Traffic safety sign control method and system

Abstract

The application discloses a traffic safety sign control method, device and medium, and relates to the technical field of traffic control, and comprises the following steps: the application establishes the correlation between wind force and the movement of a reflecting object by aligning the current wind speed value with the position coordinate sequence of the reflecting object in time stamp; the characteristic that the reflecting object is dominated by wind force can be accurately found by extracting the lateral displacement component perpendicular to the highway direction and comparing the change period of the lateral displacement component with the fluctuation period of the current wind speed value; the soft and light object and the solid vehicle are further distinguished by obtaining the reflection cross-sectional area change data of the reflection signal; after confirming the interference of the soft and light object, the action path for sending the congestion display signal to the electronic warning sign is blocked, and the electronic warning sign is controlled to switch to the constant yellow light slow flashing state, so that the emergency braking of the rear vehicle caused by the false congestion prompt is avoided, the rear-end collision risk of the rear vehicle caused by the false alarm of the anti-collision system is eliminated, and the driving safety of the expressway is ensured.

Description

Technical Field

[0001] This application relates to the technical field of traffic control, and in particular to methods and systems for controlling traffic safety signs. Background Technology

[0002] Existing highway collision avoidance systems typically use radar sensors to monitor obstacles ahead. The radar sensors emit electromagnetic waves into the detection area and receive reflected signals. The system determines the presence of a stranded vehicle or physical obstacle based on the continuity and positional stability of the reflected signals. When the system repeatedly receives reflected signals from a fixed location, it determines that an obstacle exists ahead and controls electronic warning signs to display congestion warnings and flash at high frequency to alert following vehicles to slow down.

[0003] In windy weather, discarded white plastic bags on the grass beside highways are easily blown away. If the plastic bag is caught on a small tree branch near the radar sensor of a collision avoidance system, it will sway in the wind. The plastic bag drifts left and right within the radar detection area, constantly reflecting signals back to the radar sensor. The back-and-forth swaying of the plastic bag within a localized area simulates the characteristics of an obstacle or a slowly moving vehicle. Existing collision avoidance systems assume that all stable or recurring signals detected by the radar come from solid objects of fixed volume; the system cannot distinguish whether the reflecting object is a swaying plastic bag or a parked, disabled vehicle.

[0004] The existing collision avoidance system interprets a swaying plastic bag as a real traffic obstacle and controls electronic warning signs to display a congestion sign ahead. Vehicles approaching from behind brake suddenly upon seeing the warning, even though the road ahead is actually clear. This existing control logic causes congestion on the highway and can even lead to rear-end collisions due to sudden braking from following vehicles. Summary of the Invention

[0005] In view of the aforementioned problems, this application is hereby filed.

[0006] Therefore, this application provides a traffic safety sign control method, equipment, and medium that can solve the problem of light objects swaying in the radar detection area during windy weather, causing false alarms in the collision avoidance system and resulting in rear-end collisions.

[0007] To solve the above-mentioned technical problems, this application provides the following technical solution: In the first aspect, this application provides a traffic safety sign control method, including: obtaining the current wind speed value and the position coordinate sequence of the reflector; The current wind speed value is timestamped and the location coordinate sequence to generate the first trajectory data; Based on the first trajectory data, the lateral displacement component perpendicular to the road direction is extracted, and the change period of the lateral displacement component is compared with the fluctuation period of the current wind speed value to obtain the first comparison result. In response to the first comparison result satisfying the matching condition, the change data of the reflection cross-sectional area of ​​the reflected signal is obtained; In response to the reflection cross-sectional area change data satisfying a first preset threshold condition, a first state identifier is generated; In response to the first status indicator, the action path for sending a congestion display signal to the electronic warning sign is blocked, and a first control command is generated to control the electronic warning sign to switch to a constant yellow light with slow flashing.

[0008] Preferably, obtaining the current wind speed value and the position coordinate sequence of the reflector includes: Acquire the current wind speed value and wind direction data sent by the local wind speed sensor; Obtain the sequence of position coordinates of the reflector generated by the radar probe scanning within the detection area; The current wind speed value is compared with the second preset threshold condition; In response to the current wind speed value exceeding the second preset threshold condition, a wind force action status identifier is generated; Based on the sampling timestamp of the radar probe, the current wind speed value, the wind direction data, and the position coordinate sequence are timestamped to generate the position coordinate sequence with a wind force status identifier as the first trajectory data.

[0009] Preferably, acquiring the sequence of position coordinates of the reflector generated by the radar probe scanning within the detection area includes: Acquire background reflection waveform data of tree branches in the corresponding wind speed range when there are no light objects hanging from them; Obtain the current radar reflection waveform collected by the radar probe at the current moment; The current radar reflection waveform is compared with the background reflection waveform to obtain the waveform phase difference and amplitude difference; Based on the waveform phase difference and the amplitude difference, the background coordinate data belonging to the background tree extension area are removed from the current radar reflection waveform; Isolated reflected signals that meet a third preset threshold condition are retained, and the position coordinate sequence of the reflector is generated based on the spatial distribution of the retained reflected signals within the detection area.

[0010] Preferably, the step of extracting the lateral displacement component perpendicular to the road direction based on the first trajectory data, and comparing the variation period of the lateral displacement component with the fluctuation period of the current wind speed value to obtain a first comparison result includes: The angle between the wind direction and the road direction is determined based on the wind direction data in the first trajectory data; Based on the included angle, the lateral displacement component perpendicular to the road direction is extracted from the position coordinate sequence; Based on the sampling timestamps of the position coordinate sequence, the variation period of the lateral displacement component over time is obtained; Obtain the fluctuation period of the current wind speed value over time; The peak and trough times of the lateral displacement component are compared with the pulse peak times of the current wind speed value. In response to the matching of the peak time and the trough time with the pulse peak time, a matching result is generated as the first comparison result, thus completing the comparison of the change period and the fluctuation period.

[0011] Preferably, the step of obtaining the reflection cross-sectional area change data of the reflected signal in response to the first comparison result satisfying the matching condition includes: The intensity fluctuation range and cross-sectional area data of the reflected signal received by the radar probe within a unit sampling period are obtained; Based on the cross-sectional area data within the unit sampling period, obtain the change data of the reflected cross-sectional area of ​​the reflected signal; The change data of the reflective cross-sectional area is compared with the first preset threshold condition; The intensity fluctuation range is compared with the fluctuation period of the current wind speed value in a synchronized state. In response to the change in the reflective cross-sectional area exceeding the first preset threshold condition, and the intensity fluctuation range exhibiting a jump state with the same frequency as the fluctuation period, the change in the reflective cross-sectional area that meets the condition is generated.

[0012] Preferably, the step of responding to the first state identifier, blocking the action path of sending a congestion display signal to the electronic warning sign, and generating a first control command to control the electronic warning sign to switch to a constant yellow light flashing state includes: Obtain the first status identifier; In response to the first status indicator, the transmission channel for sending the congestion display signal and the high-frequency flashing signal to the electronic warning sign is cut off; Generate the first control instruction, which is a control signal used to control the display device to switch display states; Send the first control command to the electronic warning sign; The electronic warning sign is controlled to switch from a congestion alarm state to a constant yellow light flashing slowly, thus completing the blocking of the action path and the switching of the display state.

[0013] Preferably, controlling the electronic warning sign to switch from a congestion alarm state to a constantly lit, slowly flashing yellow light state includes: After switching to the constant yellow light with slow flashing mode, a second control command is generated; In response to the second control command, after a first preset time period, the radar probe's verification position coordinate sequence and verification cross-sectional area data within the detection area are reacquired. Compare the verified cross-sectional area data with the cross-sectional area change data; In response to the disappearance of the verification position coordinate sequence and the return of the verification cross-sectional area data to zero, the environmental interference filtering state is released and the normal obstacle determination logic of the radar probe is restored. In response to the existence of the verification location coordinate sequence and the change in the verification reflective cross-sectional area data satisfying the first preset threshold condition, the electronic warning sign is maintained in a constant yellow light flashing state.

[0014] Preferably, the step of maintaining the constant yellow light slow flashing state of the electronic warning sign in response to the existence of the verification position coordinate sequence and the change in the verification reflective cross-sectional area data satisfying the first preset threshold condition includes: Write the current wind speed value, the first trajectory data, the lateral displacement component, the reflection cross-sectional area change data, the first status identifier, the first control command, and the verification position coordinate sequence into the interference event record table; Based on the interference event record table, a second state identifier is generated; In response to the existence of the verification position coordinate sequence, the radar probe is enabled to adjust the threshold for determining reflective objects within a specific coordinate range in the detection area according to the second state identifier; The reflected signals within the specified coordinate range are downgraded to maintain the constant yellow light of the electronic warning sign in a slow flashing state.

[0015] Preferably, sending the first control command to the electronic warning sign includes: Extract the center point position data from the position coordinate sequence; Based on the center point location data and the first status identifier, a cleanup request containing the location and type of interference is generated; The cleanup request is sent to the highway maintenance terminal via a communication link; Receive the reception confirmation signal returned by the highway maintenance terminal; In response to the received confirmation signal, update the request sending status in the interference event record table; After the request sending status is updated to "received", the sending status of the first control command is maintained.

[0016] Secondly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the traffic safety sign control method.

[0017] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the traffic safety sign control method.

[0018] The beneficial effects of implementing this application are as follows: This application provides a traffic safety sign control method, equipment, and medium. By aligning the current wind speed value with the position coordinate sequence of the reflector using timestamps, a correlation between wind force and the movement of the reflector is established. By extracting the lateral displacement component perpendicular to the road direction and comparing the variation period of the lateral displacement component with the fluctuation period of the current wind speed value, the characteristics of the reflector being dominated by wind force can be accurately identified. By acquiring the reflection cross-sectional area change data of the reflection signal, soft, lightweight objects and solid vehicles are further distinguished. After confirming interference from lightweight objects, the action path for sending congestion display signals to the electronic warning sign is blocked, and the electronic warning sign is controlled to switch to a constantly lit yellow light with slow flashing, avoiding emergency braking by following vehicles due to false congestion warnings, eliminating the risk of rear-end collisions caused by false alarms from the collision avoidance system, and ensuring driving safety on highways. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is an overall flowchart of the traffic safety sign control method involved in this application; Figure 2 This is an application environment diagram of the traffic safety sign control method involved in this application; Figure 3 This is a flowchart of the traffic safety sign control method involved in this application, which obtains the reflection cross-sectional area change data of the reflected signal in response to the first comparison result satisfying the matching condition; Figure 4 This is a computer device diagram of the traffic safety sign control method involved in this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0022] This application provides a method for controlling traffic safety signs. Figure 1 The overall flowchart of the traffic safety sign control method is shown, including: Step S1: Obtain the current wind speed value and the position coordinate sequence of the reflector.

[0023] It should be noted that in highway collision avoidance monitoring scenarios, to identify interference from light objects hanging on tree branches during windy weather, it is necessary to simultaneously acquire environmental meteorological data and radar detection data. Specifically, a local wind speed sensor located near the radar probe collects the ambient airflow velocity in real time and outputs it as the current wind speed value. Simultaneously, the radar probe emits electromagnetic waves into the detection area and receives the reflected echoes. The echo signals are mixed and converted from analog to digital to extract the spatial location information of the reflective objects, which are then arranged in chronological order to form a position coordinate sequence. The acquired current wind speed value and the position coordinate sequence of the reflective objects serve as the basic data source for subsequent determination of whether the reflective objects are dominated by wind. Both are collected at a synchronized frequency on the time axis, providing raw data support for subsequent data alignment and feature extraction. It should be noted that mixing refers to multiplying the emitted continuous wave signal with the received reflected wave signal, filtering out high-frequency components, and retaining the low-frequency difference signal. The frequency of this difference signal is proportional to the distance to the reflective object. Analog-to-digital conversion refers to converting the continuous difference signal voltage into a discrete digital numerical sequence according to a fixed sampling frequency.

[0024] like Figure 2 The diagram illustrates the application scenario of this application. Current wind speed data is collected using a wind speed detection device, and the position coordinate sequence of reflective objects and changes in reflective cross-sectional area are obtained using a reflective signal detection device. After transmitting the relevant data to the data processing and control device, timestamp alignment, lateral displacement analysis, comparison of displacement period with wind speed fluctuation period, and determination of reflective cross-sectional area changes are performed. When the detection results meet preset conditions, the original congestion display signal is blocked, and a first control command is sent to the electronic warning sign, switching it to a slow-flashing yellow light state, thereby providing timely safety warnings to road users.

[0025] In this application, obtaining the current wind speed value and the position coordinate sequence of the reflector may further include the following steps: Step S11: Obtain the current wind speed value and wind direction data sent by the local wind speed sensor; Step S12: Obtain the position coordinate sequence of reflective objects generated by the radar probe scanning within the detection area; Step S13: Compare the current wind speed value with the second preset threshold condition; Step S14: In response to the current wind speed value exceeding the second preset threshold condition, generate a wind force action status indicator; Step S15: Based on the sampling timestamp of the radar probe, align the current wind speed value, wind direction data and position coordinate sequence with the timestamp to generate a position coordinate sequence with wind force status identifier as the first trajectory data.

[0026] Specifically, local wind speed sensors are typically installed near the radar probe. Inside the sensor, a wind cup or rotor rotates under the influence of airflow, cutting internal magnetic field lines to generate pulse signals with a frequency proportional to the wind speed. The current wind speed is obtained by counting the pulses per unit time and multiplying them by a pre-calibrated wind speed coefficient corresponding to each pulse. Simultaneously, a wind vane rotates under the influence of airflow, driving an internal angle encoder to output a digital angle signal as wind direction data. The angle encoder contains a ring of evenly distributed light-transmitting slots and photoelectric sensors. As the wind vane rotates, it blocks or transmits light, generating a Gray code consisting of high and low level combinations. This Gray code is then converted into an angle value between 0 and 360 degrees using a lookup table. The radar probe emits a frequency-modulated continuous wave into the detection area. When the electromagnetic wave is reflected by objects such as plastic bags, the receiving antenna captures the echo signal. The echo signal is mixed with the transmitted signal, meaning the two signals are multiplied and a low-pass filter is used to filter out high-frequency and low-frequency components, retaining the low-frequency difference component, resulting in an intermediate frequency signal containing distance information. The intermediate frequency signal is sampled digitally to convert the continuous voltage waveform into a discrete numerical sequence. The sampling points are divided into multiple range cells according to their frequency, from smallest to largest. The energy amplitude within each range cell is calculated by summing the squares of all sampling points within that range cell and then averaging the sums. The range cell with the largest energy amplitude is identified. The frequency value corresponding to this range cell is multiplied by the speed of light and divided by twice the frequency modulation slope to obtain the radial distance of the reflector relative to the radar probe. Combining this with the current scanning angle of the radar probe, the Cartesian coordinate transformation formula is used: radial distance multiplied by the sine of the angle to obtain the x-coordinate, and radial distance multiplied by the cosine of the angle to obtain the y-coordinate. This determines the two-dimensional coordinates of the reflector within the detection area. The coordinates at multiple points in chronological order are then arranged to obtain a position coordinate sequence.

[0027] The current wind speed value is compared with a second preset threshold condition. The comparison process involves reading the wind speed value corresponding to the second preset threshold condition from the memory, subtracting this wind speed value from the current wind speed value, and determining whether the difference is greater than zero. It can be explained that the second preset threshold condition is used to determine whether the current environment has meteorological conditions suitable for moving objects. In this application, the second preset threshold condition is obtained based on the statistical value of the minimum wind speed capable of blowing light objects from historical meteorological data along the highway, and its preferred setting range is 5 m / s to 8 m / s. In the specific operation of this application, the current season information is obtained. If it is late autumn or winter, due to the hardening of the plastic bag material and changes in air density, the second preset threshold condition is set to 6 m / s; if it is summer, the second preset threshold condition is set to 5 m / s.

[0028] In response to the current wind speed exceeding a second preset threshold, a wind force status flag is generated. When the wind speed difference is greater than zero, a hexadecimal value of 01 is written to a specific address in memory. This value 01 is the wind force status flag, indicating that the current ambient wind force is sufficient to cause significant displacement of light objects. The wind force status flag is a high-level signal stored in a specific register address in memory.

[0029] Simultaneously, based on the sampling timestamps of the radar probe, the current wind speed and direction data are timestamped and aligned with the position coordinate sequence. Since the data update frequency of the wind speed sensor may differ from the scanning frequency of the radar probe, the sampling timestamps of the radar probe are used as the reference time axis. The wind speed data update moment closest to each radar sampling timestamp is found on the time axis, and the wind speed and direction data at that moment are extracted. This data is then packaged with the corresponding position coordinate sequence at that sampling moment into a single data frame, generating a position coordinate sequence with a wind force status identifier as the first trajectory data. The first trajectory data is a sequence composed of multi-dimensional data frames arranged chronologically, consisting of timestamps, x-coordinates, y-coordinates, wind speed values, wind direction data, and wind force status identifiers.

[0030] On the other hand, each data frame in the first trajectory data contains environmental meteorological information and radar detection information at the same time. This data alignment structure provides direct data support for subsequent analysis of the correlation between the motion state of reflectors and wind speed fluctuations, ensuring the temporal accuracy of wind force effect judgment.

[0031] For example, during a windy autumn day, a local wind speed sensor detects a wind speed of 7 m / s, exceeding the threshold of 6 m / s, and generates a wind force status indicator. Simultaneously, a radar probe detects a reflective object near tree branches and generates a sequence of its coordinates. By aligning the timestamps, the wind speed (7 m / s), wind direction data, and reflective object coordinates are packaged into a single data frame within the first trajectory data, indicating that the reflective object's coordinates at that moment were formed under the influence of wind.

[0032] For example, when the wind speed is only 3 m / s, it does not exceed the threshold condition, and no wind force status indicator is generated. In this case, even if the radar probe detects a reflective object, the first trajectory data will not include the wind force status indicator, and subsequent processes will directly treat it as a regular obstacle, thus avoiding unnecessary interference analysis of light objects in windless weather.

[0033] Through the above steps, the correlation between environmental wind data and radar reflector trajectories was established, enabling subsequent feature extraction to clearly understand the current motion background of the reflector and laying a data foundation for accurately identifying interference from light objects.

[0034] In this embodiment, obtaining the position coordinate sequence of reflective objects generated by the radar probe scanning within the detection area may further include the following steps: Step S121: Obtain background reflection waveform data of background tree branches in the corresponding wind speed range when there are no light objects hanging; Step S122: Obtain the current radar reflection waveform collected by the radar probe at the current moment; Step S123: Compare the current radar reflection waveform with the background reflection waveform to obtain the waveform phase difference and amplitude difference; Step S124: Based on the waveform phase difference and amplitude difference, remove the background coordinate data belonging to the background tree branch extension area from the current radar reflection waveform; Step S125: Retain isolated reflection signals that meet the third preset threshold condition, and generate a sequence of position coordinates of the reflective objects based on the spatial distribution of the retained reflection signals within the detection area.

[0035] Specifically, because small tree branches near the radar probe sway in the wind, their leaves and branches generate continuous radar echo interference. If the background of the branches is not removed, the swaying of the branches may be mistaken for obstacles. Therefore, it is necessary to collect echo data of the branches within the radar detection area beforehand, under conditions where no plastic bags are suspended, for different wind speed ranges. The echo signals from multiple consecutive scan cycles are averaged by range cell, that is, the amplitudes of multiple scan cycles within the same range cell are added and divided by the number of scan cycles to obtain the average echo amplitude and average phase for each range cell. This average echo amplitude and average phase are then used as background reflection waveform data for that wind speed range and stored in a database. The database is a two-dimensional array indexed by wind speed range; the row index represents the range cell number, and the column index contains two floating-point numbers: average amplitude and average phase.

[0036] The system acquires the current radar reflection waveform collected by the radar probe at the current moment. This waveform also contains amplitude and phase information for multiple range cells. The current radar reflection waveform is then compared with the background reflection waveform for the corresponding wind speed range, cell by cell. For the same range cell, the amplitude value of the current waveform is subtracted from the amplitude value of the background waveform to obtain the amplitude difference, and the phase value of the current waveform is subtracted from the phase value of the background waveform to obtain the phase difference. The amplitude difference and phase difference are then combined to form the waveform phase difference and amplitude difference.

[0037] Based on waveform phase and amplitude differences, background coordinate data belonging to the background tree branch extension region is removed from the current radar reflection waveform. If the amplitude difference of a certain range cell is less than a preset amplitude error tolerance and the phase difference is less than a preset phase error tolerance, it indicates that the reflective object in that region is consistent with the background tree branch, and the region is determined to be the background tree branch extension region. The amplitude of the reflected signal of the corresponding range cell is forcibly set to zero, thereby eliminating the interference of the background tree branch. The amplitude error tolerance is obtained based on the statistical variance of the radar receiver noise floor fluctuation, and its preferred setting range is 2dB to 4dB. In the specific operation of this application, the receiving sensitivity parameter of the radar probe is obtained. If the sensitivity is better than -110dBm, the amplitude error tolerance is set to 2dB; if the sensitivity is worse than or equal to -110dBm, the amplitude error tolerance is set to 3dB.

[0038] In this application, isolated reflected signals that meet the third preset threshold condition are retained. It is determined whether the amplitude difference is greater than the threshold value corresponding to the third preset threshold condition. If it is greater, it indicates that the reflected signal at that location is significantly higher than the background, and the signal is determined to be an isolated reflected signal, which is then retained. It can be noted that the third preset threshold condition is used to filter out reflected signals from light objects that are distinct from background tree branches. In this application, the third preset threshold condition is obtained based on the statistical value of the minimum amplitude difference between light objects and leaves on the radar echo, and its preferred setting range is 5dB to 10dB. In the specific operation of this application, the receiving sensitivity parameter of the current radar probe is obtained. If the sensitivity is better than -110dBm, the third preset threshold condition is set to 5dB; if the sensitivity is worse than or equal to -110dBm, the third preset threshold condition is set to 8dB.

[0039] In this embodiment, based on the spatial distribution of the retained reflected signal within the detection area, i.e., extracting the radial distance and scanning angle of the retained signal on a two-dimensional plane, the abscissa is obtained by using the Cartesian coordinate transformation formula, i.e., multiplying the radial distance by the sine of the angle to obtain the abscissa, and multiplying the radial distance by the cosine of the angle to obtain the ordinate. The coordinate points at multiple moments are arranged in chronological order to generate a sequence of position coordinates of the reflector.

[0040] In some embodiments, for example, in strong winds, the swaying of tree branches causes distortion of the background reflected waveform, but by comparing distance-by-distance units, the echo range of the tree branch itself can be identified and eliminated. Meanwhile, plastic bags hanging on tree branches, due to their different shape and material from leaves, will generate echoes at specific angles with amplitudes far exceeding the background. These echoes are retained and extracted as a position coordinate sequence, thereby ensuring the purity of the position coordinate sequence.

[0041] For example, when the plastic bag is blown away by a strong wind, the difference between the current radar reflection waveform and the background reflection waveform becomes smaller, and the amplitude difference is lower than the third preset threshold condition. At this time, no reflection signal is retained, the position coordinate sequence is empty, indicating that the interference source has disappeared.

[0042] The background removal operation described above effectively eliminates interference from inherent environmental objects on radar detection, ensuring that the generated position coordinate sequence truly reflects the trajectory of the light object.

[0043] Step S2: Align the current wind speed value with the location coordinate sequence using timestamps to generate the first trajectory data; It should be noted that the operation of aligning the current wind speed value with the location coordinate sequence using timestamps aims to construct a multi-dimensional time series data structure, so that each frame of location coordinate data carries environmental meteorological information at the same time.

[0044] Specifically, each sampling point in the location coordinate sequence is traversed, and its corresponding time label is extracted. Then, the wind speed data record in the wind speed data stream that matches the time label or has the smallest time difference is searched. If the time labels are completely identical, the corresponding wind speed data record is directly extracted; if the time labels are inconsistent, the preceding and following wind speed data records adjacent to the current time label are found in the wind speed data stream. Using linear proportional interpolation, the value of the preceding wind speed data record is calculated, plus the difference between the preceding and following wind speed data records, and multiplied by the ratio of the difference between the current and preceding time labels divided by the difference between the following and preceding time labels, to obtain the estimated wind speed value at the current moment. The wind speed data value and wind direction data are then bound to the corresponding location coordinate sampling point. By performing the above binding operation on all sampling points in the location coordinate sequence, first trajectory data containing multi-source information including time, coordinates, wind speed, and wind direction is generated. This first trajectory data provides a complete data foundation for subsequent displacement feature extraction and period comparison, ensuring a strict temporal correspondence between physical motion analysis and changes in environmental state.

[0045] Specifically, for example, when the radar probe acquires the current position coordinates of the plastic bag at a certain millisecond, it simultaneously reads the instantaneous wind speed value recorded by the wind speed sensor at that moment, combining the two into a single data frame. Multiple consecutive data frames are arranged together to form a first trajectory data that includes both the spatial motion trajectory and the environmental wind force state, allowing subsequent analysis to directly obtain all the necessary variables from the same data structure.

[0046] For example, when the radar sampling frequency is 20 Hz and the wind speed sensor sampling frequency is 10 Hz, for radar sampling moments without corresponding wind speed data, a linear proportional interpolation calculation is used to calculate the estimated wind speed value at that moment using two adjacent wind speed data points, and the estimated wind speed value is aligned with the position coordinates to ensure the continuity and integrity of the first trajectory data on the time axis.

[0047] Step S3: Based on the first trajectory data, extract the lateral displacement component perpendicular to the road direction, and compare the variation period of the lateral displacement component with the fluctuation period of the current wind speed value to obtain the first comparison result. It should be noted that after obtaining the first trajectory data, it is necessary to extract the lateral displacement component and compare it with the wind speed fluctuation period to determine whether the motion of the reflector is dominated by wind force. This is a key step in distinguishing between light objects and solid vehicles. The first comparison result is an identifier used to characterize whether the variation period of the lateral displacement component coincides with the fluctuation period of the current wind speed value on the time axis.

[0048] In this application, based on the first trajectory data, the lateral displacement component perpendicular to the road direction is extracted, and the variation period of the lateral displacement component is compared with the fluctuation period of the current wind speed value to obtain a first comparison result. The method may also include the following steps: Step S31: Determine the angle between the wind direction and the road direction based on the wind direction data in the first trajectory data; Step S32: Based on the included angle, extract the lateral displacement component perpendicular to the road direction from the position coordinate sequence; Step S33: Obtain the variation period of the lateral displacement component over time based on the sampling timestamps of the position coordinate sequence; Step S34: Obtain the fluctuation period of the current wind speed value over time; Step S35: Compare the peak and trough times of the lateral displacement component with the pulse peak times of the current wind speed value; Step S36: In response to the matching of the peak and trough times with the pulse peak time, generate the matching result as the first comparison result, and complete the comparison of the change period and the fluctuation period.

[0049] Specifically, the angle between the wind direction and the road alignment is determined based on the wind direction data in the first trajectory data. The road alignment is usually defined as the geographical azimuth along the road's extension direction, and the wind direction data represents the azimuth of the wind's direction of origin. The wind direction azimuth is subtracted from the road alignment azimuth, and the absolute value is taken. If the absolute value is greater than 90 degrees, it is subtracted from 180 degrees. The resulting angle between the wind direction and the road alignment reflects the relative relationship between the direction of wind action and the direction of road extension.

[0050] Based on the included angle, the lateral displacement component perpendicular to the road direction is extracted from the position coordinate sequence. In a Cartesian coordinate system with the radar probe as the origin, the horizontal axis is set to be parallel to the road direction, and the vertical axis to be perpendicular to the road direction. For each coordinate point in the position coordinate sequence, its vertical axis coordinate value is extracted as the lateral displacement component at that moment. The vertical axis coordinate values ​​at multiple consecutive moments constitute the time series of the lateral displacement components.

[0051] Based on the sampling timestamps of the position coordinate sequence, the variation period of the lateral displacement component over time is obtained. The time series of the lateral displacement components is traversed, comparing the magnitudes of adjacent data points. When a data value at a point is found to be greater than both the preceding and following data values, that point is marked as a maximum. The time interval between two adjacent maximum points is found; this time interval is the variation period of the lateral displacement component. Simultaneously, the timestamp corresponding to each maximum point is recorded as the peak time. Using the same method, when a data value at a point is found to be less than both the preceding and following data values, that point is marked as a minimum, and its timestamp is recorded as the trough time.

[0052] Simultaneously, the fluctuation period of the current wind speed value over time is obtained. Since wind speed exhibits gust characteristics in nature, the wind speed value will fluctuate alternately between high and low. The wind speed time series is traversed, and the time interval between two adjacent wind speed maxima is found as the wind speed fluctuation period. The timestamp corresponding to the wind speed maxima is recorded as the pulse peak time.

[0053] On the other hand, the peak and trough times of the lateral displacement component are compared with the pulse peak times of the current wind speed value. The time difference between the peak time and the nearest pulse peak time, and the time difference between the trough time and the nearest pulse peak time are calculated. If the time difference is less than the preset time tolerance, it means that the extreme points of displacement and wind speed highly coincide on the time axis.

[0054] In response to the matching of peak and trough times with the pulse peak time, a matching result is generated as the first comparison result. It can be noted that the time tolerance is used to allow for minor delays caused by signal transmission and data processing. In this application, the time tolerance is obtained based on the statistical sum of the wind speed sensor data transmission delay and the radar data processing delay, with a preferred setting range of 50 milliseconds to 200 milliseconds. In the specific operation of this application, the transmission delay parameter of the current communication link is obtained. If the transmission delay is less than 10 milliseconds, the time tolerance is set to 50 milliseconds; if the transmission delay is greater than or equal to 10 milliseconds, the time tolerance is set to 150 milliseconds.

[0055] When the time difference between the peak and the peak of the pulse, and the time difference between the trough and the peak of the pulse are both less than the time tolerance, it is determined that the displacement change and the wind speed fluctuation are in the same frequency. The hexadecimal value 01 is written into the result register as the first matching result, and the comparison between the change period and the fluctuation period is completed.

[0056] For example, when a strong wind blows and the wind speed reaches a peak, a plastic bag hanging on a tree branch is pushed by the wind and swings to its maximum displacement in a direction perpendicular to the road, i.e., the lateral displacement component reaches its peak. Furthermore, the time difference between the peak moment and the peak moment of the wind speed pulse is extremely small, both within 50 milliseconds, thus generating the first matching result, indicating that the motion of the reflector is dominated by wind.

[0057] Step S4: In response to the first comparison result satisfying the matching condition, obtain the reflection cross-sectional area change data of the reflected signal; It should be noted that after confirming that the movement of the reflective object is dominated by wind, it is also necessary to obtain data on the change in the reflective cross-sectional area to further distinguish whether the wind-dominated object is a soft, lightweight object or a solid obstacle with a certain degree of rigidity, thereby improving the accuracy of interference identification. The data on the change in the reflective cross-sectional area represents the amplitude of fluctuation in the projected area of ​​the reflective object within a unit sampling period.

[0058] like Figure 3 As shown in the embodiments of this application, in response to the first comparison result satisfying the matching condition, obtaining the reflection cross-sectional area change data of the reflected signal may further include the following steps: Step S41: Obtain the intensity fluctuation range and cross-sectional area data of the reflected signal received by the radar probe within a unit sampling period; Step S42: Obtain the change data of the reflection cross-sectional area of ​​the reflected signal based on the cross-sectional area data within the unit sampling time period; Step S43: Compare the change data of the reflective cross-sectional area with the first preset threshold condition; Step S44: Compare the intensity fluctuation range with the fluctuation period of the current wind speed value to achieve synchronization. Step S45: In response to the reflection cross-sectional area change data exceeding the first preset threshold condition, and the intensity fluctuation range exhibiting a jump state with the same frequency as the fluctuation period, generate reflection cross-sectional area change data that meets the conditions.

[0059] Specifically, the intensity fluctuation range and cross-sectional area data of the reflected signal received by the radar probe within a unit sampling period are obtained. The intensity of the reflected signal received by the radar can be represented by the logarithm of the echo power, obtained by reading the signal energy level value output by the radar receiver. The cross-sectional area data is calculated by back-calculating using known parameters such as the transmit power value, antenna gain value, electromagnetic wave wavelength value, and target distance value, combined with the received echo power value. The calculation process is as follows: multiply the echo power value by the fourth power of the distance value, then divide by the product of the square of the transmit power value, the square of the antenna gain value, and the square of the wavelength value, and finally multiply by a fixed constant factor to obtain the cross-sectional area value. Within a unit sampling period, the echo power and cross-sectional area values ​​of multiple sampling points are recorded, and the maximum and minimum values ​​are found and subtracted to obtain the intensity fluctuation range.

[0060] Based on the cross-sectional area data within a unit sampling period, the change data of the reflected cross-sectional area of ​​the reflected signal is obtained. The absolute value of the difference between the maximum and minimum cross-sectional areas within a unit sampling period is calculated. This absolute value of the difference reflects the degree of morphological change of the target object in a short period of time, and is used as the change data of the reflected cross-sectional area.

[0061] The data on the change in reflective cross-sectional area is compared with a first preset threshold condition. The comparison process involves subtracting the value corresponding to the first preset threshold condition from the data on the change in reflective cross-sectional area and determining whether the difference is greater than zero. It can be noted that the first preset threshold condition is used to distinguish between soft, lightweight objects and solid vehicles. In this application, the first preset threshold condition is obtained by comparing the cross-sectional area fluctuation amplitude of a plastic bag when it flips in the wind with the cross-sectional area fluctuation amplitude of a solid vehicle when it is stationary. Its preferred setting range is 0.2 square meters to 0.5 square meters. In the specific operation of this application, the maximum detection distance parameter of the current radar probe is obtained. If the detection distance is greater than 200 meters, the first preset threshold condition is set to 0.3 square meters; if the detection distance is less than or equal to 200 meters, the first preset threshold condition is set to 0.2 square meters.

[0062] Specifically, the intensity fluctuation range is compared with the fluctuation period of the current wind speed value to maintain synchronization. It is analyzed whether the extreme values ​​of the intensity fluctuation range correspond to the peak values ​​of the wind speed fluctuation period. If the time difference between the maximum value of the intensity fluctuation range and the maximum value of the wind speed is less than a preset tolerance, it indicates that the intensity fluctuation and the wind speed fluctuation are in sync.

[0063] Simultaneously, in response to the reflection cross-sectional area change data exceeding the first preset threshold condition, and the intensity fluctuation range exhibiting a jump state in sync with the fluctuation period, reflection cross-sectional area change data that meets the conditions is generated. When both of the above conditions are met simultaneously, it indicates that the reflective object not only shifts in position with the wind, but its reflection cross-sectional area also fluctuates drastically with the wind speed. This is precisely the physical characteristic of a soft plastic bag when it is flipped and folded in the wind, and reflection cross-sectional area change data that meets the conditions is generated accordingly.

[0064] For example, when the wind speed suddenly increases, the plastic bag is blown over, and its projected area facing the radar instantly changes from an unfolded state to a folded state, causing the reflective cross-section to drop sharply in a short period of time, by more than 0.3 square meters. At the same time, the echo intensity also shows a synchronous jump, based on which reflective cross-section change data that meets the conditions is generated, thereby distinguishing the plastic bag from the faulty vehicle with a fixed metal shell.

[0065] For example, if the reflective object is a disabled car parked on the shoulder, even if the wind is strong, the reflective cross-sectional area of ​​the disabled car hardly changes within the unit sampling period. The change data of the reflective cross-sectional area is close to zero and cannot exceed the first preset threshold condition. Therefore, no data that meets the condition will be generated, thus avoiding misjudging the physical vehicle as a light object.

[0066] Step S5: In response to the reflection cross-sectional area change data satisfying the first preset threshold condition, a first state identifier is generated; Understandably, when the change in reflective cross-sectional area meets the first preset threshold condition, it indicates that the reflective object detected by the radar exhibits characteristics of being wind-driven and having a drastically changing cross-sectional area. In this case, it can be determined that the reflective object is an environmentally wind-borne light object interference, rather than a real traffic obstacle. Specifically, a specific status register area is allocated in memory, and the first bit of this area is written with a high-level signal. This high-level signal is the first status identifier. The first status identifier is a stored data bit used to characterize the current reflective object as a light object interference. The generation of the first status identifier signifies a reversal of the judgment result regarding the current reflective object's nature, changing from the default obstacle state to a light object interference state. This identifier will serve as a direct trigger condition for subsequent control actions, ensuring that corresponding warning degradation operations can be performed based on this clear status signal.

[0067] In this embodiment, for example, when the calculated change in the reflective cross-sectional area within a short period of time reaches 0.4 square meters, exceeding the threshold condition of 0.3 square meters, the hexadecimal value 01 is immediately written into the status register as the first status identifier. The generation of this identifier triggers the subsequent control process for blocking congestion alarms, indicating that the congestion ahead has not been identified as genuine.

[0068] For example, if the detected change in cross-sectional area is only 0.1 square meters, which does not meet the threshold condition, the status register remains at 00, the first status identifier is not generated, and the reflected signal is processed according to the conventional obstacle logic, maintaining the original warning status unchanged.

[0069] Step S6: In response to the first state identifier, block the action path of sending the congestion display signal to the electronic warning sign, and generate a first control command to control the electronic warning sign to switch to the constant yellow light slow flashing state.

[0070] Understandably, after generating the first state indicator, the display state of the electronic warning sign must be changed immediately to avoid sending false congestion information to vehicles behind, thereby eliminating the risk of rear-end collisions. The first control command is a sequence of digital level signals used to control the electronic warning sign to turn on its yellow light and flash according to a preset cycle.

[0071] In some embodiments, in response to a first state identifier, blocking the action path of sending a congestion display signal to the electronic warning sign and generating a first control command to control the electronic warning sign to switch to a constantly lit yellow light with slow flashing, may further include the following steps: Step S61: Obtain the first state identifier; Step S62: In response to the first status indicator, disconnect the transmission channel for sending congestion display signals and high-frequency flashing signals to the electronic warning sign; Step S63: Generate a first control instruction, which is a control signal used to control the display device to switch display states; Step S64: Send the first control command to the electronic warning sign; Step S65: Control the electronic warning sign to switch from the congestion alarm state to the constant yellow light flashing state, completing the blocking of the action path and the switching of the display state.

[0072] Specifically, the process of obtaining the first status identifier is to read the level value of the corresponding address bit in the status register. When a high-level signal is read, it is confirmed that light object interference has been detected.

[0073] In response to the first state flag, the transmission channel for sending congestion display signals and high-frequency flashing signals to the electronic warning sign is cut off. At the hardware level, the enable pin of the control output port is pulled low, disabling the transmit driver connected to the electronic warning sign's communication interface, preventing the congestion display signals and high-frequency flashing signals from entering the transmission link. At the software level, the queue to be sent is traversed, congestion alarm data packets are searched, and the found data packets are directly deleted from the queue, thus achieving a dual physical and logical disconnection of the transmission channel.

[0074] A first control instruction is generated, which is a control signal used to control the display device to switch display states. This instruction consists of a frame header, device address, control code, and checksum. The frame header is a fixed sequence of bytes used to identify the start of the instruction; the device address is the unique number of the target warning sign; the control code defines parameters for a constant yellow light and a slow flashing mode, for example, setting the flashing period to 1 second and the duty cycle to 50%. The checksum is the lower eight bits of the sum of all preceding bytes.

[0075] Specifically, the first control command is sent to the electronic warning sign. By activating another independent high-speed serial communication interface, the encapsulated first control command data frame is sequentially sent to the control unit of the electronic warning sign in the form of a level signal.

[0076] In this application, the electronic warning sign is controlled to switch from a congestion alarm state to a constantly lit, slowly flashing yellow light state, completing the blocking of the action path and the switching of the display state. The microcontroller of the electronic warning sign parses the received instruction data frame and extracts the control code. According to the control code, the power supply circuit of the red high-frequency flashing light group is shut off, that is, the gate control signal of the positive power supply field-effect transistor of the red light group is disconnected. At the same time, the constant current power supply of the yellow light-emitting diode array is turned on, and a square wave signal with a period of 1 second is input to the gate of the switching transistor that controls the on and off of the yellow light group to realize the constantly lit, slowly flashing yellow light state.

[0077] For example, upon detecting interference from a plastic bag, the system immediately stops sending the high-frequency flashing red alarm signal and instead sends a control command to illuminate the warning sign with a slow, flashing yellow light. Drivers behind, seeing the slow flashing yellow light, understand that there is only a general area of ​​concern ahead, not an emergency traffic jam, and thus take normal deceleration actions instead of sudden braking, avoiding a rear-end collision.

[0078] For example, during the transmission channel disconnection process, even if the congestion alarm data packets from the previous cycle are still in the buffer queue, they will be directly deleted to ensure that the alarm signal is completely blocked and that no residual alarm signal is sent to the electronic warning sign.

[0079] In this embodiment of the application, sending the first control command to the electronic warning sign may further include the following steps: Step S641: Extract the center point position data from the position coordinate sequence; Step S642: Based on the center point location data and the first status identifier, generate a cleanup request that includes the location and type of interference. Step S643: Send the cleaning request to the highway maintenance terminal via the communication link; Step S644: Receive the reception confirmation signal returned by the highway maintenance terminal; Step S645: In response to the received confirmation signal, update the request sending status in the interference event log table; Step S646: After the request sending status is updated to received, maintain the sending status of the first control command.

[0080] Specifically, the center point location data is extracted from the location coordinate sequence. All coordinate points in the sequence are traversed, and the longitude values ​​of all points are summed and divided by the number of points to obtain the average longitude. Similarly, the latitude values ​​of all points are summed and divided by the number of points to obtain the average latitude. The coordinate point formed by the average longitude and average latitude is the center point location data.

[0081] Based on the center point location data and the first status identifier, a cleanup request containing the location and type of interference is generated. The longitude and latitude data of the center point are encoded according to a specific format, and the interference type code corresponding to the first status identifier is extracted, for example, 01 represents a plastic bag. The location data and type code are encapsulated into a cleanup request data packet, and a timestamp and device number information are appended.

[0082] The cleanup request is sent to the highway maintenance terminal via a communication link. The cleanup request data packet is modulated into a radio frequency signal and sent to the base station via a wireless communication module, and then forwarded to the server of the highway maintenance terminal via the core network.

[0083] Simultaneously, it receives a reception confirmation signal from the highway maintenance terminal. After parsing the cleanup request, the server generates a confirmation data packet containing a successful reception identifier and sends it back. The wireless communication module receives this radio frequency signal and demodulates it into a digital signal.

[0084] On the other hand, in response to the received confirmation signal, the request transmission status in the interference event record table is updated. The corresponding event record is located in the interference event record table in memory, and its request transmission status field is changed from "pending transmission" to "received," and the reception time included in the received confirmation signal is written into it. The interference event record table is a structured data list arranged in chronological order, containing fields such as timestamp, wind speed value, coordinate data, type code, and transmission status.

[0085] After the request to send is updated to "received," maintain the sending status of the first control command. Continuously send the first control command to the electronic warning sign at a preset cycle to ensure that the electronic warning sign remains in a slow yellow light flashing state until maintenance personnel arrive to clean it, preventing the false alarm state from resuming due to short-term communication interruption.

[0086] For example, if the center coordinates of the plastic bag are calculated to be 116 degrees east longitude and 40 degrees north latitude, a cleaning request containing these coordinates and the plastic bag type code is generated and sent to the maintenance station. Upon receiving the request, the maintenance station returns a confirmation signal, updates the log sheet, and continuously controls the warning sign to flash slowly until maintenance personnel manually deactivate the warning sign after cleaning.

[0087] In this embodiment, controlling the electronic warning sign to switch from a congestion alarm state to a constantly lit, slowly flashing yellow light state may further include the following steps: Step S651: After switching to the constant yellow light slow flashing state, generate the second control command; Step S652: In response to the second control command, after a first preset time period, reacquire the verification position coordinate sequence and verification cross-sectional area data of the radar probe in the detection area; Step S653: Compare the verification reflection cross-sectional area data with the reflection cross-sectional area change data; Step S654: In response to the disappearance of the verification position coordinate sequence and the verification reflection cross-sectional area data returning to zero, the environmental interference filtering state is released, and the normal obstacle determination logic of the radar probe is restored. Step S655: In response to the existence of the verification position coordinate sequence and the change in the verification reflection cross-sectional area data meeting the first preset threshold condition, maintain the constant yellow light slow flashing state of the electronic warning sign.

[0088] Specifically, after switching to the constant yellow light with slow flashing mode, a second control command is generated. The second control command is a trigger signal to start the internal timer, which clears the timer's count value to zero and begins incrementing the count.

[0089] In response to the second control command, the radar probe reacquires the verification position coordinate sequence and verification cross-sectional area data within the detection area after a first preset duration. It can be noted that the first preset duration is used to wait for changes in ambient wind speed or for the lightweight object to fall off on its own. In this application, the first preset duration is obtained based on the statistical value of the average time it takes for the lightweight object to remain suspended in the wind without being blown away, with a preferred setting range of 30 to 120 seconds. In the specific operation of this application, the current wind speed value is acquired. If the wind speed value is greater than 15 m / s, since strong winds can easily blow away the plastic bag, the first preset duration is set to 30 seconds. If the wind speed value is between 8 m / s and 15 m / s, the first preset duration is set to 60 seconds. When the timer count reaches the number of clock cycles corresponding to the first preset duration, the radar probe is triggered to perform a complete scan, acquiring a new verification position coordinate sequence and verification cross-sectional area data.

[0090] The data on the cross-sectional area of ​​the reflection is compared with the data on the change in the cross-sectional area of ​​the reflection. The change in the currently acquired data on the cross-sectional area of ​​the reflection is calculated, and the difference is calculated with the previously recorded data on the change in the cross-sectional area of ​​the reflection to determine whether the change in the cross-sectional area of ​​the reflection still exists and whether the magnitude is similar.

[0091] Specifically, in response to the disappearance of the verification location coordinate sequence and the verification reflective cross-sectional area data returning to zero, the environmental interference filtering state is lifted, and the radar probe's normal obstacle detection logic is restored. When the radar scan does not detect any reflective objects, it indicates that the plastic bag has been blown away or fallen by the wind. At this time, the wind force status indicator and the first status indicator are cleared, the congestion display signal transmission channel is reopened, and the processing flow returns to normal working mode.

[0092] In this application, in response to the existence of the verification location coordinate sequence and the change in the verification reflection cross-sectional area data meeting the first preset threshold condition, the electronic warning sign maintains a constant yellow light flashing slowly. If the reflective object is detected still swaying in its original position and the cross-sectional area is still changing drastically, it indicates that the plastic bag has not fallen off, and the congestion alarm remains unchanged.

[0093] In some embodiments, for example, after 60 seconds, a second scan reveals no reflected signal on the tree branch, the cross-sectional area of ​​the reflected light is zero, the interference filtering is deactivated, and the electronic warning sign returns to normal. If, after 60 seconds, a scan shows the plastic bag is still moving, the verification data meets the threshold condition, and the slow flashing yellow light continues to ensure no false alarms are generated.

[0094] Furthermore, for example, if the wind suddenly decreases after 60 seconds and the plastic bag remains stationary on the tree branch, although the verification position coordinate sequence exists, the change in the verification reflection cross-sectional area data is close to zero, which does not meet the first preset threshold condition. At this time, the properties of the object will be reassessed to avoid continuously misjudging the stationary object as dynamic interference.

[0095] In response to the existence of the verification location coordinate sequence and the change in the verification reflection cross-sectional area data meeting the first preset threshold condition, this application may further include the following steps to maintain the constant yellow light slow flashing state of the electronic warning sign: Step S6551: Write the current wind speed value, first trajectory data, lateral displacement component, reflection cross-sectional area change data, first status identifier, first control command, and verification position coordinate sequence into the interference event record table; Step S6552: Generate a second state identifier based on the interference event record table; Step S6553: In response to the existence of the verification position coordinate sequence, according to the second state identifier, enable the radar probe to determine the threshold adjustment state of reflective objects within a specific coordinate range in the detection area; Step S6554: Degrade the reflected signal within a specific coordinate range to maintain the constant yellow light of the electronic warning sign in a slow flashing state.

[0096] Specifically, the current wind speed value, first trajectory data, lateral displacement component, reflection cross-sectional area change data, first status identifier, first control command, and verification position coordinate sequence are sequentially written into the interference event record table in the non-volatile memory according to the preset field length and offset address, forming a complete interference event evidence chain record.

[0097] Based on the interference event log table, a second status flag is generated. The verification result field in the interference event log table is read. If the result indicates that the interference persists, the second status flag is set in the status register. This flag indicates that persistent environmental interference exists, requiring special handling of the area. The second status flag is a high-level register bit signal used to characterize the presence of persistent interference and trigger threshold adjustment.

[0098] In response to the existence of the verification position coordinate sequence, the radar probe is enabled to adjust the threshold for determining reflective objects within a specific coordinate range in the detection area, based on the second state identifier. The center point coordinates of the verification position coordinate sequence are extracted, and a specific coordinate range is defined with this center point as the center and a preset distance as the radius. When the scanning beam of the radar probe falls within this specific coordinate range, the threshold adjustment enable signal is triggered. The preset distance is obtained based on statistical values ​​of the radar beamwidth and the swaying range of the floating object, with a preferred setting range of 2 to 5 meters. In the specific operation of this application, the current wind speed value is obtained. If the wind speed value is greater than 15 m / s, the preset distance is set to 5 meters; if the wind speed value is between 8 m / s and 15 m / s, the preset distance is set to 3 meters.

[0099] Specifically, reflected signals within a specific coordinate range are downgraded to maintain the electronic warning sign's constantly lit yellow light with slow flashing. Under the threshold adjustment enable signal, the obstacle detection threshold within this specific coordinate range is increased to more than double its original value. This prevents reflected signals from plastic bags within this range from reaching the alarm threshold, thus directly discarding the signal at the data processing level or marking it as a non-obstacle category. This ensures that no false alarms are generated by the plastic bag before manual removal, continuously maintaining the current warning status.

[0100] In this embodiment, for example, if a plastic bag is detected continuously hanging on a tree branch next to the radar, the area within a 5-meter radius of the tree branch is designated as a threshold adjustment zone, and the alarm threshold is increased. This way, even if the radar continuously scans the plastic bag, it will not trigger a congestion alarm, and the electronic warning sign will continue to flash yellow slowly until maintenance personnel remove the trash and manually reset it.

[0101] In some embodiments, the specific implementation of downgrading the reflected signal within a specific coordinate range can be as follows: A1: Receive the raw reflection signal data frame generated by the radar probe during the current scanning cycle, extract the distance and angle values ​​corresponding to each reflection point in the data frame, and proceed to step A2.

[0102] A2. Convert the distance and angle values ​​into the current x-coordinate and y-coordinate in a rectangular coordinate system. That is, multiply the distance value by the sine of the angle value to get the current x-coordinate, and multiply the distance value by the cosine of the angle value to get the current y-coordinate. Proceed to step A3.

[0103] A3. Read the x-coordinate and y-coordinate of the center point corresponding to the specific coordinate range, as well as the preset radius threshold. Calculate the absolute value of the difference between the current x-coordinate and the center point x-coordinate, and the absolute value of the difference between the current y-coordinate and the center point y-coordinate. Proceed to step A4.

[0104] A4. Determine whether the absolute value of the difference in the horizontal coordinate is less than or equal to the radius threshold, and whether the absolute value of the difference in the vertical coordinate is less than or equal to the radius threshold. If yes, it means that the reflection point falls within the specific coordinate range, and proceed to step A5. If no, it means that the reflection point is outside the specific coordinate range, and proceed to step A6.

[0105] A5. Multiply the reflected signal intensity value corresponding to the reflection point by a preset attenuation coefficient to obtain the downgraded reflection intensity value. Compare the downgraded reflection intensity value with the adjusted obstacle determination threshold. If the downgraded reflection intensity value is less than the adjusted obstacle determination threshold, the reflection point is directly removed from the obstacle candidate list of the current scanning cycle without any further processing. If the downgraded reflection intensity value is still greater than the adjusted obstacle determination threshold, the reflection point is retained and marked as a low-confidence target, and the process proceeds to step A6.

[0106] A6. Retain the original data of the reflection point without processing it, add it to the normal obstacle judgment process, and end the processing of the current reflection point. The preset attenuation coefficient is obtained by statistically analyzing the average ratio of the reflective cross-sectional area of ​​the lightweight object to that of the solid vehicle, with a preferred setting range of 0.1 to 0.3. In the specific operation of this application, the wind speed value of the current environment is obtained. If the wind speed value is greater than 15 m / s, due to the drastic deformation of the lightweight object and the decrease in its reflective cross-sectional area, the preset attenuation coefficient is set to 0.1. If the wind speed value is between 8 m / s and 15 m / s, the preset attenuation coefficient is set to 0.2.

[0107] For example, through the nested process described above, each time the radar scans a plastic bag on a tree branch, it compares its coordinates with a specific coordinate range. Once the comparison is successful, its signal strength is significantly attenuated, preventing it from exceeding the increased alarm threshold and directly removing it from the obstacle list, thus achieving precise downgrading and shielding of this stubborn interference source.

[0108] For example, if a disabled vehicle happens to be parked within the specific coordinate range, because the vehicle's reflective cross-sectional area is much larger than that of the plastic bag, even after attenuation coefficient processing, its reflective intensity value can still exceed the adjusted obstacle detection threshold. Therefore, it is retained and marked as a low-confidence target, and the existence of a real obstacle can still be identified, avoiding the risk of missing real accidents due to downgrade processing.

[0109] See Figure 4 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. The electronic device 40 includes: a processor 41, a memory 42, and a computer program; wherein, The memory 42 is used to store computer programs, and the memory may also be flash memory. Computer programs may be, for example, application programs or functional modules that implement the methods described above.

[0110] The processor 41 is used to execute the computer program stored in the memory to implement the various steps performed by the device in the above method. For details, please refer to the relevant descriptions in the preceding method embodiments.

[0111] Alternatively, the memory 42 can be either standalone or integrated with the processor 41.

[0112] When the memory 42 is a device independent of the processor 41, the device may also include: Bus 43 is used to connect memory 42 and processor 41.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling traffic safety signs, characterized in that, include: Obtain the current wind speed value and the position coordinate sequence of the reflector; The current wind speed value is timestamped and the location coordinate sequence to generate the first trajectory data; Based on the first trajectory data, the lateral displacement component perpendicular to the road direction is extracted, and the change period of the lateral displacement component is compared with the fluctuation period of the current wind speed value to obtain the first comparison result. In response to the first comparison result satisfying the matching condition, the change data of the reflection cross-sectional area of ​​the reflected signal is obtained; In response to the reflection cross-sectional area change data satisfying a first preset threshold condition, a first state identifier is generated; In response to the first status indicator, the action path for sending a congestion display signal to the electronic warning sign is blocked, and a first control command is generated to control the electronic warning sign to switch to a constant yellow light with slow flashing.

2. The method according to claim 1, characterized in that: The process of obtaining the current wind speed value and the position coordinate sequence of the reflector includes: Acquire the current wind speed value and wind direction data sent by the local wind speed sensor; Obtain the sequence of position coordinates of the reflector generated by the radar probe scanning within the detection area; The current wind speed value is compared with the second preset threshold condition; In response to the current wind speed value exceeding the second preset threshold condition, a wind force action status identifier is generated; Based on the sampling timestamp of the radar probe, the current wind speed value, the wind direction data, and the position coordinate sequence are timestamped to generate the position coordinate sequence with a wind force status identifier as the first trajectory data.

3. The method according to claim 2, characterized in that: The acquisition of the position coordinate sequence of the reflector generated by the radar probe scanning within the detection area includes: Acquire background reflection waveform data of tree branches in the corresponding wind speed range when there are no light objects hanging from them; Obtain the current radar reflection waveform collected by the radar probe at the current moment; The current radar reflection waveform is compared with the background reflection waveform to obtain the waveform phase difference and amplitude difference; Based on the waveform phase difference and the amplitude difference, the background coordinate data belonging to the background tree extension area are removed from the current radar reflection waveform; Isolated reflected signals that meet a third preset threshold condition are retained, and the position coordinate sequence of the reflector is generated based on the spatial distribution of the retained reflected signals within the detection area.

4. The traffic safety sign control method according to claim 1, characterized in that: Based on the first trajectory data, the lateral displacement component perpendicular to the road direction is extracted, and the variation period of the lateral displacement component is compared with the fluctuation period of the current wind speed value to obtain a first comparison result, including: The angle between the wind direction and the road direction is determined based on the wind direction data in the first trajectory data; Based on the included angle, the lateral displacement component perpendicular to the road direction is extracted from the position coordinate sequence; Based on the sampling timestamps of the position coordinate sequence, the variation period of the lateral displacement component over time is obtained; Obtain the fluctuation period of the current wind speed value over time; The peak and trough times of the lateral displacement component are compared with the pulse peak times of the current wind speed value. In response to the matching of the peak time and the trough time with the pulse peak time, a matching result is generated as the first comparison result, thus completing the comparison of the change period and the fluctuation period.

5. The traffic safety sign control method according to claim 1, characterized in that: The step of obtaining the reflection cross-sectional area change data of the reflected signal in response to the first comparison result satisfying the matching condition includes: The intensity fluctuation range and cross-sectional area data of the reflected signal received by the radar probe within a unit sampling period are obtained; Based on the cross-sectional area data within the unit sampling period, obtain the change data of the reflected cross-sectional area of ​​the reflected signal; The change data of the reflective cross-sectional area is compared with the first preset threshold condition; The intensity fluctuation range is compared with the fluctuation period of the current wind speed value in a synchronized state. In response to the change in the reflective cross-sectional area exceeding the first preset threshold condition, and the intensity fluctuation range exhibiting a jump state with the same frequency as the fluctuation period, the change in the reflective cross-sectional area that meets the condition is generated.

6. The traffic safety sign control method according to claim 1, characterized in that: The action path of blocking the transmission of congestion display signal to the electronic warning sign in response to the first status identifier, and generating a first control command to control the electronic warning sign to switch to a constant yellow light flashing state, includes: Obtain the first status identifier; In response to the first status indicator, the transmission channel for sending the congestion display signal and the high-frequency flashing signal to the electronic warning sign is cut off; Generate the first control instruction, which is a control signal used to control the display device to switch display states; Send the first control command to the electronic warning sign; The electronic warning sign is controlled to switch from a congestion alarm state to a constant yellow light flashing slowly, thus completing the blocking of the action path and the switching of the display state.

7. The traffic safety sign control method according to claim 6, characterized in that: The control of the electronic warning sign from congestion alarm state to constant yellow light flashing state includes: After switching to the constant yellow light with slow flashing mode, a second control command is generated; In response to the second control command, after a first preset time period, the radar probe's verification position coordinate sequence and verification cross-sectional area data within the detection area are reacquired. Compare the verified cross-sectional area data with the cross-sectional area change data; In response to the disappearance of the verification position coordinate sequence and the return of the verification cross-sectional area data to zero, the environmental interference filtering state is released and the normal obstacle determination logic of the radar probe is restored. In response to the existence of the verification location coordinate sequence and the change in the verification reflective cross-sectional area data satisfying the first preset threshold condition, the electronic warning sign is maintained in a constant yellow light flashing state.

8. The traffic safety sign control method according to claim 7, characterized in that: The step of maintaining the constant yellow light slow flashing state of the electronic warning sign in response to the existence of the verification position coordinate sequence and the change in the verification reflective cross-sectional area data satisfying the first preset threshold condition includes: Write the current wind speed value, the first trajectory data, the lateral displacement component, the reflection cross-sectional area change data, the first status identifier, the first control command, and the verification position coordinate sequence into the interference event record table; Based on the interference event record table, a second state identifier is generated; In response to the existence of the verification position coordinate sequence, the radar probe is enabled to adjust the threshold for determining reflective objects within a specific coordinate range in the detection area according to the second state identifier; The reflected signals within the specified coordinate range are downgraded to maintain the constant yellow light of the electronic warning sign in a slow flashing state.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the traffic safety sign control method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the traffic safety sign control method according to any one of claims 1 to 8.

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