阅读说明：本技术 基于视觉和微波探测的道路预警方法、装置及电子设备 (Road early warning method and device based on vision and microwave detection and electronic equipment ) 是由 郭剑 余卓 盖玉京 阎勇 张戈 沈建兴 徐伟 李君� 郭丽萍 曹庆军 王俊霞 于 2021-09-24 设计创作，主要内容包括：本发明实施例涉及感知融合技术领域,公开了一种基于视觉和微波探测的道路预警方法、装置及电子设备,该方法包括：道路预警装置设置在作业区域的道路前方,所述道路预警装置获取第一布防区域以及第二布防区域,所述第一布防区域位于所述第二布防区域与所述道路预警装置之间；针对进入所述第一布防区域或所述第二布防区域的车辆,应用雷达探测技术监测所述车辆的雷达数据,所述雷达数据包括车辆的车速和位置；根据所述车辆的所述车速和所述位置进行风险识别,并在所述车辆有失控风险时进行道路预警。通过上述方式,本发明实施例能够主动识别安全风险,便携易用,为高速公路养护施工保驾护航。(The embodiment of the invention relates to the technical field of perception fusion, and discloses a road early warning method, a road early warning device and electronic equipment based on vision and microwave detection, wherein the method comprises the following steps: the road early warning device is arranged in front of a road of a working area, the road early warning device acquires a first defense deploying area and a second defense deploying area, and the first defense deploying area is located between the second defense deploying area and the road early warning device; monitoring radar data of a vehicle entering the first or second arming area by applying a radar detection technology, wherein the radar data comprises the speed and the position of the vehicle; and carrying out risk identification according to the speed and the position of the vehicle, and carrying out road early warning when the vehicle has a runaway risk. Through the mode, the embodiment of the invention can actively identify the safety risk, is portable and easy to use, and protects driving and protecting navigation for highway maintenance and construction.)

1. A road early warning method based on vision and microwave detection is characterized in that a road early warning device is arranged in front of a road in a working area, and the method comprises the following steps:

the road early warning device acquires a first defense deploying area and a second defense deploying area, wherein the first defense deploying area is positioned between the second defense deploying area and the road early warning device;

monitoring radar data of a vehicle entering the first or second arming area by applying a radar detection technology, wherein the radar data comprises the speed and the position of the vehicle;

and carrying out risk identification according to the speed and the position of the vehicle, and carrying out road early warning when the vehicle has a runaway risk.

2. The method of claim 1, wherein the obtaining the first armed zone and the second armed zone comprises:

acquiring a lane line, a first defense line and a second defense line;

determining the first defense area according to the lane line and the first defense line;

and determining the second defense area according to the lane line, the first defense line and the second defense line.

3. The method of claim 2, wherein determining the first arming zone from the lane line and the primary arming line comprises:

and extending the lane lines according to the curvature until the lane lines are intersected with the first defense line to form a closed first defense deploying area.

4. The method according to any one of claims 1-3, wherein the risk identification according to the speed and the position of the vehicle and the road warning when the vehicle is at risk of runaway comprises:

comparing the speed of the vehicle with a first reference speed upon detecting that the vehicle enters the second arming zone;

if the speed is greater than or equal to the first reference speed, triggering an alarm;

if the speed is less than the first reference speed, comparing the speed to the second reference speed when the vehicle enters the first arming zone;

if the speed is greater than or equal to the second reference speed, triggering an alarm;

and releasing the alarm if the speed is less than the second reference speed or the vehicle leaves the first defense area.

5. A road early warning device based on vision and microwave detection, its characterized in that, road early warning device sets up the road the place ahead in the operation region, road early warning device includes:

the camera module is used for acquiring a first defense deploying area and a second defense deploying area, and the first defense deploying area is positioned between the second defense deploying area and the road early warning device;

the radar detection module is used for monitoring radar data of a vehicle entering the first defense area or the second defense area by applying radar detection technology, wherein the radar data comprises the speed and the position of the vehicle;

and the controller module is used for carrying out risk identification according to the speed and the position of the vehicle and carrying out road early warning when the vehicle has a runaway risk.

6. The apparatus of claim 5, wherein the road warning apparatus further comprises:

and the early warning module is used for carrying out sound, light and electricity alarm when the vehicle has the risk of being out of control.

7. The device as claimed in claim 5, wherein a roller and an adjustable foot are arranged at the bottom of the road early warning device, the roller is used for moving the road early warning device, and the adjustable foot is used for adjusting the angle of the road early warning device.

8. The device of claim 5, wherein the road warning device further comprises a GPS antenna and a 4G antenna, the GPS antenna is used for GPS positioning, and the 4G antenna is used for transmitting wireless information.

9. An electronic device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;

the memory is configured to store at least one executable instruction that causes the processor to perform the operations of the method of any one of claims 1-4.

10. A computer-readable storage medium, wherein at least one executable instruction is stored in the storage medium, and when the executable instruction is executed on a road warning device based on visual and microwave detection, the road warning device based on visual and microwave detection performs the operation of the road warning method based on visual and microwave detection as claimed in any one of claims 1 to 4.

Technical Field

The embodiment of the invention relates to the technical field of perception fusion, in particular to a road early warning method and device based on vision and microwave detection and electronic equipment.

Background

By 2019, the total mileage of Chinese roads reaches 484.65 kilometers, the total mileage of express roads reaches 14.26 kilometers, and the first place in the world is. Along with the rapid construction and development of the expressway and the rapid increase of the traffic flow of the expressway in recent years, the flow of vehicles passing on the expressway is increased more and more, and the traffic accidents on the expressway are also increased remarkably. Meanwhile, as the flow of the highway is larger and larger, the management form of the maintenance and safety construction of the highway is more and more severe. It is known that the maintenance and safety construction of a large-flow highway is greatly influenced, for example, the vehicle speed is too high, the technical level of a driver, the mechanical factors of the vehicle and the weather are influenced in many aspects. However, there is no device or equipment for actively identifying safety risks in the prior art to provide timely warning to vehicles or construction personnel.

Disclosure of Invention

In view of the above problems, embodiments of the present invention provide a road warning method, a road warning device and an electronic device based on vision and microwave detection, which are used to solve the problems of active safety risk identification and timely warning in the prior art.

According to an aspect of an embodiment of the present invention, there is provided a road warning method based on vision and microwave detection, in which a road warning device is disposed in front of a road in a work area, the method including: the road early warning device acquires a first defense deploying area and a second defense deploying area, wherein the first defense deploying area is positioned between the second defense deploying area and the road early warning device; monitoring radar data of a vehicle entering the first or second arming area by applying a radar detection technology, wherein the radar data comprises the speed and the position of the vehicle; and carrying out risk identification according to the speed and the position of the vehicle, and carrying out road early warning when the vehicle has a runaway risk.

In an optional manner, the acquiring the first arming area and the second arming area includes: acquiring a lane line, a first defense line and a second defense line; determining the first defense area according to the lane line and the first defense line; and determining the second defense area according to the lane line, the first defense line and the second defense line.

In an optional manner, the determining the first defense area according to the lane line and the primary defense line includes: and extending the lane lines according to the curvature until the lane lines are intersected with the first defense line to form a closed first defense deploying area.

In an optional manner, the performing risk identification according to the speed and the position of the vehicle, and performing road warning when the vehicle has a risk of runaway includes: comparing the speed of the vehicle with a first reference speed upon detecting that the vehicle enters the second arming zone; if the speed is greater than or equal to the first reference speed, triggering an alarm; if the speed is less than the first reference speed, comparing the speed to the second reference speed when the vehicle enters the first arming zone; if the speed is greater than or equal to the second reference speed, triggering an alarm; and releasing the alarm if the speed is less than the second reference speed or the vehicle leaves the first defense area.

According to another aspect of the embodiments of the present invention, there is provided a road warning device based on vision and microwave detection, the road warning device being disposed in front of a road in a work area, including: the camera module is used for acquiring a first defense deploying area and a second defense deploying area, and the first defense deploying area is positioned between the second defense deploying area and the road early warning device; the radar detection module is used for monitoring radar data of a vehicle entering the first defense area or the second defense area by applying radar detection technology, wherein the radar data comprises the speed and the position of the vehicle; and the controller module is used for carrying out risk identification according to the speed and the position of the vehicle and carrying out road early warning when the vehicle has a runaway risk.

In an optional manner, the road warning device further includes: and the early warning module is used for carrying out sound, light and electricity alarm when the vehicle has the risk of being out of control.

In an optional mode, a roller and an adjustable foot are arranged at the bottom of the road early warning device, the roller is used for moving the road early warning device, and the adjustable foot is used for adjusting the angle of the road early warning device.

In an optional mode, the road early warning device further includes a GPS antenna and a 4G antenna, the GPS antenna is used for GPS positioning, and the 4G antenna is used for transmitting wireless information.

According to another aspect of the embodiments of the present invention, there is provided an electronic device including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus; the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation of the road early warning method based on the vision and the microwave detection.

According to another aspect of the embodiments of the present invention, there is provided a computer-readable storage medium having at least one executable instruction stored therein, the executable instruction causing a road warning device based on vision and microwave detection to perform the following operations: the road early warning device acquires a first defense deploying area and a second defense deploying area, wherein the first defense deploying area is positioned between the second defense deploying area and the road early warning device; monitoring radar data of a vehicle entering the first or second arming area by applying a radar detection technology, wherein the radar data comprises the speed and the position of the vehicle; and carrying out risk identification according to the speed and the position of the vehicle, and carrying out road early warning when the vehicle has a runaway risk.

The method and the device for early warning the road are arranged in front of the road of an operation area through a road early warning device, the road early warning device acquires a first defense deployment area and a second defense deployment area, and the first defense deployment area is located between the second defense deployment area and the road early warning device; monitoring radar data of a vehicle entering the first or second arming area by applying a radar detection technology, wherein the radar data comprises the speed and the position of the vehicle; and risk identification is carried out according to the speed and the position of the vehicle, road early warning is carried out when the vehicle has a risk of being out of control, safety risks can be actively identified, and the vehicle is portable, easy to use and capable of protecting and driving for highway maintenance and construction.

The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and the embodiments of the present invention can be implemented according to the content of the description in order to make the technical means of the embodiments of the present invention more clearly understood, and the detailed description of the present invention is provided below in order to make the foregoing and other objects, features, and advantages of the embodiments of the present invention more clearly understandable.

Drawings

The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic flow chart illustrating a road warning method based on vision and microwave detection according to an embodiment of the present invention;

fig. 2 is a schematic diagram illustrating region identification of a road warning method based on vision and microwave detection according to an embodiment of the present invention;

fig. 3 is a schematic diagram illustrating a further area identification of a road warning method based on vision and microwave detection according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram illustrating an appearance of a road warning device based on vision and microwave detection according to an embodiment of the present invention;

fig. 5 is a schematic diagram illustrating an internal structure of a road warning device based on vision and microwave detection according to an embodiment of the present invention;

fig. 6 is a schematic circuit diagram of a road warning device based on vision and microwave detection according to an embodiment of the present invention;

fig. 7 is a schematic diagram illustrating an early warning method for a road early warning method based on vision and microwave detection according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a road warning device based on vision and microwave detection according to an embodiment of the present invention;

fig. 9 shows a schematic structural diagram of an electronic device provided in an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein.

Fig. 1 shows a flowchart of an embodiment of the road warning method based on vision and microwave detection, which is executed by an electronic device. The electronic equipment is provided with a road early warning device which is arranged in front of a road in a working area. As shown in fig. 1, the method comprises the steps of:

step 11: the road early warning device acquires a first defense deploying area and a second defense deploying area, wherein the first defense deploying area is located between the second defense deploying area and the road early warning device.

The machine vision technology is a cross discipline relating to a plurality of fields such as artificial intelligence, neurobiology, psychophysics, computer science, image processing, pattern recognition and the like. Machine vision mainly uses a computer to simulate the visual function of a human, extracts information from an image of an objective object, processes and understands the information, and finally is used for actual detection, measurement and control. The machine vision technology has the biggest characteristics of high speed, large information amount and multiple functions.

In the embodiment of the invention, the lane line, the first defense line and the second defense line can be acquired through the camera; determining the first defense area according to the lane line and the first defense line; and determining the second defense area according to the lane line and the second defense line. The road early warning device can be arranged in the center of the lane 1 or the lane 2, and the camera and the radar are aligned right ahead through screen adjustment. And after the road early warning device is started, the road early warning device is defaulted to enter a road working mode. The camera shoots a picture, the picture is forbidden to automatically read lane lines (only left and right lane lines) after 1 minute, and the lane lines are respectively connected with a first defense line and a second defense line, wherein the first defense line is preferably 100 meters away from the placement position of the road early warning device, and the second defense line is preferably 200 meters away from the placement position of the road early warning device. As shown in fig. 2, the lane line automatically intersects with the first arming line and the second arming line to generate a first arming area and a second arming area. As shown in fig. 3, when the length of the lane line is insufficient, the lane line is extended according to the curvature until the lane line is intersected with the first defense line to form a closed first defense area, and the first defense area and the second defense area are intersected to form a closed second defense area. The road early warning device can automatically deploy the defense again after being forbidden for 1 minute. By using the machine vision technology, lane line detection is realized, the risk identification area is automatically calibrated, and the accurate risk prevention and control function of the road early warning device can be realized no matter how the equipment user puts the equipment.

Step 12: and aiming at the vehicles entering the first defense area or the second defense area, monitoring radar data of the vehicles by applying a radar detection technology, wherein the radar data comprises the speed and the position of the vehicles.

Millimeter-wave radars are radars that operate in the millimeter wave band (millimeter wave) for detection. Usually, the millimeter wave is in the frequency domain of 30 to 300GHz (with a wavelength of 1 to 10 mm). Millimeter-wave radar has some of the advantages of both microwave and photoelectric radar because the wavelength of millimeter-wave waves is intermediate between microwave and centimeter waves. Compared with the centimeter wave seeker, the millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution. Compared with optical probes such as infrared, laser and television, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather (except heavy rainy days) all day long. In addition, the anti-interference and anti-stealth capabilities of the millimeter wave seeker are also superior to those of other microwave seekers. The millimeter wave radar can distinguish and identify very small targets and can identify a plurality of targets simultaneously; the imaging device has the advantages of imaging capability, small volume, portability and low power consumption.

In step S12, the speed of vehicles coming from the rear and the side of the high-speed construction work area and the position relative to the work area are monitored by the millimeter wave radar detection technology, and the risk of out-of-control is found in time and early warning is given. The vehicles coming from the rear and the side of the high-speed construction operation area refer to vehicles entering the first defense area or the second defense area. Automatic distribution and control are realized by fusion of a vision technology and a millimeter wave radar detection technology, and the requirement of arbitrary placement of the road early warning device in a reasonable range is met.

Step 13: and carrying out risk identification according to the speed and the position of the vehicle, and carrying out road early warning when the vehicle has a runaway risk.

In the embodiment of the invention, the appearance structure of the road early warning device is shown in fig. 4, wherein fig. a is a perspective view, fig. b is a front view, fig. c is a side view, and fig. d is a rear view. The internal composition structure of the road early warning device is shown in figure 5, and the circuit structure is shown in figure 6. The controller is preferably a NANO chip, is connected with a 5V 4A direct current power supply, is connected with the camera and the radar through a USB interface, and is connected with the PA power amplification board through a GPIIO interface. The bottom of the road early warning device is provided with a roller and an adjustable foot, the roller is used for moving the road early warning device, and the adjustable foot is used for adjusting the angle of the road early warning device, so that the camera and the radar are aligned to the front. The road early warning device further comprises a GPS antenna and a 4G antenna, the GPS antenna is used for carrying out GPS positioning, and the 4G antenna is used for transmitting wireless information. The road warning device further includes: and the early warning module (not shown) is used for carrying out acousto-optic and electric warning when the vehicle has a runaway risk. The camera is used for obtaining the picture of keeping away from operation area one side of road early warning device, and the control panel carries out risk identification according to the speed of a vehicle and vehicle position to carry out the reputation early warning when the vehicle has the risk of out of control, can control each loudspeaker sound production through the sound source board in order to carry out the early warning, light through the control pilot lamp simultaneously and carry out the early warning, can also send alarm information through the 4G antenna. The fuse in fig. 6 is used for protecting the 12V battery and various components inside the road warning device, and the junction box plays a role in connection. The control panel control box is used for monitoring the speed and the position of a vehicle entering a first defense deployment area or a second defense deployment area, and carrying out acousto-optic-electric alarm when the vehicle is out of control, and the sound source panel control box controls the loudspeaker to sound for audible alarm.

In the embodiment of the invention, when the vehicle is detected to enter the second defense area, the speed of the vehicle is compared with a first reference speed; if the speed is greater than or equal to the first reference speed, triggering an alarm; if the speed is less than the first reference speed, comparing the speed to the second reference speed when the vehicle enters the first arming zone; if the speed is greater than or equal to the second reference speed, triggering an alarm; and releasing the alarm if the speed is less than the second reference speed or the vehicle leaves the first defense area. The first reference speed is preferably 60km/h and the second reference speed is preferably 30 km/h. As more particularly shown in fig. 7, comprises:

step 300: the vehicle is detected to enter a second arming area.

The second defense area is within 200 meters of the road early warning device.

Step 301: and querying radar data.

And when the vehicle enters a second defense area, acquiring radar data of the vehicle monitored by applying a radar detection technology.

Step 302: the detected speed is equal to or greater than a first reference speed.

The speed of the vehicle is detected to be greater than or equal to a first reference speed according to the acquired radar data.

Step 303: and triggering an alarm. Step 304 or 305 is subsequently performed depending on the vehicle driving situation.

And triggering an alarm when the vehicle speed is greater than or equal to the first reference speed, specifically, performing an acoustic-optical alarm.

Step 304: and the speed is reduced to be less than the first reference speed.

And after the alarm is triggered, detecting that the vehicle deceleration is reduced to be less than a first reference speed.

Step 305: and leaving the second arming area.

And after the alarm is triggered, the vehicle is detected to be driven away from the second defense area.

Step 306: and releasing the alarm. Proceed to step 308.

And if the vehicle deceleration is detected to be lower than the first reference speed or the vehicle is detected to leave the second defense area, the alarm is released.

Step 307: a speed less than a first reference speed is detected.

And detecting that the speed of the vehicle is less than a first reference speed according to the acquired radar data.

Step 308: the vehicle enters a first arming area.

And detecting that the vehicle continues to run to enter the first defense area.

Step 309: and querying radar data.

Radar data of a vehicle monitored using radar detection techniques is obtained.

Step 310: the detected speed is less than the second reference speed.

Step 311: the detected speed is equal to or greater than the second reference speed.

Step 312: and triggering an alarm.

Step 313: and leaving the first defense area.

It is detected that the vehicle continues to travel to leave the first arming zone.

Step 314: and releasing the alarm.

And if the vehicle deceleration is detected to be lower than the second reference speed or the vehicle is detected to leave the first defense area, the alarm is released.

The embodiment of the invention automatically identifies the lane lines, automatically calibrates the risk control area, enables the equipment to be better used, actively identifies the safety problem that the risks are found in advance, automatically adopts an ultra-long distance acousto-optic electric reminding mode, avoids the safety problem that serious traffic accidents are damaged due to the fact that fatigue driving and distraction driving intrude into the operation area in the high-speed maintenance operation process, monitors the vehicle intrusion risk behind the accidents, alarms in advance once the intrusion risk is identified, effectively warns the personnel in the traffic accident area in advance when the intrusion accidents are about to occur, avoids secondary accidents and reduces the loss of the secondary accidents; the navigation map early warning of beyond visual range of maintenance operation is realized through the positioning capability of 4G, GSP and BDS, and maintenance accidents are radically avoided.

The method and the device for early warning the road are arranged in front of the road of an operation area through a road early warning device, the road early warning device acquires a first defense deployment area and a second defense deployment area, and the first defense deployment area is located between the second defense deployment area and the road early warning device; monitoring radar data of a vehicle entering the first or second arming area by applying a radar detection technology, wherein the radar data comprises the speed and the position of the vehicle; and risk identification is carried out according to the speed and the position of the vehicle, road early warning is carried out when the vehicle has a risk of being out of control, safety risks can be actively identified, and the vehicle is portable, easy to use and capable of protecting and driving for highway maintenance and construction.

Fig. 8 is a schematic structural diagram of an embodiment of the road warning device based on vision and microwave detection according to the present invention. The road early warning device is arranged in front of a road in the working area. As shown in fig. 8, the road warning device 800 includes: a camera module 801, a radar detection module 802, and a controller module 803.

The camera module 801 is configured to acquire a first defense deploying area and a second defense deploying area, where the first defense deploying area is located between the second defense deploying area and the road early warning device; the radar detection module 802 is configured to apply radar detection technology to monitor radar data of a vehicle entering the first defense area or the second defense area, where the radar data includes a vehicle speed and a vehicle position; the controller module 803 is configured to perform risk identification according to the speed and the position of the vehicle, and perform road early warning when the vehicle has a risk of being out of control.

In an alternative approach, the camera module 810 is used to: acquiring a lane line, a first defense line and a second defense line; determining the first defense area according to the lane line and the first defense line; determining the second defense area according to the lane line, the first defense line and the second defense line

In an alternative approach, the camera module 810 is further configured to: and extending the lane lines according to the curvature until the lane lines are intersected with the first defense line to form a closed first defense deploying area.

In an alternative approach, the radar detection module 820 is configured to: comparing the speed of the vehicle with a first reference speed upon detecting that the vehicle enters the second arming zone; if the speed is greater than or equal to the first reference speed, triggering an alarm; if the speed is less than the first reference speed, comparing the speed to the second reference speed when the vehicle enters the first arming zone; if the speed is greater than or equal to the second reference speed, triggering an alarm; and releasing the alarm if the speed is less than the second reference speed or the vehicle leaves the first defense area.

In an optional manner, the road warning device further includes: and the early warning module is used for carrying out sound, light and electricity alarm when the vehicle has the risk of being out of control.

In an optional mode, a roller and an adjustable foot are arranged at the bottom of the road early warning device, the roller is used for moving the road early warning device, and the adjustable foot is used for adjusting the angle of the road early warning device.

In an optional mode, the road early warning device further includes a GPS antenna and a 4G antenna, the GPS antenna is used for GPS positioning, and the 4G antenna is used for transmitting wireless information.

The method and the device for early warning the road are arranged in front of the road of an operation area through a road early warning device, the road early warning device acquires a first defense deployment area and a second defense deployment area, and the first defense deployment area is located between the second defense deployment area and the road early warning device; monitoring radar data of a vehicle entering the first or second arming area by applying a radar detection technology, wherein the radar data comprises the speed and the position of the vehicle; and risk identification is carried out according to the speed and the position of the vehicle, road early warning is carried out when the vehicle has a risk of being out of control, safety risks can be actively identified, and the vehicle is portable, easy to use and capable of protecting and driving for highway maintenance and construction.

Fig. 9 is a schematic structural diagram of an embodiment of the electronic device according to the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the electronic device.

As shown in fig. 9, the electronic device may include: a processor (processor)902, a communication Interface 904, a memory 906, and a communication bus 908.

Wherein: the processor 902, communication interface 904, and memory 906 communicate with one another via a communication bus 908. A communication interface 904 for communicating with network elements of other devices, such as clients or other servers. The processor 902 is configured to execute the program 910, and may specifically execute the relevant steps in the above embodiments of the road warning method based on vision and microwave detection.

In particular, program 910 may include program code comprising computer-executable instructions.

The processor 902 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement an embodiment of the invention. The electronic device comprises one or more processors, which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.

A memory 906 for storing a program 910. The memory 906 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

Specifically, the program 910 may be invoked by the processor 902 to cause the electronic device to perform the following operations:

the method comprises the steps that a road early warning device obtains a first defense deploying area and a second defense deploying area, wherein the first defense deploying area is located between the second defense deploying area and the road early warning device;

monitoring radar data of a vehicle entering the first or second arming area by applying a radar detection technology, wherein the radar data comprises the speed and the position of the vehicle;

and carrying out risk identification according to the speed and the position of the vehicle, and carrying out road early warning when the vehicle has a runaway risk.

In an alternative, the program 910 is invoked by the processor 902 to cause the electronic device to perform the following operations:

acquiring a lane line, a first defense line and a second defense line;

determining the first defense area according to the lane line and the first defense line;

and determining the second defense area according to the lane line, the first defense line and the second defense line.

In an alternative, the program 910 is invoked by the processor 902 to cause the electronic device to perform the following operations:

and extending the lane lines according to the curvature until the lane lines are intersected with the first defense line to form a closed first defense deploying area.

In an alternative, the program 910 is invoked by the processor 902 to cause the electronic device to perform the following operations:

comparing the speed of the vehicle with a first reference speed upon detecting that the vehicle enters the second arming zone;

if the speed is greater than or equal to the first reference speed, triggering an alarm;

if the speed is less than the first reference speed, comparing the speed to the second reference speed when the vehicle enters the first arming zone;

if the speed is greater than or equal to the second reference speed, triggering an alarm;

and releasing the alarm if the speed is less than the second reference speed or the vehicle leaves the first defense area.

In an optional mode, the road early warning device comprises an early warning module which is used for carrying out acousto-optic and electric warning when the vehicle has a runaway risk.

In an optional mode, a roller and an adjustable foot are arranged at the bottom of the road early warning device, the roller is used for moving the road early warning device, and the adjustable foot is used for adjusting the angle of the road early warning device.

In an optional mode, the road early warning device further includes a GPS antenna and a 4G antenna, the GPS antenna is used for GPS positioning, and the 4G antenna is used for transmitting wireless information.

The method and the device for early warning the road are arranged in front of the road of an operation area through a road early warning device, the road early warning device acquires a first defense deployment area and a second defense deployment area, and the first defense deployment area is located between the second defense deployment area and the road early warning device; monitoring radar data of a vehicle entering the first or second arming area by applying a radar detection technology, wherein the radar data comprises the speed and the position of the vehicle; and risk identification is carried out according to the speed and the position of the vehicle, road early warning is carried out when the vehicle has a risk of being out of control, safety risks can be actively identified, and the vehicle is portable, easy to use and capable of protecting and driving for highway maintenance and construction.

The embodiment of the invention provides a computer-readable storage medium, wherein at least one executable instruction is stored in the storage medium, and when the executable instruction runs on an electronic device provided with a road early warning device, the electronic device executes a road early warning method based on vision and microwave detection in any method embodiment. The road early warning device is arranged in front of a road in the working area.

The executable instructions may be specifically configured to cause the electronic device to perform the following operations:

the road early warning device acquires a first defense deploying area and a second defense deploying area, wherein the first defense deploying area is positioned between the second defense deploying area and the road early warning device;

monitoring radar data of a vehicle entering the first or second arming area by applying a radar detection technology, wherein the radar data comprises the speed and the position of the vehicle;

and carrying out risk identification according to the speed and the position of the vehicle, and carrying out road early warning when the vehicle has a runaway risk.

In an alternative, the executable instructions cause the electronic device to:

acquiring a lane line, a first defense line and a second defense line;

determining the first defense area according to the lane line and the first defense line;

and determining the second defense area according to the lane line, the first defense line and the second defense line.

In an alternative, the executable instructions cause the electronic device to:

and extending the lane lines according to the curvature until the lane lines are intersected with the first defense line to form a closed first defense deploying area.

In an alternative, the executable instructions cause the electronic device to:

comparing the speed of the vehicle with a first reference speed upon detecting that the vehicle enters the second arming zone;

if the speed is greater than or equal to the first reference speed, triggering an alarm;

if the speed is less than the first reference speed, comparing the speed to the second reference speed when the vehicle enters the first arming zone;

if the speed is greater than or equal to the second reference speed, triggering an alarm;

and releasing the alarm if the speed is less than the second reference speed or the vehicle leaves the first defense area.

In an optional manner, the road warning device further includes: and the early warning module is used for carrying out sound, light and electricity alarm when the vehicle has the risk of being out of control.

In an optional mode, a roller and an adjustable foot are arranged at the bottom of the road early warning device, the roller is used for moving the road early warning device, and the adjustable foot is used for adjusting the angle of the road early warning device.

In an optional mode, the road early warning device further includes a GPS antenna and a 4G antenna, the GPS antenna is used for GPS positioning, and the 4G antenna is used for transmitting wireless information.

The method and the device for early warning the road are arranged in front of the road of an operation area through a road early warning device, the road early warning device acquires a first defense deployment area and a second defense deployment area, and the first defense deployment area is located between the second defense deployment area and the road early warning device; monitoring radar data of a vehicle entering the first or second arming area by applying a radar detection technology, wherein the radar data comprises the speed and the position of the vehicle; and risk identification is carried out according to the speed and the position of the vehicle, road early warning is carried out when the vehicle has a risk of being out of control, safety risks can be actively identified, and the vehicle is portable, easy to use and capable of protecting and driving for highway maintenance and construction.

The embodiment of the invention provides a road early warning device, which is used for executing the road early warning method based on vision and microwave detection.

Embodiments of the present invention provide a computer program, where the computer program can be invoked by a processor to enable an electronic device to execute a road early warning method based on vision and microwave detection in any of the above method embodiments.

Embodiments of the present invention provide a computer program product comprising a computer program stored on a computer-readable storage medium, the computer program comprising program instructions that, when run on a computer, cause the computer to perform a method for road warning based on vision and microwave detection in any of the above-mentioned method embodiments.

The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. In addition, embodiments of the present invention are not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specified otherwise.