CN106875748A - Crossing intelligence Anti-knocking system and its control method - Google Patents
Crossing intelligence Anti-knocking system and its control method Download PDFInfo
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- CN106875748A CN106875748A CN201710156095.XA CN201710156095A CN106875748A CN 106875748 A CN106875748 A CN 106875748A CN 201710156095 A CN201710156095 A CN 201710156095A CN 106875748 A CN106875748 A CN 106875748A
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- crossing
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- warning lamp
- deceleration strip
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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- General Physics & Mathematics (AREA)
- Road Signs Or Road Markings (AREA)
- Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
Abstract
The invention discloses a kind of crossing intelligence Anti-knocking system, including thermal imaging system, buried warning lamp, Liftable type deceleration strip and controller；Thermal imaging system is arranged at the two ends of crossing, for monitoring whether crossing has pedestrian to pass through；Buried warning lamp is arranged at the road surface at the 2m of crossing upstream 1；Liftable type deceleration strip is arranged under the road surface at the stopping sight distance of the crossing upstream one；Thermal imaging system, buried warning lamp and Liftable type deceleration strip are electrically connected with controller respectively.The present invention in crossing red light phase and thereon without walk when, can ensure that vehicle quickly through road junction；When crossing burst pedestrian running red light is current, or non-mandrel roller crossing is when having walk, vehicle driver can in time be given warn and point out avoidance, and controllable deceleration device is set in suitable distance, is easy to the timely slow down of vehicle of fast running so as to avoid crossing from colliding the generation of accident.
Description
Technical field
The present invention relates to traffic safety control technology field, more particularly to a kind of crossing intelligence Anti-knocking system and its
Control method.
Background technology
With the increase year by year of vehicle population, the contradiction between vehicle and pedestrian, particularly in crossing
, often there is pedestrian running red light and crosses roads randomly, especially in the case where night illumination condition is not good, if now vehicle is driven in place
The person of sailing, at a high speed by crossing, easily causes collision accident under green light instruction.Additionally, having some crossings and being not provided with
Traffic lights, in the case where sight line is not good, vehicle driver also easily causes collision accident.
The content of the invention
Exist because of pedestrian running red light by the risk of vehicle crash, technical purpose of the invention in view of existing crossing
It is that a kind of crossing intelligence Anti-knocking system is provided, it is intended to when crossing red light has pedestrian to walk, or sight line
When not good no signal lamp control crossing has pedestrian to walk, control vehicle deceleration is gone slowly, and points out vehicle driver to note front row
People.
To achieve the above object, the invention provides a kind of crossing intelligence Anti-knocking system, including thermal imaging system, bury
Ground formula warning lamp, Liftable type deceleration strip and controller；The thermal imaging system is arranged at the two ends of crossing, for monitoring people
Whether row lateral road has pedestrian to pass through；The buried warning lamp is arranged at the road surface at the crossing upstream 1-2m；It is described
Liftable type deceleration strip is arranged under the road surface at the stopping sight distance of the crossing upstream one；It is the thermal imaging system, described
Buried warning lamp and the Liftable type deceleration strip are electrically connected with the controller respectively.
Further, the controller includes central processing unit, clock signal module, pedestrian's zone state acquisition module, police
Show lamp control module, deceleration strip control module and communication module；The central processing unit respectively with the clock signal module, institute
Pedestrian's zone state acquisition module, the warning lamp control module, the deceleration strip control module is stated to be electrically connected with；The communication mould
Block respectively with the clock signal module, pedestrian's zone state acquisition module, the warning lamp control module, the deceleration strip
Control module is electrically connected with；The communication module is provided with multiple interfaces, the thermal imaging system, the buried warning lamp and described
Liftable type deceleration strip is electrically connected with by the corresponding interface with the communication module respectively.
Further, the crossing is provided with traffic lights, and the controller is also electrical with the crosswalk traffic-light
Connection.
Further, the controller includes central processing unit, clock signal module, red light phase acquisition module, pedestrian
Zone state acquisition module, warning lamp control module, deceleration strip control module and communication module；The central processing unit respectively with institute
State clock signal module, the red light phase acquisition module, pedestrian's zone state acquisition module, warning lamp control mould
Block, the deceleration strip control module are electrically connected with；The communication module respectively with the clock signal module, the red light phase
Acquisition module, pedestrian's zone state acquisition module, the warning lamp control module, the deceleration strip control module electrically connect
Connect；The communication module is provided with multiple interfaces, the thermal imaging system, the buried warning lamp, the Liftable type deceleration strip
It is electrically connected with the communication module by the interface respectively with the crosswalk traffic-light.
Further, the controller also includes data memory module and power module.
Further, the buried warning lamp is buried LED.
Further, the Liftable type deceleration strip includes two cover plate frameworks, hydraulic jacking device, support bar, rubber
Deceleration strip and two pieces of removable type cover plates；Two cover plate frameworks are arranged under road surface, and the hydraulic jacking device is arranged at two
Between the individual cover plate framework, the support bar is arranged on the hydraulic jacking device, and the support bar is provided with the rubber
Glue deceleration strip, two pieces of removable type cover plates are covered on the speed-reducing rubber band and concordant with road surface, and two pieces described movable
One end of cover plate is free in two cover plate frameworks respectively, and two pieces of removable type cover plates pass through speed change bindiny mechanism respectively
With the hydraulic jacking device slidable connection, the hydraulic jacking device is electrically connected with the controller.
Further, the speed change bindiny mechanism includes the jacking gear, the speed change that are arranged on the hydraulic jacking device
Gear train and the shifting slide gear for being arranged at the removable type cover plate bottom surface, the jacking gear engage biography with the change-speed gearing group
Dynamic connection, the change-speed gearing group is connected by meshing transmission with the shifting slide gear.
The invention also discloses the control method of crossing intelligent anti-collision system, comprise the following steps：
A. judge whether there is walk on crossing, in this way, perform step B, otherwise, return to this step；
B. buried warning lamp flicker is opened；
C. removable type cover plate is opened, speed-reducing rubber band is risen；
D. judge whether the pedestrian on crossing is current to finish, in this way, perform step E, otherwise, return to step B；
E. speed-reducing rubber band is fallen, removable type cover plate is covered；
F. buried warning lamp flicker, return to step A are closed.
Further, the crossing is provided with traffic lights, and step A0 was also included before the step A：A0. people is judged
Whether row lateral road traffic lights are red light phase, in this way, perform step A, otherwise, return to this step；The step F is：Closing is buried
Ground formula warning lamp flicker, return to step A0.
Beneficial effects of the present invention：
The present invention has the advantages that as a result of said structure design and control method：It is red in crossing
Lamp state its without walk when, can ensure that vehicle quickly through road junction；When crossing burst pedestrian running red light is current, or
Person can in time give vehicle driver and warn and point out when there is walk at the not good no signal lamp control crossing of sight line
Avoid, and controllable deceleration device be set in suitable distance, be easy to the timely slow down of vehicle of fast running so as to
Crossing is avoided to collide the generation of accident.
The technique effect of design of the invention, concrete structure and generation is described further below with reference to accompanying drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is the arrangement schematic diagram of a preferred embodiment of the invention.
Fig. 2 is top view when Liftable type deceleration strip falls in a preferred embodiment of the invention.
Fig. 3 is the profile in Fig. 2 along line A-A.
Fig. 4 is top view when Liftable type deceleration strip rises in a preferred embodiment of the invention.
Fig. 5 is the profile in Fig. 4 along line B-B.
Fig. 6 is controller principle block diagram in a preferred embodiment of the invention.
Fig. 7 is control method flow chart in a preferred embodiment of the invention.
In figure, 1 crossing；2 buried warning lamps；3 Liftable type deceleration strips；31 cover plate frameworks；32 removable type cover plates；
33 support bars；34 speed-reducing rubber bands；35 hydraulic jacking devices；36 change-speed gearing groups；37 jacking gears；38 shifting slide gears；4 heat into
As instrument；5 controllers；6 pavement of road
Specific embodiment
Embodiment 1
In the present embodiment, crossing is provided with traffic lights.As shown in figure 1, a kind of crossing intelligence Anti-knocking system, bag
Include thermal imaging system 4, buried warning lamp 2, Liftable type deceleration strip 3 and controller 5；Thermal imaging system 4 is arranged at crossing 1
Two ends, for monitoring whether crossing has pedestrian to pass through；Buried warning lamp 2 is arranged at the upstream 1-2m of crossing 1
Road surface；Liftable type deceleration strip 3 is arranged under the road surface at the stopping sight distance of crossing 1 upstream one；It is thermal imaging system 4, buried
Formula warning lamp 2 and Liftable type deceleration strip 3 are electrically connected with controller 5 respectively, and controller 5 also (is schemed with crosswalk traffic-light
It is not shown) it is electrically connected with.Buried warning lamp is buried LED 2 in the present embodiment.
As shown in Figure 2-5, Liftable type deceleration strip 3 includes two cover plate frameworks 31, hydraulic jacking devices 35, support bar
33rd, speed-reducing rubber band 34 and two pieces of removable type cover plates 32；Two cover plate frameworks 31 are arranged under road surface 6, hydraulic jacking device 35
It is arranged between two cover plate frameworks 31, support bar 33 is arranged on the device of hydraulic lifting 35, support bar 33 is provided with rubber and subtracts
Speed belt 34, speed-reducing rubber is curved with 34 top surface, and two pieces of removable type cover plates 32 are covered on speed-reducing rubber band 34 and and road surface
Concordantly, two pieces of one end of removable type cover plate 32 are free in two cover plate frameworks respectively, and two pieces of removable type cover plates 32 pass through respectively
Speed change bindiny mechanism and the slidable connection of hydraulic jacking device 35, hydraulic jacking device 35 are electrically connected with controller.
In the present embodiment, speed change bindiny mechanism includes the jacking gear 37, gear teeth being arranged on hydraulic jacking device 35
Wheel group 36 and the shifting slide gear 38 for being arranged at the bottom surface of removable type cover plate 32, jacking gear 37 connect with the engaged transmission of change-speed gearing group 36
Connect, change-speed gearing group 36 is connected by meshing transmission with shifting slide gear 38.
Because the lifting distance of hydraulic jacking device is different from the folding distance of removable type cover plate, therefore, need to pass through
Both different displacements are carried out equivalent matched by change-speed gearing group, will the thin tail sheep of hydraulic jacking device be converted into movable lid
The big displacement of plate.Little gear rotation in jacking gear driven change-speed gearing group on hydraulic jacking device, then by little gear band
The gear wheel rotation on same axle is moved, drives shifting slide gear to rotate by gear wheel, so that removable type cover plate sliding motion, so that
The thin tail sheep of hydraulic jacking device is converted into the big displacement of removable type cover plate for realization.Change-speed gearing group is the base in plant equipment
This usual component, its concrete structure will not be described in detail herein.
When crossing is red light phase but when having walk thereon, control of the Liftable type deceleration strip 3 in controller 5
Under, the upward lifting support bar 33 of hydraulic jacking device 35, while jacking gear 37 runs up drive change-speed gearing group 36 rotate,
Little gear rotation in change-speed gearing group 7, then drive the gear wheel on same axle to rotate by little gear, driven by gear wheel and slid
Gear 38 is rotated, and the different displacements of hydraulic jacking device 35 and removable type cover plate 32 are carried out into equivalent by change-speed gearing group 36
Match somebody with somebody, the relatively thin tail sheep of hydraulic jacking device 35 is converted into the larger displacement of removable type cover plate 32, by two pieces of removable type cover plates 32
Slide and bend in two cover plate frameworks 31 of income to both sides, the upward lifting of hydraulic jacking device 35 is until speed-reducing rubber band 34 is dashed forward
Go out to more than road surface.Speed-reducing rubber with 34 surfaces can with the eye-catching coating of application color, such as alternate coating of black Huang, in order to
Vehicle driver has found deceleration strip and to slow down in time, and speed-reducing rubber is easy to vehicle deceleration to pass through with 34 top surfaces are curved.When people's row
Lateral road be red light phase but thereon without walk when, Liftable type deceleration strip 3 under the control of controller 5, hydraulic lifting dress
Put 35 to reclaim downwards, speed-reducing rubber band 34 is fallen to road surface, meanwhile, it is folded in two pieces of work in two cover plate frameworks 31
Dynamic formula cover plate 32 stretches out road surface covering speed-reducing rubber band 34 and concordant with road surface again.
As shown in fig. 6, controller includes central processing unit, clock signal module, red light phase acquisition module, pedestrian area shape
State acquisition module, warning lamp control module, deceleration strip control module, communication module, data memory module and power module；Center
Processor respectively with clock signal module, red light phase acquisition module, pedestrian's zone state acquisition module, warning lamp control module,
Deceleration strip control module is electrically connected with；Communication module respectively with clock signal module, red light phase acquisition module, pedestrian's zone state
Acquisition module, warning lamp control module, deceleration strip control module are electrically connected with；Communication module is provided with multiple interfaces, thermal imaging system,
Buried warning lamp, Liftable type deceleration strip and crosswalk traffic-light are electrically connected by corresponding interface and communication module respectively
Connect.Data memory module is used for storage system control data, and power module provides safety power supply for controller.
The control method of the present embodiment crossing intelligence Anti-knocking system, as shown in fig. 7, comprises following steps：
A. judge whether crosswalk traffic-light is red light phase, in this way, perform step B, otherwise, return to this step；
B. judge whether there is walk on crossing, in this way, perform step C, otherwise, return to this step；
C. buried warning lamp flicker is opened；
D. removable type cover plate is opened, speed-reducing rubber band is risen；
E. judge whether the pedestrian on crossing is current to finish, in this way, perform step F, otherwise, return to step C；
F. speed-reducing rubber band is fallen, removable type cover plate is covered；
G. buried warning lamp flicker, return to step A are closed.
During present invention work, thermal imaging system monitors the walk situation on crossing at any time, and the heat that will be recorded into
As pedestrian's zone state acquisition module of data transfer to controller, while the red light phase acquisition module of controller also recipient's row
The status information of lateral road traffic lights, when crossing is green light phase, terrain vehicle line direction necessarily red light phase, now car
The stop-for-waiting under red light instruction, Anti-knocking system is standby；
When controller receives crosswalk traffic-light state switchs to red light phase, can be according to the thermal imaging number for receiving
Whether it is judged that now having walk on crossing, if now no pedestrian passes through, Anti-knocking system is still within treating
Life state, and if now there is pedestrian to pass through, then the LED lamp control module of controller controls buried LED flicker, reminds car
Although a driver front is the current mark of green light, should be noted on crossing has pedestrian to pass through, then the deceleration of controller
Rubber on the upward lifting support bar of hydraulic jacking device and support bar with control module control Liftable type deceleration strip subtracts
Speed belt, meanwhile, removable type cover plate is slipped into cover plate framework to both sides, speed-reducing rubber band is protruded from road surface.Travelled on road
Vehicle in driver see the flicker of buried LED and protrude from the speed-reducing rubber band on road surface, can timely slow down, from
And avoid crossing from colliding the generation of accident.
Finished when controller judges that pedestrian passes through from crossing, the deceleration strip control module control of controller can
The downward return of hydraulic jacking device of lifting deceleration band, drives support bar and speed-reducing rubber band to fall to road surface, while
Bent cover plate stretches out road surface covering speed-reducing rubber band and concordant with road surface again；The LED lamp control module control of controller is buried
Ground formula LED closes flicker.
Embodiment 2
In the present embodiment, crossing is the non-mandrel roller crossing for not setting traffic lights.In the present embodiment, in controller
Red light phase acquisition module is not provided with, other structures are same as Example 1, repeat no more.
The control method of the present embodiment is comprised the following steps：
A. judge whether there is walk on crossing, in this way, perform step b, otherwise, return to this step；
B. buried warning lamp flicker is opened；
C. removable type cover plate is opened, speed-reducing rubber band is risen；
D. judge whether the pedestrian on crossing is current to finish, in this way, perform step e, otherwise, return to step b；
E. speed-reducing rubber band is fallen, removable type cover plate is covered；
F. buried warning lamp flicker, return to step a are closed.
When the present embodiment works, thermal imaging system monitors the walk situation on crossing, and the heat that will be recorded at any time
Imaging data is transmitted to pedestrian's zone state acquisition module of controller, if having no walk on crossing, Anti-knocking system
System is standby；If there is walk on crossing, the LED lamp control module of controller controls buried LED
Lamp flashes, and reminds vehicle driver to note having pedestrian to pass through on crossing；Then the deceleration strip control module control of controller
Speed-reducing rubber band on the upward lifting support bar of hydraulic jacking device and support bar of Liftable type deceleration strip, meanwhile, activity
Formula cover plate is slipped into cover plate framework to both sides, speed-reducing rubber band is protruded from road surface.The driving in vehicle travelled on road
Member sees buried LED flicker and protrudes from the speed-reducing rubber band on road surface, the timely slow down of meeting, so as to avoid crossing
The generation of collision accident.
Finished when controller judges that pedestrian passes through from crossing, the deceleration strip control module control of controller can
The downward return of hydraulic jacking device of lifting deceleration band, drives support bar and speed-reducing rubber band to fall to road surface, while
Bent cover plate stretches out road surface covering speed-reducing rubber band and concordant with road surface again；The LED lamp control module control of controller is buried
Ground formula LED closes flicker.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Need creative work just can make many modifications and variations with design of the invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of crossing intelligence Anti-knocking system, it is characterised in that including thermal imaging system, buried warning lamp, liftable
Formula deceleration strip and controller；The thermal imaging system is arranged at the two ends of crossing, for monitoring whether crossing has pedestrian
Pass through；The buried warning lamp is arranged at the road surface at the crossing upstream 1-2m；The Liftable type deceleration strip sets
Under the road surface being placed at the stopping sight distance of the crossing upstream one；The thermal imaging system, the buried warning lamp and institute
Liftable type deceleration strip is stated to be electrically connected with the controller respectively.
2. crossing according to claim 1 intelligence Anti-knocking system, it is characterised in that the controller includes center
Processor, clock signal module, pedestrian's zone state acquisition module, warning lamp control module, deceleration strip control module and communication mould
Block；The central processing unit is controlled with the clock signal module, pedestrian's zone state acquisition module, the warning lamp respectively
Module, the deceleration strip control module are electrically connected with；The communication module respectively with the clock signal module, the pedestrian area
State acquisition module, the warning lamp control module, the deceleration strip control module are electrically connected with；The communication module is provided with many
Individual interface, the thermal imaging system, the buried warning lamp and the Liftable type deceleration strip are connect by described accordingly respectively
Mouth is electrically connected with the communication module.
3. crossing according to claim 1 intelligence Anti-knocking system, it is characterised in that the crossing is provided with red
Green light, the controller is also electrically connected with the crosswalk traffic-light.
4. crossing according to claim 3 intelligence Anti-knocking system, it is characterised in that the controller includes center
Processor, clock signal module, red light phase acquisition module, pedestrian's zone state acquisition module, warning lamp control module, deceleration strip
Control module and communication module；The central processing unit respectively with the clock signal module, the red light phase acquisition module,
Pedestrian's zone state acquisition module, the warning lamp control module, the deceleration strip control module are electrically connected with；The communication
Module respectively with the clock signal module, the red light phase acquisition module, pedestrian's zone state acquisition module, the police
Show that lamp control module, the deceleration strip control module are electrically connected with；The communication module is provided with multiple interfaces, the thermal imaging
Instrument, the buried warning lamp, the Liftable type deceleration strip and the crosswalk traffic-light are respectively by corresponding described
Interface is electrically connected with the communication module.
5. the intelligent Anti-knocking system of crossing according to claim 2 or 4, it is characterised in that the controller is also wrapped
Include data memory module and power module.
6. according to any described crossing intelligence Anti-knocking systems of claim 1-4, it is characterised in that the buried police
Show that lamp is buried LED.
7. according to any described crossing intelligence Anti-knocking systems of claim 1-4, it is characterised in that the Liftable type
Deceleration strip includes two cover plate frameworks, hydraulic jacking device, support bar, speed-reducing rubber band and two pieces of removable type cover plates；Two institutes
State cover plate framework to be arranged under road surface, the hydraulic jacking device is arranged between two cover plate frameworks, the support bar
It is arranged on the hydraulic jacking device, the support bar is provided with the speed-reducing rubber band, two pieces of removable type cover plates are covered
It is placed on the speed-reducing rubber band and concordant with road surface, two pieces of one end of the removable type cover plate are free on two lids respectively
In plate framework, two pieces of removable type cover plates pass through speed change bindiny mechanism and the hydraulic jacking device slidable connection respectively,
The hydraulic jacking device is electrically connected with the controller.
8. crossing according to claim 7 intelligence Anti-knocking system, it is characterised in that the speed change bindiny mechanism bag
Include be arranged on the hydraulic jacking device jacking gear, change-speed gearing group and be arranged at the cunning of the removable type cover plate bottom surface
Gear is moved, the jacking gear is connected by meshing transmission with the change-speed gearing group, the change-speed gearing group and the shifting slide gear
It is connected by meshing transmission.
9. the control method of a kind of crossing intelligence Anti-knocking system, it is characterised in that comprise the following steps：
A. judge whether there is walk on crossing, in this way, perform step B, otherwise, return to this step；
B. buried warning lamp flicker is opened；
C. removable type cover plate is opened, speed-reducing rubber band is risen；
D. judge whether the pedestrian on crossing is current to finish, in this way, perform step E, otherwise, return to step B；
E. speed-reducing rubber band is fallen, removable type cover plate is covered；
F. buried warning lamp flicker, return to step A are closed.
10. the control method of crossing according to claim 9 intelligence Anti-knocking system, it is characterised in that the people
Row lateral road is provided with traffic lights, and step A0 was also included before the step A：
A0. judge whether crosswalk traffic-light is red light phase, in this way, perform step A, otherwise, return to this step；
The step F is：Close buried warning lamp flicker, return to step A0.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710156095.XA CN106875748B (en) | 2017-03-16 | 2017-03-16 | Control method of pedestrian crossing intelligent anti-collision system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710156095.XA CN106875748B (en) | 2017-03-16 | 2017-03-16 | Control method of pedestrian crossing intelligent anti-collision system |
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| CN106875748A true CN106875748A (en) | 2017-06-20 |
| CN106875748B CN106875748B (en) | 2023-03-07 |
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Cited By (7)
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| CN108648507A (en) * | 2018-06-29 | 2018-10-12 | 中国矿业大学 | Vehicle and pedestrian mutually knows and method for early warning for a kind of zebra stripes " ghost probe " |
| CN108922196A (en) * | 2018-06-10 | 2018-11-30 | 昆明创培知识产权服务有限公司 | A kind of intersection collision avoidance system |
| CN109448437A (en) * | 2018-11-12 | 2019-03-08 | 哈尔滨工业大学 | Pedestrains safety street crossing prompt system and method towards driver |
| CN109544905A (en) * | 2019-01-21 | 2019-03-29 | 甘肃弘宇网络科技工程有限责任公司 | A kind of moveable Intelligent security apparatus |
| CN110288822A (en) * | 2019-06-27 | 2019-09-27 | 桂林理工大学 | A kind of crossing intelligent alarm system and its control method |
| CN110853362A (en) * | 2019-10-21 | 2020-02-28 | 济南舜遵智慧交通工程有限公司 | Method and system for controlling parking and yielding at intersection without lamp control |
| CN113012471A (en) * | 2021-03-30 | 2021-06-22 | 华高数字科技有限公司 | Intelligent highway of prevention accident |
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