Warning device

Abstract

Commercially available traffic warning devices still have room for improvement in terms of detection accuracy, functionality, structural design, and smart features. [Solution] The present invention provides a warning device that combines a radar module and electronic control technology. The warning device detects the speed and distance of surrounding objects and provides dynamic warnings (flashing or beeping). The radar module is housed in an electronic components box and is positioned at a certain distance from the ground to avoid interference from reflected waves from the ground and reduce noise in the data point cloud information. The controller extracts the position and relative speed of the target object from the data point cloud information, selects approaching moving points, determines the relative distance and direction of the target object based on the moving points, and adjusts the flashing frequency of the warning light or activates the buzzer based on the degree of approach of the target object.

Description

Technical Field

[0001] The present invention relates to the technical field of using radar technology to detect potential driving risks, and particularly to a warning device for detecting and analyzing objects that may collide during driving or when stationary.

Background Art

[0002] As a conventional traffic safety equipment, a triangular warning sign is used to alert the following vehicles when a vehicle breaks down or stops temporarily. However, the conventional triangular warning sign uses a light-reflecting material or a general warning light, and its effectiveness is significantly reduced at night or under severe weather conditions (such as fog, rain, snow, etc.). Such a design that depends on the reflection of external light sources cannot provide sufficient visual warnings when the ambient light is insufficient, thus unable to alert the following vehicles and increasing the risk of accidents.

[0003] In recent years, warning devices using sound, light, and sensors have been commercially available. For example, some products detect vehicles using ultrasonic waves or infrared rays and give warnings with sound and light. However, the above technologies have the following problems. First, regarding detection accuracy, in the case of long-distance detection, ultrasonic waves and infrared rays are easily affected by the environment such as fog or obstacles, resulting in low detection accuracy and inability to accurately judge the speed and distance of vehicles. Also, the warning mode of conventional devices is simple, and the frequency and brightness of warning lights cannot be automatically adjusted based on the speed, distance, and direction of vehicles, so the effect in dangerous scenes such as highways is limited.

[0004] Moreover, the structural design of conventional warning devices lacks portability. Most triangular warning signs adopt a high-rigidity structure and occupy a large space. Therefore, in daily use, storage or carrying becomes inconvenient. Such a design cannot adapt to the compact design of modern vehicles and becomes a problem particularly in scenes where rapid deployment is required.

[0005] Furthermore, conventional devices have shortcomings in terms of functionality. For example, most conventional warning systems only have basic voice warning functions and lack risk assessment functions, such as vehicle path prediction or rear-end collision risk assessment functions. In addition, conventional devices cannot connect to vehicle communication systems and cannot implement advanced technologies such as V2X (Vehicle-to-Everything) to improve the range and effectiveness of warnings.

[0006] In summary, commercially available traffic warning devices still have room for improvement in terms of detection accuracy, functionality, structural design, and smart features. This invention was made to address these issues. [Overview of the project] [Problems that the invention aims to solve]

[0007] The object of the present invention is to provide a warning device that combines a radar module and electronic control technology. The warning device improves traffic safety by accurately detecting the relative speed and position of a target object and activating a warning light or adjusting the flashing frequency based on the detection results. The radar module is positioned at a certain distance from the ground to avoid interference. The processing module selects approaching moving points from data point cloud information and calculates the distance and position of the target object. When a target object is approaching, the warning light is activated or the flashing frequency is increased. [Means for solving the problem]

[0008] The warning device of the present invention comprises a ramp board, a support frame, an electronic components box, a radar module, and a controller. The ramp board is used to provide at least one warning light. The support frame is provided on the bottom surface of the ramp board. The electronic components box is provided on the support frame. The radar module is provided in the electronic components box and detects at least one target object in the surroundings to generate data point cloud information and is located at a certain distance from the ground. The controller includes a processing module and is electrically connected to the radar module and the warning light. The aforementioned processing module is The process involves extracting the frequency deviation of each data point in the aforementioned data point cloud information, calculating the relative velocity and direction of each data point based on the Doppler effect, and generating Doppler information. A step of excluding the data points outside the detection distance based on a distance threshold, A step of excluding stationary points and moving points at the data point based on the Doppler information, and retaining only moving points that are approaching; A step of calculating the relative distance and position of at least one corresponding target object based on the held moving point, When at least one of the aforementioned target objects approaches, the steps include turning on the warning light or increasing the frequency of its flashing, Execute this.

[0009] The support frame comprises a frame portion and a plurality of legs. The frame portion is connected to the ramp board via at least one first connection point. Each of the plurality of legs is connected to the bottom surface of the frame portion via at least one second connection point.

[0010] The frame portion is folded over the ramp board via the at least one connection point. The plurality of legs rotate over the bottom surface of the frame portion via the at least one second connection point.

[0011] The ramp board consists of three boards. Each board is connected to the others via a hinge mechanism or a rotating shaft and has a locking device. When the ramp board is deployed, the three boards engage with each other to form a triangular structure.

[0012] When storing the lamp board, the three boards are folded along the hinge mechanism or the rotation axis to become flat.

[0013] The warning device further includes a buzzer, which emits a warning sound through acoustic holes on the surface of the electronic component box, is electrically connected to the controller, and is controlled by the controller.

[0014] The processing unit performs the following warning levels based on the distance and position of the at least one target object. If the distance to at least one of the aforementioned targets is less than a first specified value, an initial warning is issued and an initial warning command is generated. The initial warning command causes at least one warning light to flash at a low frequency. If the distance to at least one of the aforementioned targets is less than a second specified value, an enhanced warning is issued and an enhanced warning command is generated. The enhanced warning command causes at least one warning light to flash at a high frequency and sounds an abnormal warning sound with the buzzer.

[0015] The aforementioned processing unit is The process further involves adjusting the flashing frequency of the at least one warning light and the volume of the warning sound of the buzzer based on the current relative velocity of the at least one target object.

[0016] The aforementioned processing unit is A step of calculating the reflection area of ​​the at least one moving point corresponding to the held target object, A step of selecting the target object whose reflective area exceeds a specific value as a vehicle that may rear-end it, A process of continuously collecting the movement parameters of the vehicle, including its position, speed, direction, and path, Further execution.

[0017] The controller further includes a prediction unit. The prediction unit is A step of collecting the movement parameters of the vehicle, A step of generating a predicted trajectory of the vehicle using the aforementioned movement parameters and the latest data point cloud information, If it is determined that the predicted trajectory of the vehicle overlaps with the position of the warning device, the process of immediately generating the enhanced warning command, Execute this.

[0018] The prediction unit collects the positions of other target objects around the vehicle; when it is determined that the predicted trajectory of the vehicle avoiding the other target objects overlaps with the position of the warning device, immediately generates the enhanced warning command; and further executes the following.

[0019] The warning device further has a communication unit. When the enhanced warning command is generated, the communication unit generates collision warning information and transmits it to at least one nearby communication device.

Advantages of the Invention

[0020] Compared with the prior art, the present invention has the following effects.

[0021] (1) Accurate environmental detection and immediate response ability The warning device of the present invention combines a millimeter-wave radar module and a controller to accurately detect the distance and speed information of a target object (for example, a vehicle coming from behind), and further eliminates and analyzes the data point cloud information by a processing unit to identify and specify a dynamic target object that may cause a collision. By generating visual and auditory warnings based on an automatic risk assessment and warning level, it alerts the driver behind and reduces the risk of traffic accidents.

[0022] (2) Improving safety through multi-level dynamic warnings The warning device adopts a dynamically adjustable warning method, controls the blinking frequency of the warning light and the volume of the buzzer based on the changes in the distance and speed of the target object, and issues warning signals at different levels according to the distance. Especially in high-risk situations (for example, when a vehicle behind is traveling at high speed or changing lanes), by issuing an enhanced warning signal, the driver can quickly perceive the changes in the surrounding environment and significantly improve the warning effect.

[0023] (3) Smart data processing and target object prediction function The warning device utilizes the processing unit's moving point selection and target identification functions, and further employs the prediction unit's path analysis technology to accurately track the target's movement parameters and predict its trajectory, thereby enabling the tracking of high-risk targets. This not only allows for early warning of high-risk targets but also avoids detection dead time caused by frequent calculation of data point cloud information.

[0024] (4) Modular design improves the adaptability and convenience of the device. The warning device adopts a modular design, featuring a foldable support frame and a portable electronic component box, allowing for quick deployment and storage. Therefore, it can adapt to various traffic environments. Integrating the radar module, controller, and battery module within the electronic component box improves the device's overall functionality, simplifying installation and operation, and enhancing its practicality in emergency situations.

[0025] (5) Smart connectivity and expanded warning range function This invention transmits a collision warning signal via a communication unit to the driver's communication device (e.g., smartphone) or the communication device of a surrounding vehicle (e.g., in-vehicle system or smartphone), further expanding the warning range and attracting the attention of drivers of approaching vehicles. The communication technology that transmits directly to the communication device of a surrounding vehicle is based on V2X (Vehicle-to-Everything) design, improving the smartness of the device and enabling it to cope with future smart transportation systems. [Brief explanation of the drawing]

[0026] [Figure 1] This is a schematic diagram of a warning device according to an embodiment of the present invention. [Figure 2] This is a schematic diagram of the first housing of a warning device according to an embodiment of the present invention. [Figure 3] This is a schematic diagram of the second housing of the warning device according to an embodiment of the present invention. [Figure 4] This is a schematic diagram of the interior of an electronic component box according to an embodiment of the present invention. [Figure 5]This is a first block schematic diagram illustrating the operation of each electronic component in the embodiment of the present invention. [Figure 6] This is a second block schematic diagram illustrating the operation of each electronic component in the embodiment of the present invention. [Figure 7] This is the first schematic diagram showing the installation location of the radar module in the warning device. [Figure 8] This is a second schematic diagram showing the installation location of the radar module in the warning system. [Figure 9] This is point cloud data generated when the radar module in the warning device is installed close to the ground. [Figure 10] This is point cloud data generated when the radar module in the warning device is installed 50 cm above the ground. [Figure 11] This is a flowchart of the warnings for an embodiment of the present invention. [Modes for carrying out the invention]

[0027] The object, features, and effects of the present invention will be described below with reference to examples and drawings.

[0028] In the drawings and specification, the same reference numeral indicates the same or similar component. In the drawings, the shape and thickness may be enlarged for simplification or ease of representation. It should be noted that components not disclosed in the drawings or described in the specification are obvious to those skilled in the art. Those skilled in the art can make various modifications and improvements based on the content of the present invention.

[0029] The explanation will be given with reference to Figure 1. Figure 1 is a schematic diagram of a warning device according to an embodiment of the present invention.

[0030] In one embodiment, the warning device 100 includes a lamp board 110, a support frame 120, and an electronic components box 130. The lamp board 110 is located in the upper half of the device, is triangular or of any shape, and is used to provide a warning light 112 that can emit a highly visible warning. The support frame 120 is located on the bottom surface of the lamp board 110 and is used to stably support the lamp board 110. The electronic components box 130 is located on the support frame 120 and contains a radar module 140 and a controller 150 inside.

[0031] In this embodiment, the lamp board 110 is provided with at least one warning light 112 on its surface as the main visual warning structure, and may have a light-reflective surface to accommodate various lighting conditions or when the warning light 112 does not illuminate properly. The electronic component box 130 is located on top of the support frame 120 and has a radar module 140 inside. The radar module 140 can perform 360-degree detection, but in this embodiment, since the focus is on detection in a specific direction (e.g., detection of a vehicle behind), it is positioned close to the cover body 131 (i.e., the cover body 131 faces the vehicle behind) so that the radar waves are not obstructed by other electronic components. The electronic component box 130 is also provided on the support frame 120 so that the emitted radar signal (e.g., millimeter waves) is at an appropriate distance from the ground, reducing radar wave reflection and improving detection accuracy.

[0032] The explanation will be given with reference to Figures 1 to 3. Figure 2 is a schematic diagram of the first housing of the warning device according to an embodiment of the present invention. Figure 3 is a schematic diagram of the second housing of the warning device according to an embodiment of the present invention.

[0033] In one embodiment, the support frame 120 has a frame portion 121 and a plurality of legs 122. The frame portion 121 and the ramp board 110 are connected via at least one first connection point. The plurality of legs 122 are fixed to the bottom surface of the frame portion 121 via at least one second connection point. As shown in Figure 1, in the deployed state, the ramp board 110 is stably supported by the frame portion 121 and the legs 122, and the ramp board 110 can be stably placed on the ground to have an optimal viewing angle. As shown in Figures 2-3, in the stored state, the occupied space can be reduced by folding the frame portion 121 so that it overlaps the ramp board 110 and rotating the legs 122 to the bottom surface of the frame portion 121.

[0034] In this embodiment, the support frame 120 may be a multi-section telescopic structure that allows the height of the device to be adjusted, thereby accommodating a variety of applications. The frame 121 is made of a lightweight and durable aluminum alloy or carbon fiber. The legs 122 may use rubber caps to enhance friction and stability.

[0035] In one embodiment, the ramp board 110 is composed of three boards. Each board is connected to the others via a hinge mechanism or a pivot axis and has a locking device at its end for securing it after deployment. When the ramp board 110 is deployed, the three boards engage to form a stable triangular structure, providing 360-degree visibility.

[0036] In storage, the three boards fold flat along a hinge mechanism or rotation axis for easy storage. The ramp board 110 is made of high-strength plastic or metal plate, and its surface may be coated with light-reflective material or a waterproof coating for all-weather use. The locking mechanism may be replaced with a magnetic fastening device to improve operability.

[0037] The explanation will be given with reference to Figure 4. Figure 4 is a schematic diagram of the interior of an electronic component box according to an embodiment of the present invention.

[0038] In one embodiment, as shown in Figure 4, the battery module 160 of this embodiment is located inside the electronic components box 130, adjacent to the box body 132 (i.e., located away from the cover body 131 so as not to interfere with the transmission and reception of radar signals of the radar module 140), and stably supplies power to the radar module 140 and the controller 150. The battery module 160 may use a rechargeable lithium battery or be combined with a solar panel to extend the battery life.

[0039] In this embodiment, a replaceable battery structure may be used so that the battery can be replaced after long-term use in a specific application. Alternatively, the battery module 160 may have a battery level monitoring unit that displays the remaining battery level on the controller 150, or issue a low battery notification prompting the user to charge or replace the battery when the battery level is low.

[0040] The explanation will be given with reference to Figures 4 and 5. Figure 5 is a schematic diagram of the first block of the operation of each electronic component in the embodiment of the present invention.

[0041] In one embodiment, as shown in Figures 4-5, the warning light 112 is fitted into the lamp board 110 or provided on the surface of the lamp board 110, and its flashing mode is controlled by the controller 150. The warning light 112 uses a high-brightness LED and can emit different warnings depending on the situation by using multi-colored light. For example, for a long-range initial warning, a low-frequency red flashing is used, and for a close-range intensified warning, a high-frequency orange or white flashing is used. The buzzer 170 is provided inside the electronic component box 130 and emits a warning sound through an acoustic hole 1321 in the box body 132, and its volume and frequency can be automatically adjusted according to the warning intensity. For example, a low-frequency continuous sound is emitted at a distance, and a high-frequency intermittent sound is emitted at a close distance. To improve the effect, a directional buzzer 170 may be provided to concentrate the sound in a specific direction.

[0042] The explanation will be given with reference to Figures 6 to 10. Figure 6 is a schematic diagram of the second block of the operation of each electronic component in an embodiment of the present invention. Figure 7 is a schematic diagram of the first installation position of the radar module in the warning device. Figure 8 is a schematic diagram of the second installation position of the radar module in the warning device. Figure 9 is data point cloud information generated when the radar module in the warning device is installed close to the ground. Figure 10 is data point cloud information generated when the radar module in the warning device is installed 50 cm away from the ground.

[0043] In one embodiment, as shown in Figure 6, the warning device 100 can achieve high-precision detection of the surrounding environment and dynamic warning by combining the hardware functions of the radar module 140 and the software functions of the processing unit 151. The processing unit 151 is an embedded microprocessor or digital signal processor (DSP) and has the capability to process point cloud information in real time. The processing steps combining the hardware and software functions will be described below.

[0044] (1) Receiving and processing data point cloud information

[0045] First, the radar module 140 is installed inside the electronic components box 130, and is positioned at a certain distance from the ground to avoid interference from reflected waves from the ground and improve the detection stability of the millimeter-wave radar.

[0046] As shown in Figure 7, if the radar module 240 of the warning device 200 is too close to the ground, many radar waves propagating will be reflected by the ground. When these reflected waves reach the receiving module, the received data will contain information about many non-target objects, significantly reducing radar detection accuracy, especially on highways. Specifically, if the installation height of the radar module 240 is less than 50 cm, the radar waves will be affected by the reflective properties of the ground. For example, in environments such as wet asphalt roads or highly reflective metallic ground, multiple reflections of the reflected waves can generate false moving points, increasing the computational load on the processing unit 151 and potentially lengthening the target selection time. In contrast, as shown in Figure 8, the radar module 140 of the warning device 100 is installed at a certain distance from the ground. By installing the millimeter-wave radar (operating frequency 24 GHz to 77 GHz) at least 50 cm from the ground, the contact area between the radar waves and the ground decreases depending on the angle, significantly reducing reflected waves. By positioning the radar module 140 at a higher location, the radar wave detection range is widened, significantly improving data accuracy and computational efficiency, especially when identifying distant targets.

[0047] The processing unit 151 then receives the data point cloud information generated by the radar module 140. The data point cloud information includes the positions, distances, and reflected wave intensities of multiple objects in the surrounding environment. To accurately analyze the motion characteristics of each data point, the processing unit 151 performs the following: The process involves extracting the frequency shift of data points, calculating the relative velocity and direction of each data point based on the Doppler effect, and converting the frequency shift information into a velocity vector. A process for generating a set of Doppler information that can clearly distinguish the direction of movement of an object (approaching or moving away), Perform.

[0048] The support frame 120 improves stability, allowing the radar module 140 to operate stably on most ground surfaces, thus enabling the acquisition of accurate data point cloud information through the above process.

[0049] The "frequency shift" described above is a characteristic of the signal generated by the Doppler effect of the radar module 140 and is used to analyze the motion state of a target object relative to the radar. When the radar module 140 emits radio waves, the frequency of the reflected radio waves changes according to the velocity and direction of the target object when the radio waves are reflected by a moving target object and return to the radar module 140. This change is called frequency shift. In this embodiment, the data point cloud information generated by the radar module 140 includes not only the spatial coordinates of each point (e.g., distance and direction) but also the frequency shift information of each point. The frequency shift reflects the relative velocity of the target object and is extracted from the radar reflected wave using a signal processing method such as the Fast Fourier Transform (FFT). In this embodiment, the extracted frequency shift values ​​are used to calculate the relative velocity and direction of each target object using the Doppler effect equation. The relative velocity information is used to distinguish between moving points and stationary points, excluding moving points that are moving away and retaining only moving points that are moving towards the target. For example, if the radar module 140 detects that the frequency deviation of a certain point is negative, it indicates that the point is approaching the radar system. Conversely, if the frequency deviation is positive, it indicates that the point is moving away from the radar system. This information includes the distance and bearing of the target, enabling accurate tracking and group analysis of the target.

[0050] (2) Selection of moving points and extraction of targets

[0051] Based on the received data point cloud information, the processing unit 151 selects significant data as follows: Selection involves excluding data points outside the detection distance range and retaining only those data points within a specific range. Depending on the environment, the distance threshold may be set to automatically exclude data points that are 100m away, for example. By filtering the data points, stationary points and moving points are eliminated, and only data points with negative velocity values, i.e., data of objects approaching the device, are retained.

[0052] One method for eliminating unnecessary data points is to use the target object's coordinates (e.g., x, y) and its Doppler information to remove unwanted data points. The specific method and examples are described below.

[0053] Signal selection based on distance and Doppler information includes coordinate detection and Doppler information determination. Coordinate detection involves scanning an unknown target using millimeter-wave radar to obtain the (x, y) coordinates of the target (i.e., its planar position within the radar detection range). Doppler information determination involves obtaining velocity information of the target relative to the radar through the Doppler effect. for example, Positive value: Indicates that the target is moving away. Negative value: Indicates that the target object is approaching. A value of zero indicates that the target object is relatively stationary.

[0054] Based on coordinate detection and Doppler information analysis, moving targets or stationary targets are excluded, and only approaching targets that could affect the warning function are retained.

[0055] As shown in Table 1, assume that the millimeter-wave radar detects several data points. Table 1: Data points obtained based on coordinate detection and Doppler information [Table 1]

[0056] The state can be determined based on the data points obtained in Table 1, for example, by following the procedure below. Eliminate the moving target. Based on Doppler information (where the velocity is a positive value), the radar determines that the target is moving away and eliminates the coordinates (5, 8). Eliminate stationary objects. Eliminate the target object (10, 10) which has a Doppler information of 0 as a stationary object that poses no danger. The approaching target is held. The remaining (1, 2) and (15, 5) are approaching targets, their distance is within the predetermined warning range, and they can be considered valid data points.

[0057] The explanation will be given with reference to Figures 9 and 10. Figures 9 and 10 show the detection effect when the radar module in the warning device is installed at different distances from the ground. Figure 9 is the data point cloud information generated when the radar module is installed close to the ground (0 cm). Figure 10 is the data point cloud information generated when the radar module is installed 50 cm away from the ground. In the experiment, the moving object is at least one vehicle (target object) that is gradually approaching the warning device from a distance of 30 m.

[0058] As shown in Figure 9, when the radar module is installed close to the ground (radar module 240 in Figure 7), the furthest detected data point is 21m away, and the number and accuracy of data points are significantly reduced. Two possible causes are considered: First, it is thought to be due to the shielding effect of the radar range. By installing the radar module close to the ground, the range of the radar waves is shielded by the ground, narrowing the detection range. Due to this shielding effect, the radar module cannot fully perform its intended detection capabilities. Second, it is thought to be due to the multi-path effect and the ghost point effect. When radar waves are transmitted close to the ground, multi-path reflection can occur. For example, some radar waves are reflected off the ground, then reflected off the target object and return, finally returning to the receiving end of the radar module. Because the radar receives both directly reflected and indirectly reflected waves, overlapping target points (i.e., ghost points) are shown in the data.

[0059] Specifically, in a radar module emitting frequency-modulated continuous waves (FMCW), if ghost points exist in the range-velocity map (Rvmap) generated by range-fast fourier transform (Range FFT) and Doppler fast fourier transform (DopplerFFT) processing, these ghost points may overlap with actual data points. Interference is particularly worsened if other objects such as street trees or parked vehicles are present in the experimental environment. If the radar module is installed at a low position, the multipath effect increases significantly, making it impossible to accurately analyze the coordinates and state of the target. Furthermore, because the radar module in this embodiment dynamically adjusts the detection threshold using CFAR (Constant False Alarm Rate) technology, if ghost points and noise increase, the processing unit may not be able to accurately select data from valid targets.

[0060] As shown in Figure 10, when the radar module is installed 50 cm above the ground (the radar module 140 in Figure 8 is at a constant distance from the ground), the furthest detected data point is 28 m away, and the distribution of data points is sparse (due to few ghost points), allowing for effective tracking of the vehicle's approach trajectory. As can be seen from the above results, by placing the radar module at an appropriate distance from the ground, interference from reflected waves from the ground is reduced, and targets can be accurately detected. In addition, by installing the radar at an appropriate height, the influence of the ground material is reduced, and the reliability of the reflected wave signal is improved.

[0061] (3) Execution of warning level

[0062] After the target object is determined, the processing unit 151 performs a process to determine the warning level based on the relative distance and position of the target object. The specific steps are as follows: Initial warning: An initial warning is issued when the distance to the target object is less than a first specified value. The controller 150 causes the warning light 112 to flash at a low frequency to attract the attention of the driver of an approaching vehicle. Enhanced Warning: If the distance to the target is less than the second specified value, an enhanced warning is issued. In this case, the controller 150 causes the warning light 112 to flash rapidly, and at the same time, the buzzer 170 sounds an abnormal warning sound.

[0063] The warning light 112 is located within the triangular structure of the lamp board 110, forming a continuous light source. The buzzer 170 is located in the electronic components box 130 and emits a warning sound through the acoustic hole 1321. This combination of sound and light warning method is not only highly effective but also has a wide warning range.

[0064] To summarize the above, as can be seen from the experimental results in Figures 7-10, by positioning the radar module 140 of the warning device 100 at a certain distance from the ground, the effective detection range of the radar waves can be greatly expanded, and interference due to reflection from the ground and multipath can be reduced. More importantly, since the installation position of the radar module 140 corresponds to the overall structure of the warning device 100, in actual applications, targets can be accurately detected and warnings can be issued in real time. Specifically, the radar module 140, positioned at a certain distance from the ground, accurately captures approaching targets, and the unit 151 analyzes the relative velocity, direction, and position of each data point in the data point cloud information in real time, dynamically adjusting the warning light or buzzer, for example, by increasing the flashing frequency or sounding an audible warning.

[0065] In one embodiment, to obtain a clearer warning effect, the warning device 100 may dynamically adjust the flashing frequency of the warning light 112 and the volume of the buzzer 170 based on the movement parameters of the target object. The processing unit 151 obtains surrounding data point cloud information via the radar module 140, sorts and analyzes it, identifies at least one target object, and then adjusts in real time based on the speed and distance of the target object. With this adjustment, the warning light 112 and buzzer 170 can be applied to a variety of situations.

[0066] For example, if the target object is moving at a high speed (e.g., over 15 m / s), the processing unit 151 increases the flashing frequency of the warning light 112 to 6 times / s to attract the driver's attention. This makes it applicable to environments such as highways. At low or medium speeds (e.g., 5-15 m / s), the flashing frequency is maintained at 3 times / s to avoid fatigue due to excessive warnings. Also, if the target object is very close (e.g., less than 20 m), the warning light 112 is switched to continuous lighting mode to provide a strong visual stimulus to the driver, allowing for a quick reaction.

[0067] The volume of the Buzzer 170 is adjusted according to the distance to the target object. When the target object is more than 50m but less than 100m away, the volume is set to 30dB to provide a mild warning. When the distance is between 20m and 50m, the volume is increased to 60dB to convey clear warning information. In high-risk situations where the target object is less than 20m away, the volume of the Buzzer 170 is increased to the maximum of 90dB to prompt the driver to take emergency action. This avoids false alarms and excessive warnings, and ensures that the warning sound matches the actual risk level.

[0068] To further enhance the warning effect, the warning light 112 and the buzzer 170 may be made to work together in this embodiment. For example, if a target is approaching at high speed and the distance is within the danger zone, the warning light 112 may be made to flash at a high frequency while the volume of the buzzer 170 is increased to achieve a stronger warning effect by providing a dual sensory stimulus. This cooperative mode allows the driver to be alerted to danger in emergency situations and to respond immediately. In this embodiment, for example, an RGB full-color light may be used for the warning light 112, and the color of the warning light 112 may be changed according to the risk level of the target. For example, green may indicate low risk, orange may indicate medium risk, and red may indicate high risk, thereby improving the visibility of the warning. By combining the buzzer 170 with an audio module, in high-risk situations, an audio announcement may be broadcast to provide the driver with detailed warning information.

[0069] In one embodiment, the warning device 100 performs a more accurate analysis of vehicles that may cause a rear-end collision. By calculating the reflective area of ​​a target object and selecting it in combination with dynamic parameters, it can identify targets that pose a risk of collision and further enhance the traffic warning function.

[0070] In actual implementation, first, the radar module 140 acquires data point cloud information of the target object, and the processing unit 151 calculates the reflection area of ​​each moving point. The reflection area is calculated based on the intensity distribution of the radar reflected wave signal and the number of moving points, and reflects the relative size and material of the target object. For example, the reflection area of ​​large vehicles such as trucks and buses is larger than that of sedans or motorcycles, so a specific threshold (for example, a reflection area of ​​10m) is used. 2 You can filter them out by setting a value (exceeding a certain threshold).

[0071] After sorting, the processing unit 151 marks targets whose reflective area exceeds a specific value as vehicles that are likely to collide. This sorting method based on reflective area eliminates interference from small objects (e.g., animals or debris), allowing the processing unit 151 to concentrate on processing vehicles that are likely to cause accidents.

[0072] For selected vehicles that are likely to cause a rear-end collision, the processing unit 151 continuously collects the vehicle's movement parameters. These movement parameters include, but are not limited to, position, speed, direction, and relative distance. For example, if a target vehicle is approaching at high speed and its direction is parallel to the lane of the warning device 100, the processing unit 151 determines that the risk of a rear-end collision is high and issues a further warning. Furthermore, if there are multiple target objects, the processing unit 151 classifies the targets based on their reflective area and prioritizes processing the target with the highest risk. This allows for a rational allocation of system resources.

[0073] To improve warning accuracy, in this embodiment, multiple reflected waves are cross-validated, and for example, the stability and frequency changes of the reflected waves are checked to reliably select high-risk vehicles. Furthermore, when the radar module 140 receives data point cloud information of multiple targets, the processing unit 151 can use a Kalman filter algorithm to predict the movement parameters of vehicles that are likely to collide and check whether the predicted movement trajectory overlaps with the warning device 100.

[0074] In this embodiment, the system can be combined with other sensors (e.g., cameras or ultrasonic sensors) to acquire image or acoustic information of target objects and perform support identification. For example, in situations with heavy traffic, multi-sensor fusion technology can be used to improve the accuracy of identifying and tracking vehicles that may cause a collision. In addition, in special situations (e.g., driving in tunnels or at night), the processing unit 151 may adjust the specific value of the reflective area to correspond to the detection of different environments.

[0075] Therefore, this embodiment provides a method for identifying and analyzing vehicles that are likely to cause a rear-end collision by combining reflective area and dynamic parameters, thereby contributing to the smartening of traffic safety warnings.

[0076] In one embodiment, the warning device 100 improves the accuracy of identifying vehicles that are likely to cause a rear-end collision by calculating a predicted trajectory using vehicle movement parameters and point cloud data, and can employ various means to respond to various traffic conditions.

[0077] In this embodiment, the vehicle movement parameters acquired by the processing unit 151 include the vehicle's current position, speed, and direction of motion.

[0078] The prediction unit 152 acquires movement parameters and generates a predicted trajectory of the vehicle using the movement parameters and the latest data point cloud information. The predicted trajectory is obtained by calculating the direction and distance of the vehicle's motion within a specific time in the future, and a dynamic simulation is performed using a kinematic model (e.g., a Kalman filter or a Markov chain model). For example, if the vehicle is approaching at high speed and moving in a straight line, its predicted trajectory can be predicted to be a smooth straight line. If the direction of the vehicle changes frequently, the prediction unit 152 can also mark the path as an unstable trajectory and increase the data update frequency.

[0079] When the predicted trajectory coincides with the position of the warning device 100, the controller 150 immediately issues an enhanced warning command. The enhanced warning command causes the warning light 112 to flash at a high frequency and the buzzer 170 to sound an abnormal warning sound to prompt the driver to take evasive action.

[0080] Furthermore, the prediction unit 152 analyzes more complex traffic conditions and collects location information of other targets around the vehicle. These targets may include other vehicles in adjacent lanes, obstacles, or pedestrians. The prediction unit 152 generates a spatial distribution map of targets by performing a full scan through the superposition of multiple point cloud data.

[0081] If the analysis of the vehicle's movement trajectory indicates that the vehicle may avoid another target, the prediction unit 152 simulates that action using dynamic movement parameters. For example, if there is an obstacle in front of the vehicle, the prediction unit 152 predicts the trajectory of the vehicle if it changes lanes to avoid the obstacle. If the predicted avoidance trajectory coincides with the location of the warning device 100, the controller 150 immediately generates an enhanced warning command to draw the vehicle's attention.

[0082] When there are multiple targets, and especially when a vehicle may change its path due to external interference, predicting the vehicle's evasive action enables early warning.

[0083] In one embodiment, the controller 150 further includes a communication unit 153. When an enhanced warning command is generated, the communication unit 153 generates collision warning information and transmits it to at least one nearby communication device. The communication unit 153 is located in the electronic components box 130 of the warning device 100 and is connected to the controller 150, enabling efficient information transmission. To accommodate various scenarios, the communication unit 153 supports various communication protocols such as vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), Bluetooth, or Wi-Fi technology.

[0084] Specifically, after the processing unit 151 generates an enhanced warning command, the communication unit 153 immediately activates and transmits collision warning information, including the following information, to surrounding communication devices.

[0085] First, the information includes the vehicle's current motion parameters, such as speed and distance. This data is acquired by the radar module 140 and calculated by the processing unit 151. The location information of the warning device 100 may be detected by GPS so that the receiving end can accurately pinpoint the location of the warning source. The information may also include the collision risk level (e.g., high, medium, low) so that the receiver can take action quickly according to the risk level.

[0086] The communication unit 153 may also transmit information to various receiving devices. For example, the information may be received by an in-vehicle communication system and displayed on the driver's display, or the driver's attention may be drawn to the information by voice notification. Alternatively, a smartphone may be used as a receiving device, and the driver may be notified or warned through an application. Furthermore, the communication unit 153 may transmit information to a smart road sign or traffic management system, and a warning may be issued for an entire section of road.

[0087] In specific applications, the communication unit 153 may employ different information transmission modes to correspond to different distances and situations. When vehicles are close together, information may be transmitted directly to surrounding vehicles using a short-range wireless communication mode (e.g., Bluetooth or UWB). When vehicles are far apart or multiple vehicles are present, the communication unit 153 may transmit warning information to the cloud via an LTE or 5G network, and then transmit it from the cloud to other recipients.

[0088] To improve the system's functionality, a bidirectional communication function may be implemented in this embodiment by a communication unit 153. The communication unit 153 may not only transmit warning information but also receive feedback information from other vehicles or transportation systems, forming a complete V2X ecosystem. Furthermore, the communication unit 153 may have data storage and analysis functions. All warning records may be stored in a built-in storage unit or in the cloud and used for later traffic accident analysis.

[0089] In this embodiment, by integrating the communication unit 153 into the warning device 100, warnings are realized from local to wide-area coverage, improving the range and transmission efficiency of rear-end collision risk warnings. This enables drivers to respond quickly to dangerous situations, provides traffic managers with more reliable safety warning measures, and reduces the incidence of traffic accidents.

[0090] In summary, the warning device 100 performs a series of processes, decisions, and warnings based on the data point cloud information received by the radar module 140, particularly the millimeter-wave radar, to achieve the optimal warning effect. This will be explained below with reference to Figure 11.

[0091] Figure 11 is a flowchart of a warning according to an embodiment of the present invention. This warning flowchart has the following steps.

[0092] Process S1101: Receiving data point cloud information. First, the radar module 140 receives reflected wave signals in the environment and generates data point cloud information. The data point cloud information includes multiple data points. Each data point includes distance, direction, and other parameters.

[0093] Process S1102: The frequency deviation of each data point in the data point cloud information is extracted, and the relative velocity and direction of each data point are calculated based on the Doppler effect to generate Doppler information. Thus, the processing unit 151 extracts frequency deviation information from the reflected wave signal, calculates relative velocity values ​​that reflect the direction and velocity of motion of the target object, and uses them in the subsequent elimination process.

[0094] Step S1103: Data points outside the detection range are eliminated based on the distance threshold. The processing unit 151 sorts the data point cloud information, eliminates invalid data points outside the radar detection range, and reduces the burden of data processing.

[0095] Process S1104: Based on Doppler information, stationary points and moving points are eliminated. Based on Doppler information, moving points with negative velocity values ​​are retained, and only target objects approaching the warning device 100 are kept, thereby improving data accuracy.

[0096] Step S1105: The relative distance and position of at least one target object are calculated based on the held moving point. The processing unit 151 further analyzes the held moving point, calculates the distance and relative direction and position of the target object, and performs an initial risk assessment.

[0097] Process S1106: Determine whether the distance to the target object is less than a first specified value. If the distance to the target object is less than the first specified value, proceed to process S1107 to issue an initial warning. If the distance to the target object is greater than or equal to the first specified value, return to process S1101 to update the data and continue the determination.

[0098] Step S1107: Issue an initial warning. The controller 150 causes at least one warning light 112 to flash at a low frequency to warn other drivers in the environment.

[0099] Step S1108: Determine whether the distance to the target object is less than the second specified value. If the distance to the target object is less than the second specified value, proceed to step S1109 to issue an enhanced warning. If the distance to the target object is greater than or equal to the second specified value, return to step S1101 to collect the latest data point information and continuously monitor the movement of the target object.

[0100] Process S1109: Issue an enhanced warning. If the distance to the target object is below the danger distance, the controller 150 generates an enhanced warning command to attract the attention of the driver and surrounding personnel, causing the warning light 112 to flash at a high frequency and the buzzer 170 to sound an abnormal warning sound.

[0101] The above is merely an example of the present invention. The present invention is not limited thereto. Any modifications and improvements made based on the shapes, structures, features and spirit described in the claims of the present invention are included in the present invention. [Explanation of Symbols]

[0102] 100 Warning device 110 Lampboard 112 Warning light 120 Support Frame 121 Frame section 122 Legs 130 Electronic Components Box 131 Cover body 132 Box body 1321 Acoustic hole 140 Radar Modules 150 controllers 151 Processing Units 152 prediction units 153 Communication Unit 160 Battery Modules 170 Buzzer 200 Warning device 240 radar modules S1101~S1109 Process

Claims

1. It comprises a ramp board, support frame, electronic component box, radar module, and controller. The lamp board is used to provide at least one warning light, The support frame is provided on the bottom surface of the lamp board, The aforementioned electronic component box is mounted on the support frame, The radar module is installed in the electronic components box, detects at least one target object in the surroundings, generates data point cloud information, and moves a certain distance from the ground. The controller includes a processing module and is electrically connected to the radar module and the warning light. The aforementioned processing module is The process involves extracting the frequency deviation of each data point in the aforementioned data point cloud information, calculating the relative velocity and direction of each data point based on the Doppler effect, and generating Doppler information. A step of excluding the data points outside the detection distance based on a distance threshold, A step of excluding stationary points and moving points at the data point based on the Doppler information, and retaining only moving points that are approaching; A step of calculating the relative distance and position of the corresponding at least one target object based on the held moving point, When at least one of the aforementioned target objects approaches, the steps include turning on the warning light or increasing the frequency of its flashing, Execute Warning device.

2. The support frame has a frame portion and a plurality of legs, The frame portion is connected to the ramp board via at least one first connection point, Each of the aforementioned multiple legs is connected to the bottom surface of the frame via at least one second connection point. The warning device according to claim 1.

3. The frame portion is folded over the ramp board via the at least one first connection point, The plurality of legs rotate via the at least one second connection point so as to overlap the bottom surface of the frame. The warning device according to claim 2.

4. It also has a buzzer, The buzzer emits a warning sound through an acoustic hole on the surface of the electronic component box, is electrically connected to the controller, and is controlled by the controller. The warning device according to claim 1.

5. The processing unit performs the following warning levels based on the distance and position of the at least one target object: If the distance to the at least one target object is less than a first specific value, an initial warning is issued, an initial warning command is generated, and the initial warning command causes the at least one warning light to flash at a low frequency. If the distance to at least one of the target objects is less than a second specified value, an enhanced warning is issued, an enhanced warning command is generated, the enhanced warning command causes at least one warning light to flash at a high frequency, and the buzzer sounds an abnormal warning sound. The warning device according to claim 4.

6. The aforementioned processing unit is The process further involves adjusting the flashing frequency of the at least one warning light and the volume of the warning sound of the buzzer based on the current relative velocity of the at least one target object. The warning device according to claim 5.

7. The aforementioned processing unit is A step of calculating the reflective area of ​​the at least one moving point corresponding to the held target object, A step of selecting the target object whose reflective area exceeds a specific value as a vehicle that may rear-end it, A process of continuously collecting the movement parameters of the vehicle, including its position, speed, direction, and path, To further execute, The warning device according to claim 1.

8. The controller further comprises a prediction unit, The prediction unit is A step of collecting the movement parameters of the vehicle, A step of generating a predicted trajectory of the vehicle using the aforementioned movement parameters and the latest data point cloud information, If it is determined that the predicted trajectory of the vehicle overlaps with the position of the warning device, the process of immediately generating the enhanced warning command, Execute The warning device according to claim 7.

9. The prediction unit is A step of collecting the locations of other targets around the vehicle, If it is determined that the predicted trajectory of the vehicle, after avoiding the other target object, coincides with the position of the warning device, the process of immediately generating the enhanced warning command, To further execute, The warning device according to claim 8.

10. It further has a communication unit, When the aforementioned enhanced warning command is generated, the communication unit generates collision warning information and transmits it to at least one nearby communication device. The warning device according to any one of claims 5 to 9.

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