Method of controlling motion of mobile warning triangle and mobile warning triangle applicant in the method thereof

A method for controlling the motion of a mobile warning triangle for suitable placement on a roadway acquires information as to color of the lane markings detected by a sensor. When the mobile warning triangle is first placed on the roadway, the sensor is preset in position to detect the lane marking. White or yellow color information of the lane marking or of the black-colored roadway are detected or are not detected by the sensor, and deviations from a required path are recognized when different colors are received in certain combinations by the sensor. If no deviation is recognized in the colors, the mobile warning triangle continues moving forward. If a deviation in colors is recognized, the mobile warning triangle is controlled to hunt to the left and right through one or more predetermined angles to try to detect or redetect the lane marking.

FIELD

The subject matter herein generally relates to road safety.

BACKGROUND

A warning triangle raised at a distance from a stationary vehicle or other obstruction warns other vehicles of an obstruction or other dangers ahead. A mobile warning triangle sent out towards a point of placement and in motion may deviate from a correct path.

DETAILED DESCRIPTION

It will be appreciated that for simplicity and clarity of illustration, where appropriate, reference numerals have been repeated among the different figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the embodiments described herein. However, it will be understood by those of ordinary skill in the art that the embodiments described herein can be practiced without these specific details. In other instances, methods, procedures, and components have not been described in detail so as not to obscure the related relevant feature being described. Also, the description is not to be considered as limiting the scope of the embodiments described herein. The drawings are not necessarily to scale and the proportions of certain parts may be exaggerated to better illustrate details and features of the present disclosure. It should be noted that references to “an” or “one” embodiment in this disclosure are not necessarily to the same embodiment, and such references mean “at least one”.

FIG.1illustrates a mobile warning triangle100in accordance with an exemplary embodiment.

The mobile warning triangle100comprises a warning triangle1, a base2, three wheels3, a control device4, a motor5, and a sensor6. The control device4can control the mobile warning triangle100to move. The control device4can further cause and correct a moving direction of the mobile warning triangle100.

The mobile warning triangle100can be raised and placed at a first predetermined distance from a stationary object. The first predetermined distance can be 100 meters or 150 meters for example.

In one embodiment, the sensor6can be a color-sensitive sensor. For example, the sensor6is TCS3200 color sensor. In the TCS3200 color sensor, if a color filter is selected, only a desired color is allowed to pass, and other primary colors are blocked. If a red filter is selected, the incident red light can be passed, but blue light and green light are blocked, and intensity of the red light can be obtained. Similarly, by selecting other filters, blue light can be passed, obtained, and measured for intensity, and similarly for green light. Then, the colors and intensities of the light incident on the TCS3200 color sensor can be recognized.

In one embodiment, the sensor6can be installed at the bottom of the mobile warning triangle100, such as the bottom of the warning triangle1or the bottom of the base2, to better detect a lane marking. For example, when the mobile warning triangle100is moving, the sensor6can be directed downward to detect any lane marking.

In one embodiment, the sensor6can acquire color information of any scene or object or marking towards which the sensor may be directed.

In one embodiment, two or more sensors can be installed at the bottom of the mobile warning triangle100, the number of sensors can be according to an actual application.

Referring toFIG.2, the control device4can comprise at least one data storage40, at least one processor42, and a control procedure44.

In one embodiment, the data storage40can be in the mobile warning triangle100, or can be a separate external memory card, such as an SM card (Smart Media Card), an SD card (Secure Digital Card), or the like. The data storage40can include various types of non-transitory computer-readable storage mediums. For example, the data storage40can be an internal storage system, such as a flash memory, a random access memory (RAM) for the temporary storage of information, and/or a read-only memory (ROM) for permanent storage of information. The data storage40can also be an external storage system, such as a hard disk, a storage card, or a data storage medium. The processor42can be a central processing unit (CPU), a microprocessor, or other data processor chip that achieves functions of the mobile warning triangle100.

FIG.3illustrates the control procedure44as comprising a plurality of modules, such as a first control module101, a determining module102, a rotating module103, a calculating module104, and a second control module105. The modules101-105can comprise one or more software programs in the form of computerized codes stored in the data storage40. The computerized codes can include instructions that can be executed by the processor42to provide functions for the modules101-105.

The mobile warning triangle100is placed on a road, and the sensor6can detect a lane marking of the road as an example.

The first control module101can control the mobile warning triangle100to move forward or backward and acquire color information detected by the sensor6when the mobile warning triangle100is placed on the road and the sensor6detects the lane markings of the road.

The first control module101can control the mobile warning triangle100to move forward or backward when the mobile warning triangle100is placed on the lane300(as shown inFIG.4A) of a road or other traversable surface. The sensor6can detect the lane marking200(as shown inFIG.4A). The sensor6can acquire the color information when the mobile warning triangle100is moving forward or backward.

In one embodiment, the lane markings200of the road are white and yellow. Along an expressway or a provincial highway, the lane markings200are white markings and yellow markings, the road itself is black. There is a significant difference in color between the road and the lane markings200. The sensor6can easily detect and identify the lane markings200. When there is an obstacle on the road, the mobile warning triangle100is raised at the first predetermined distance from the obstacle to warn other vehicles. A user can place the mobile warning triangle100on the lane300in which the obstacle, a vehicle for example, is stationary, and aim the sensor6at the lane marking200of the lane300(for example a white marking). The sensors6can detect the lane marking200to control the mobile warning triangle100to move forward along the lane marking200. When the mobile warning triangle100is placed on the lane300and the sensor6detects the lane marking200of the lane300, the first control module101controls the mobile warning triangle100to move forward. When the mobile warning triangle100is moving, the first control module101can obtain the color information detected by the sensors6in real time to determine correct tracking or a lane departure by the mobile warning triangle100.

The determining module102determines whether the color information detected by the sensor6is the color of the lane marking200.

In one embodiment, when the first control module101obtains information as to color detected by the sensor6, the determining module102can determine whether the color information detected by the sensor6is the one color of the lane marking200.

In one embodiment, when the determining module102determines that the color information detected by the sensor6is the color of the lane marking200, the mobile warning triangle100is deemed to be still moving forward along the lane marking200. A deviation of the mobile warning triangle100from the required path is absent, and the first control module101controls the mobile warning triangle100to continue moving forward.

If the color information detected by the sensor6is other than the color of the lane marking200, the rotating module103obtains first orientation information of a central axis of the mobile warning triangle100and rotates a central axis of the mobile warning triangle100to a first direction by a first predetermined angle.

In one embodiment, the central axis of the mobile warning triangle100parallels to the current forward direction of the mobile warning triangle100.

In one embodiment, as shown inFIG.4A, the first direction Z1can be a right side of the mobile warning triangle100, and a second direction Z2can be a left side of the mobile warning triangle100. The control device4may determine that a deviation has occurred in a moving direction of the mobile warning triangle100when the determining module102determines that the color information detected by the sensor6is not the color of the lane marking200(seeFIG.4aandFIG.4B). When the mobile warning triangle100is not moving forward along the lane marking200(that is, it is deviating to the left or to the right), the control device4determines that a deviation has occurred in a moving direction of the mobile warning triangle100. In order to determine whether the mobile warning triangle100is deviating to the left of the lane marking200or to the right of the lane marking200, the rotating module103can obtain the current orientation information (for example, first orientation information a1) of the central axis110of the mobile warning triangle100, and rotate the central axis110of the mobile warning triangle100towards the first direction by the first predetermined angle. For example, the rotating module103can rotate the central axis110of the mobile warning triangle100towards the right side of the lane marking200by the first predetermined angle.

In one embodiment, the first predetermined angle can be defined according to the actual requirement, for example, the first predetermined angle can be 15 degrees.

Coercion mode herein means that the mobile warning triangle100has been moved away from the correct course by an external object or event such as a roadside curb, or pothole, or other characteristic of the road. When the color information detected by the sensor6is not the color of the lane marking200, the rotating module103needs to determine whether the mobile warning triangle100is in coercion mode. If the mobile warning triangle100is not in the coercion mode, the rotating module103obtains the first orientation information of the central axis110of the mobile warning triangle100and rotates the central axis110of the mobile warning triangle100to the first direction Z1by the first predetermined angle. If the mobile warning triangle100is in the coercion mode, the rotating module103determines whether the sensor6is detecting the color of the lane marking200.

In one embodiment, the mobile warning triangle100may comprise four modes, for example, a swing mode, a self-propelled mode, the coercion mode, and a manual mode. When the mobile warning triangle100is in the swing mode, the mobile warning triangle100deflects to the first direction Z1or to the second direction2by a predetermined angle to try to detect or redetect the lane marking200. When the mobile warning triangle100is in the self-propelled mode, the mobile warning triangle100moves forward. When the mobile warning triangle100is in the coercion mode, the mobile warning triangle100performs a correction opposite to the last angle of deflection, and moves forward for a first predetermined distance.

In one embodiment, the first predetermined distance can be defined according to the actual requirement, such as the first predetermined distance being 1 meter, 2 meters, and so on. When the mobile warning triangle100is in the manual mode, the mobile warning triangle100stops moving, and the mobile warning triangle100needs external force to be moved.

In one embodiment, the rotating by the rotating module103of the central axis110of the mobile warning triangle100to the first direction Z1by the first predetermined angle may comprise: performing a direction rotating on the mobile warning triangle100to the first direction Z1by the first predetermined angle and determining whether the color information detected by the sensor6is the color of the lane marking200during the rotating of the mobile warning triangle100. The direction rotating on the mobile warning triangle100when the color information detected by the sensor6is the color of the lane marking200is then stopped. That is, when the color information detected by the sensor6is the color of the lane marking200during the rotating on the mobile warning triangle100, the direction rotating on the mobile warning triangle100can be stopped, even though the actual and resulting rotating angle of the mobile warning triangle100may be less than the first predetermined angle.

In one embodiment, when the sensor6detects the color of the lane marking200during the rotating to the first direction Z1by the first predetermined angle, the rotating module103may determine that the mobile warning triangle100was previously deviating to the right of the lane marking200, and the rotating module103can control the mobile warning triangle100to stop the direction rotating and obtain the current orientation information (for example, second orientation information a2) of the central axis110of the mobile warning triangle100, as shown inFIG.4C.

The calculating module104can calculate a first deflection angle β1based on the first orientation information a1and the second orientation information a2of the central axis110of the mobile warning triangle100.

In one embodiment, as shown inFIG.4C, the acute angle formed between the first orientation information a1and the second orientation information a2is the first deflection angle β1.

In one embodiment, when the first deflection angle β1is calculated, the rotating module103can rotate again the central axis110of the mobile warning triangle100to the second direction Z2by twice the first deflection angle β1, and control the mobile warning triangle100to continue moving forward. The warning triangle100can be rotated back to the lane marking200, as shown inFIG.4D.

When the sensor6does not detect the color of the lane marking200during the rotating to the first direction Z1by the first predetermined angle, it indicates that the mobile warning triangle100may not be deviating to the right of the lane marking200, and the rotating module103can rotate the central axis110of the mobile warning triangle100to the second direction Z2by a second predetermined angle. The second predetermined angle can be greater than the first predetermined angle. For example, the second predetermined angle is twice the first predetermined angle. That is, when the mobile warning triangle100has deviated, the rotating module103can rotate the central axis110of the mobile warning triangle100towards the first direction Z1by the first predetermined angle, to try to detect the lane marking200. If the lane marking200is not detected, the mobile warning triangle100is restored to the state of the previous deviation, and the rotating module103further rotates the central axis110of the mobile warning triangle100to the second direction Z2by the first predetermined angle to try to detect or redetect the lane marking200. That is, when the mobile warning triangle100has deviated, the rotating module103controls the mobile warning triangle100, in swing mode, to swing left and right at the first predetermined angle to try to detect or redetect the lane marking200.

In one embodiment, when the sensor6detects the color of the lane marking200during the rotating to the second direction Z2by the second predetermined angle, the rotating module103may determine that the mobile warning triangle100was previously deviating to the left of the lane marking200, and the rotating module103can control the mobile warning triangle100to stop the direction rotating and obtain the current orientation information (for example, third orientation information a3) of the central axis110of the mobile warning triangle100.

In one embodiment, as shown inFIG.4B, if the mobile warning triangle100was previously deviating to the left, the rotating module103rotates the central axis110of the mobile warning triangle100to the first direction Z1by the first predetermined angle, the state of the mobile warning triangle100is shown inFIG.4E. At this time, the sensor6cannot detect the color of the lane marking200during the rotating to the first direction Z1by the first predetermined angle. The rotating module103can further rotate the central axis110of the mobile warning triangle100to the second direction Z2by the second predetermined angle, the state of the mobile warning triangle100at that time being shown inFIG.4F. At that time, the sensor6can detect or redetect the color of the lane marking200.

The calculating module104can calculate a second deflection angle β2based on the first orientation information a1and the third orientation information a3of the central axis110of the mobile warning triangle100.

In one embodiment, as shown inFIG.4F, the acute angle formed between the first orientation information a1and the third orientation information a3is the second deflection angle β2.

In one embodiment, when the second deflection angle β2is calculated, the rotating module103can rotate the central axis110of the mobile warning triangle100to the first direction Z1by two times (twice) the second deflection angle β2and control the mobile warning triangle100to continue moving forward. The warning triangle100can be rotated back to the lane marking200, as shown inFIG.4G.

When the sensor6does not detect the color of the lane marking200during the rotating to the second direction Z2by the second predetermined angle, it may indicate that the mobile warning triangle100is deviating far from the lane marking200, or that the color of the lane marking200is unclear. The second control module105can control the mobile warning triangle100to enter or to assume the coercion mode, to determine whether the sensor6can detect the color of the lane marking200in the coercion mode.

When the sensor6does not detect the color of the lane marking200during coercion mode or assumed coercion mode, it may indicate that the mobile warning triangle100is deviating far away from the lane marking200, and a manual intervention is required for the mobile warning triangle100. Thereupon, the second control module105can control the mobile warning triangle100to stop moving.

In one embodiment, when the second control module105controls the mobile warning triangle100to stop moving, a prompt can be outputted to remind a user for manual intervention. For example, the user can manually rotate the position of the mobile warning triangle100, to cause the sensor6can detect the lane marking200again.

In one embodiment, the prompt can be outputted by the mobile warning triangle100, or by an application program (APP) of the mobile warning triangle100.

For example, if the rotating module103rotates the central axis110of the mobile warning triangle100to the second direction Z2by the second predetermined angle to try to detect the lane marking20, the mobile warning triangle100will not enter the coercion mode. If the mobile warning triangle100does enter the coercion mode, the second control module105can control the mobile warning triangle100to rotate the central axis110of the mobile warning triangle100to the first direction Z1by the second predetermined angle, and move the triangle forward for the first predetermined distance.

In one embodiment, when a moving distance of the mobile warning triangle100is equal to the predetermined moving distance, this may be taken as an in-place or placement event. This means that the mobile warning triangle100has moved to a suitable distance behind the vehicle, and the second control module105can control the mobile warning triangle100to stop moving. The predetermined moving distance can be set according to the actual application, for example, the predetermined moving distance is defined as 150 meters. The mobile warning triangle100can also support a manual mode or an APP mode to define the predetermined moving distance.

In one embodiment, when the moving distance of the mobile warning triangle100is equal to the predetermined moving distance, the mobile warning triangle100can be taken as suitably placed, and the second control module104can control the mobile warning triangle100to move a second distance. Such second distance is a lateral distance, to one side or another. Thereby, the mobile warning triangle100can be actually placed or parked in a middle area of the lane300to render a warning more effective. For example, the mobile warning triangle100can move a second distance toward a left side or toward a right side by receiving a control instruction outputted by the APP, and then stop moving. The second distance can be defined according to the actual requirement, for example, the second distance is 1.5 meters.

Second Embodiment

In one embodiment, the first control module101can control the mobile warning triangle100to move forward or backward and acquire color information detected by the sensor6when the mobile warning triangle100is placed on the lane and the sensor6detects the lane marking of the lane.

The first control module101can control the mobile warning triangle100to move forward or backward when the mobile warning triangle100is placed on the lane300(as shown inFIG.4A). The sensor6can detect the lane marking200(as shown inFIG.4A). The sensor6can acquire the color information when the mobile warning triangle100is moving forward or backward.

In one embodiment, the lane markings200of the road are white and yellow. Along an expressway or a provincial highway, the lane markings200are white markings and yellow markings, the road itself is black. There is a significant difference in color between the road and the lane markings200. The sensor6can easily detect and identify the lane markings200. When a vehicle is considered to be an obstacle on the road, the mobile warning triangle100is raised at the first predetermined distance from the stationary vehicle to warn other vehicles. A user can place the mobile warning triangle100on the lane300in which the vehicle is stationary, and aim the sensor6at the lane marking200of the lane300. The sensors6can detect the lane marking200to control the mobile warning triangle100to move forward along the lane marking200. When the mobile warning triangle100is placed on the lane300and the sensor6detects the lane marking200of the lane300, the first control module101controls the mobile warning triangle100to move forward. When the mobile warning triangle100is moving, the first control module101can obtain the color information detected by the sensors6in real time to determine a lane departure by the mobile warning triangle100.

The determining module102determines whether the color information detected by the sensor6is the color of the lane marking200.

In one embodiment, when the first control module101obtains the color information detected by the sensor6, the determining module102can determine whether the color information detected by the sensor6is the one color of the lane marking200.

In one embodiment, when the determining module102determines that the color information detected by the sensor6is the color of the lane marking200, the mobile warning triangle100is deemed to be still moving forward along the lane marking200. There is an absence of deviation of the mobile warning triangle100noted, and the first control module101controls the mobile warning triangle100to continue moving forward.

The rotating module103obtains a first orientation information a1of a central axis110of the mobile warning triangle100and rotates the central axis110of the mobile warning triangle100to a second direction by a first predetermined angle when the color information detected by the sensor6is not the color of the lane marking200.

In one embodiment, as shown inFIG.4A, a first direction Z1can be a right side of the mobile warning triangle100, and the second direction Z2can be a left side of the mobile warning triangle100. When the determining module102determines that the color information detected by the sensor6is not the color of the lane marking200. As shown inFIG.4aandFIG.4B, the mobile warning triangle100is not moving forward along the lane marking200(that is, it is deviating to the left or to the right), the control device4may determine that a deviation has occurred in a moving direction of the mobile warning triangle100. In order to determine whether the mobile warning triangle100is deviating to the left of the lane marking200or to the right of the lane marking200, the rotating module103can obtain the current orientation information (for example, first orientation information a1) of the central axis110of the mobile warning triangle100and rotate the moving direction of the mobile warning triangle100to the second direction by the first predetermined angle. For example, the rotating module103can rotate the central axis110of the mobile warning triangle100towards the left side of the lane marking200, by the first predetermined angle.

In one embodiment, the first predetermined angle can be defined according to the actual requirement, for example, the first predetermined angle is 15 degrees.

When the color information detected by the sensor6is not the color of the lane marking200, the rotating module103needs to determine whether the mobile warning triangle100is in a coercion mode. If the mobile warning triangle100is not in the coercion mode, the rotating module103obtains the first orientation information a1of the central axis110of the mobile warning triangle100and rotates the central axis110of the mobile warning triangle100to the second direction Z2by the first predetermined angle. If the mobile warning triangle100is in the coercion mode, the rotating module103determines whether the sensor6detects the color of the lane marking200in the coercion mode again.

In one embodiment, when the sensor6detects the color of the lane marking200during the rotating to the second direction Z2by the first predetermined angle, the rotating module103may determine that the mobile warning triangle100has previously deviated to the left of the lane marking200, and the rotating module103can control the mobile warning triangle100to stop the direction rotating and obtain the current orientation information (for example, second orientation information a2) of the central axis110of the mobile warning triangle100.

The calculating module104can calculate a first deflection angle β1based on the first orientation information a1and the second orientation information a2of the central axis110of the mobile warning triangle100.

In one embodiment, when the first deflection angle β1is calculated, the rotating module103can rotate the central axis110of the mobile warning triangle100to the first direction Z1by twice the first deflection angle β1and control the mobile warning triangle100to continue moving forward. The path of the warning triangle100can be rotated back to the lane marking200.

In one embodiment, when the sensor6does not detect the color of the lane marking200during the rotating to the second direction Z2by the first predetermined angle, the rotating module103further controls the mobile warning triangle100to rotate the central axis110of the mobile warning triangle100to the first direction Z1by the second predetermined angle.

When the sensor6does not detect the color of the lane marking200during the rotating to the second direction Z2by the first predetermined angle, it indicates that the mobile warning triangle100may not be deviating to the left of the lane marking200, and the rotating module103can rotate the central axis110of the mobile warning triangle100to the first direction Z1by a second predetermined angle. The second predetermined angle can be greater than the first predetermined angle. For example, the second predetermined angle is twice the first predetermined angle. That is, when the mobile warning triangle100is deviating, the rotating module103can rotate the central axis110of the mobile warning triangle100to the second direction Z2by the first predetermined angle, to try to detect or redetect the lane marking200. If the lane marking200is not detected, the mobile warning triangle100is recover to the previous state of deviation, and the rotating module103further rotates the central axis110of the mobile warning triangle100to the first direction Z1by the first predetermined angle, to try to detect or redetect the lane marking200. That is, when the mobile warning triangle100is deviating, the rotating module103controls the mobile warning triangle100to deflect or swing left and right at the first predetermined angle to try to detect the lane marking200.

In one embodiment, when the sensor6detects the color of the lane marking200during the rotating to the first direction Z1by the second predetermined angle, the rotating module103may determine that the mobile warning triangle100has previously deviated to the right of the lane marking200. The rotating module103can control the mobile warning triangle100to stop the direction rotating and obtain the current orientation information (for example, third orientation information a3) of the central axis110of the mobile warning triangle100.

The calculating module104can calculate a second deflection angle β2based on the first orientation information a1and the third orientation information a3of the central axis110of the mobile warning triangle100.

In one embodiment, when the second deflection angle β2is calculated, the rotating module103can rotate the central axis110of the mobile warning triangle100to the second direction Z2by twice the second deflection angle β2and control the mobile warning triangle100to continue moving forward. The path of the warning triangle100can be rotated back to the lane marking200.

When the sensor6does not detect the color of the lane marking200during the rotating to the first direction Z1by the second predetermined angle, it may indicate that the mobile warning triangle100has deviated far from the lane marking200, or that the color of the lane marking200is unclear. The second control module105can control the mobile warning triangle100to enter the coercion mode, to determine whether the sensor6can detect the color of the lane marking200in the coercion mode.

When the sensor6does not detect the color of the lane marking200when in the coercion mode, it may indicate that the mobile warning triangle100has deviated far away from the lane marking200, and a manual intervention is required for the mobile warning triangle100. The second control module105can control the mobile warning triangle100to stop moving.

FIG.5illustrates one exemplary embodiment of a method for controlling the motion of the mobile warning triangle100. The flowchart presents an exemplary embodiment of the method. The exemplary method is provided by way of example, as there are a variety of ways to carry out the method. The method described below can be carried out using the configurations illustrated inFIG.3, for example, and various elements of these figures are referenced in explaining the example method. Each step shown inFIG.5may represent one or more processes, methods, or subroutines, carried out in the example method. Furthermore, the illustrated order of steps is illustrative only and the order of the steps can change. Additional steps can be added or fewer steps may be utilized, without departing from this disclosure. The example method can begin at block500.

In block500, the mobile warning triangle100is controlled to move forward and acquire color information detected by the sensor6when the mobile warning triangle100is placed on a road and the sensor6detects a lane marking200of the road.

In block502, the color information detected by the sensor6is determined to meet a color of the lane marking200or not.

In block504, the mobile warning triangle100is controlled to continue moving forward when the color information detected by the sensor6is the color of the lane marking200.

In block506, first orientation information of a central axis110of the mobile warning triangle100is obtained and the central axis110of the mobile warning triangle100is rotated to a first direction by a first predetermined angle when the color information detected by the sensor6is other than the color of the lane marking200.

In block508, the mobile warning triangle100is controlled to stop rotating the central axis110to the first direction Z1and second orientation information of the central axis110of the mobile warning triangle100is obtained when the sensor6detects the color of the lane marking200during the rotating of the mobile warning triangle100to the first direction Z1by the first predetermined angle.

In block510, a first deflection angle is calculated based on the first orientation information and the second orientation information of the central axis110of the mobile warning triangle100.

In block512, the central axis110of the mobile warning triangle100is rotated to the second direction Z2by twice the first deflection angle and the mobile warning triangle is controlled to continue moving forward.

In block514, the central axis110of the mobile warning triangle100is rotated to the second direction Z2by the second predetermined angle when the sensor6does not detect the color of the lane marking200during the rotating of the mobile warning triangle to the first direction by the first predetermined angle.

In block516, the mobile warning triangle100is controlled to stop rotating the central axis110to the second direction Z2and a third orientation information of the central axis110of the mobile warning triangle100is obtained when the sensor6detects the color of the lane marking200during the rotating of the mobile warning triangle100to the second direction Z2by the second predetermined angle.

In block518, a second deflection angle is calculated based on the first orientation information and the third orientation information of the central axis110of the mobile warning triangle100.

In block520, the central axis110of the mobile warning triangle100is rotated to the first direction Z1by twice the second deflection angle and the mobile warning triangle100is controlled to continue moving forward.