadside guidance devices with adjacent or overlapping coverage boundaries into the same relay link.

[0029] The target advancement position and the coverage boundary position of the roadside guidance equipment are both converted to the same traffic direction axis of the complex road section, and the standardized result of the equipment coverage boundary position is obtained by using the same interval standardization method as the trajectory projection position.

[0030] For any roadside guidance device in the equipment relay coverage chain, calculate the coverage proximity between the target advancement position and the coverage boundary position of the roadside guidance device: ,in, Let i be the coverage proximity value corresponding to the i-th roadside guidance device. This is the result after standardizing the trajectory projection position. This is the result after standardizing the coverage boundary position of the i-th roadside guidance device.

[0031] The smaller the coverage proximity, the closer the target's advance position is to the coverage boundary of the roadside guidance device; the larger the coverage proximity, the farther the target's advance position is from the coverage boundary of the roadside guidance device.

[0032] When selecting guidance devices to be triggered based on the target's traffic advance trend, first retain the roadside guidance devices located ahead of the target's advance position from the equipment relay coverage chain according to the target's approach direction, and then arrange the retained roadside guidance devices in order of increasing coverage approach amount to form guidance devices to be triggered.

[0033] The triggerable guidance device is a roadside guidance device located in front of the non-motorized vehicle in the direction of the target approach, and whose roadside guidance device coverage boundary position is in a relay relationship with the target's advancing position.

[0034] When generating a collaborative early warning trigger sequence based on the devices to be triggered, the order of the devices in the device relay coverage chain is used as the basic order, and the order of multiple devices to be triggered within the same coverage area is corrected by the coverage proximity. Devices with smaller coverage proximity are arranged first, and devices with larger coverage proximity are arranged last, thus obtaining the collaborative early warning trigger sequence.

[0035] In the beat planning module, the wireless response latency of the roadside guidance device is obtained. The wireless response latency of the roadside guidance device refers to the length of time that the roadside guidance device enters the effective output state after the cloud platform or local device management unit sends a warning trigger command to the roadside guidance device. It is derived from the wireless heartbeat data or linkage test data of the roadside guidance device.

[0036] The estimated arrival time is determined by the target's advancing position, the corresponding roadside guidance equipment's coverage boundary position, and the displacement changes between adjacent acquisition times in the non-motorized vehicle target's trajectory. ,in, Let i be the estimated arrival time of the i-th triggering device. This is the current data collection time. The result is the standardized position of the roadside guidance device coverage boundary for the i-th guidance device to be triggered. This is the result after standardizing the trajectory projection position. This is the standardized result of the propulsion speed of the non-motorized vehicle target trajectory formed between adjacent data collection times. The earlier the expected arrival time, the earlier the non-motorized vehicle will enter the coverage area of ​​the corresponding guidance device to be triggered.

[0037] The triggering timing of the coordinated early warning triggering sequence is planned based on the wireless response delay of the roadside guidance equipment. The calculation formula is as follows: ,in, Let i be the triggering time of the i-th triggering device in the collaborative early warning timetable. Let i be the estimated arrival time of the i-th triggering device. Let be the wireless response delay of the roadside guidance device corresponding to the i-th guidance device to be triggered.

[0038] The greater the wireless response delay of the roadside guidance equipment, the earlier the triggering time in the coordinated early warning timetable, thereby compensating for the output lag caused by the wireless link and equipment response; the smaller the wireless response delay of the roadside guidance equipment, the closer the triggering time in the coordinated early warning timetable is to the expected arrival time.

[0039] The collaborative early warning beat table is an ordered data table that records the triggering device, the triggering time, and the output method. When the triggering device outputs an early warning according to the collaborative early warning beat table, the cloud platform or local device management unit sequentially sends early warning triggering commands to the warning light, projection light, display screen, and sound column, so that the triggering device outputs an early warning along the direction of target approach.

[0040] In the feedback correction module, after the triggering device outputs an early warning, the execution feedback data of the preceding triggering device is collected. The execution feedback data of the preceding triggering device is the execution status, actual execution time and execution number returned by the triggering device that has completed or attempted to complete the early warning output according to the collaborative early warning cycle table.

[0041] The execution status is used to characterize whether the preceding induction device has entered a valid output state, the actual execution time is used to characterize the time position when the preceding induction device enters a valid output state, and the execution count is used to characterize whether the preceding induction device has been repeatedly triggered.

[0042] Calculate the cycle offset based on the feedback data from the preceding guiding equipment: ,in, This represents the beat offset corresponding to the k-th preceding induction device. This refers to the actual execution time in the feedback data of the preceding induction device. The triggering timing corresponding to the preceding induction device in the coordinated early warning beat table.

[0043] When the cycle offset is positive, it means that the actual execution time of the preceding guidance device is later than the triggering time in the collaborative early warning cycle table; when the cycle offset is negative, it means that the actual execution time of the preceding guidance device is earlier than the triggering time in the collaborative early warning cycle table; when the cycle offset is zero, it means that the actual execution time of the preceding guidance device is the same as the triggering time in the collaborative early warning cycle table.

[0044] When correcting the collaborative early warning timetable based on feedback data from preceding guiding devices, the guiding devices to be triggered after the preceding guiding devices are taken as the correction targets, and the corresponding triggering timings in the collaborative early warning timetable are moved according to the timetable offset. ,in, This refers to the triggering timing after the j-th triggering device in the coordinated early warning beat table is updated. This refers to the triggering timing before the j-th triggering device in the coordinated early warning beat table is updated. It represents the beat offset corresponding to the k-th preceding induction device, and the j-th induction device to be triggered is located after the k-th preceding induction device.

[0045] When the beat offset is positive, the triggering time of the subsequent triggering device is delayed; when the beat offset is negative, the triggering time of the subsequent triggering device is advanced.

[0046] When the feedback data from the preceding guidance device indicates that the preceding guidance device has failed, the subsequent guidance device to be triggered adjacent to the preceding guidance device in the collaborative early warning beat table is marked as a replacement output object, and the triggering time of the subsequent guidance device to be triggered is retained in the collaborative early warning beat table. When the feedback data of the preceding guiding device indicates that the preceding guiding device is repeatedly executed, the additional trigger record corresponding to the repeated execution is deleted from the collaborative early warning cycle table, while keeping the relay order of the remaining guiding devices to be triggered in the collaborative early warning cycle table unchanged; When the preceding guidance device executes feedback data to represent the preceding guidance device's execution according to the collaborative early warning cycle table, the collaborative early warning cycle table remains unchanged.

[0047] Through the collaborative work of the aforementioned situation determination module, relay screening module, rhythm planning module, and feedback correction module, the system can form a collaborative early warning rhythm table based on the non-motorized vehicle target trajectory and the relay relationship of roadside guidance equipment in complex road sections. It can also continuously correct the collaborative early warning rhythm table using feedback data from preceding guidance equipment, thereby reducing early warning fragmentation, repeated early warnings, and inconsistent guidance directions caused by multiple roadside guidance devices triggering independently.

[0048] Finally, it should be noted that in this paper, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0049] Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0050] In this document, the singular forms “a,” “an,” and “ / the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0051] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0052] The above description of the disclosed embodiments will enable those skilled in the art to make or use various modifications to these embodiments. It will be readily apparent to those skilled in the art that the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A non-motorized vehicle cooperative traffic guidance system based on the Internet of Things, characterized in that, It includes a situation determination module, a relay selection module, a beat planning module, and a feedback correction module. The functions of each module are as follows: The situation determination module is used to collect the movement trajectory of non-motorized vehicle targets, analyze the target's approach direction and advancing position based on the non-motorized vehicle target's movement trajectory, and determine the target's traffic advancing situation. It also reads the roadside guidance equipment deployment sequence and the roadside guidance equipment coverage boundary position and transmits them to the relay screening module. The relay screening module is used to generate a relay coverage chain of roadside guidance equipment based on the deployment sequence of roadside guidance equipment and the coverage boundary position of roadside guidance equipment. It also filters guidance equipment to be triggered based on the target traffic progress trend, generates a collaborative early warning trigger sequence based on the guidance equipment to be triggered, and passes it into the beat planning module. The timing planning module is used to obtain the wireless response delay of the roadside guidance device, plan the triggering timing of the coordinated early warning triggering sequence based on the wireless response delay of the roadside guidance device, generate a coordinated early warning timing table, drive the guidance device to be triggered to output an early warning according to the coordinated early warning timing table, and pass it to the feedback correction module. The feedback correction module is used to collect the execution feedback data of the preceding guidance device after the guidance device to be triggered outputs an early warning, and to update the collaborative early warning cycle table based on the execution feedback data of the preceding guidance device.

2. A non-motorized vehicle cooperative traffic guidance system based on the Internet of Things according to claim 1, characterized in that: In the situation determination module, the trajectory of the non-motorized vehicle target is a set of the center positions of the non-motorized vehicle target, including the center position of the target and the time of data acquisition; The target approach direction is the direction in which the non-motorized vehicle target's trajectory advances along the traffic direction axis of the complex road section; The target advancement position is the current projection position of the non-motorized vehicle target's trajectory on the traffic direction axis of the complex road section; The target traffic progress status refers to the current traffic status of non-motorized vehicles, which is jointly characterized by the target's approach direction and its progress position. Project the center position of each target in the non-motorized vehicle target trajectory onto the traffic direction axis of the complex road section to obtain the trajectory projection position corresponding to each collection time. The trajectory projection position is standardized into intervals according to the starting and ending points of the traffic direction axis in complex road sections; The target approach direction is determined by the difference between the standardized results of the trajectory projection positions at adjacent acquisition times.

3. A non-motorized vehicle cooperative traffic guidance system based on the Internet of Things according to claim 1, characterized in that: In the relay screening module, the deployment sequence of roadside guidance equipment is the installation order of each roadside guidance device in the complex road section stored in the cloud platform or local equipment management unit; The coverage boundary of roadside guidance equipment refers to the start and end points of coverage where each roadside guidance device can generate early warnings for non-motorized vehicles.

4. A non-motorized vehicle cooperative traffic guidance system based on the Internet of Things according to claim 3, characterized in that: In the relay screening module, the equipment relay coverage chain is an ordered set of equipment formed according to the deployment sequence of roadside guidance equipment and the connection relationship of the coverage boundary positions of adjacent roadside guidance equipment; First, arrange each roadside guidance device according to the deployment sequence of the roadside guidance device, then read the coverage boundary position of each roadside guidance device, and write the roadside guidance devices with adjacent coverage boundaries or overlapping coverage boundaries into the same relay link; For any roadside guidance device in the equipment relay coverage chain, calculate the coverage proximity between the target advancement position and the coverage boundary position of the roadside guidance device.

5. A non-motorized vehicle cooperative traffic guidance system based on the Internet of Things according to claim 4, characterized in that: In the takt planning module, roadside guidance devices located ahead of the target advancement position are retained from the equipment relay coverage chain according to the target approach direction. The retained roadside guidance devices are arranged in order of increasing coverage approach amount to form guidance devices to be triggered. The order of the devices to be triggered in the device relay coverage chain is used as the basic order, and the order of multiple devices to be triggered in the same coverage area is corrected by the coverage proximity, so as to obtain the collaborative early warning trigger sequence.

6. A non-motorized vehicle cooperative traffic guidance system based on the Internet of Things according to claim 5, characterized in that: In the takt planning module, the wireless response delay of the roadside guidance device refers to the length of time it takes for the roadside guidance device to enter the effective output state after issuing a warning trigger command. The estimated arrival time of the guidance device to be triggered is determined by the target's advancing position, the corresponding roadside guidance device's coverage boundary position, and the displacement changes of adjacent acquisition times in the non-motorized vehicle target's trajectory. The triggering time of the guidance device to be triggered in the collaborative early warning timetable is obtained by subtracting the expected arrival time of the guidance device to be triggered from the wireless response delay of the roadside guidance device.

7. A non-motorized vehicle cooperative traffic guidance system based on the Internet of Things according to claim 6, characterized in that: In the feedback correction module, the collaborative early warning beat table refers to an ordered data table that records the triggering device, the triggering time, and the output method; According to the coordinated early warning rhythm table, the early warning trigger command is issued to the guidance equipment to be triggered, so that the guidance equipment to be triggered will output early warnings sequentially along the direction of target approach.

8. A non-motorized vehicle cooperative traffic guidance system based on the Internet of Things according to claim 1, characterized in that: In the feedback correction module, the feedback data executed by the preceding induction device is the execution status, actual execution time, and execution number returned by the induction device to be triggered, which has completed or attempted to complete the early warning output according to the collaborative early warning cycle table. The difference between the actual execution time in the feedback data of the preceding guidance device and the triggering time corresponding to the preceding guidance device in the collaborative early warning beat table is used to obtain the beat offset. The target device to be triggered after the preceding trigger device is used as the correction target, and the corresponding triggering time in the coordinated early warning beat table is moved according to the beat offset.

9. A non-motorized vehicle cooperative traffic guidance system based on the Internet of Things according to claim 8, characterized in that: In the situation determination module, the execution status of the preceding guidance device is classified and processed based on the feedback data from the preceding guidance device: When the execution status characterization fails, the subsequent triggering device adjacent to the preceding triggering device in the collaborative early warning beat table will be marked as a replacement output object; When the execution status indicates repeated execution, delete the extra trigger record corresponding to the repeated execution in the collaborative early warning beat table; When the execution status representation is executed according to the collaborative early warning cycle table, the collaborative early warning cycle table remains unchanged.

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