CN111127915A - Emergency vehicle multi-intersection absolute priority control method and device and storage medium - Google Patents
Emergency vehicle multi-intersection absolute priority control method and device and storage medium Download PDFInfo
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- CN111127915A CN111127915A CN201911406428.5A CN201911406428A CN111127915A CN 111127915 A CN111127915 A CN 111127915A CN 201911406428 A CN201911406428 A CN 201911406428A CN 111127915 A CN111127915 A CN 111127915A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
Abstract
The invention provides an absolute priority control method and device for multiple intersections of an emergency vehicle and a storage medium. According to the invention, through map matching and communication between the emergency vehicle and roadside equipment, the intercommunication and interconnection between the vehicle and the road are realized, and the time delay and the error for realizing intersection signal control according to the GPS position are reduced; and meanwhile, a plurality of intersection annunciators in a communication range are controlled, so that the problem that the vehicles in a queue cannot be dissipated timely by controlling the single intersections one by one on the emergency vehicle running path under the condition of high traffic flow is solved.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to an absolute priority control method and device for multiple intersections of an emergency vehicle and a storage medium.
Background
As shown in fig. 1, the emergency vehicle has an absolute priority right of passage at the signalized intersection, which is a main means for improving the efficiency of passage of the emergency vehicle. At present, the existing control scheme of the priority traffic signal at the intersection of the emergency vehicle is based on a vehicle real-time GPS, the intersection in the current driving direction is determined by matching a vehicle positioning point with an electronic map of the intersection, and a priority request message is sent to realize the regulation and control of a signal lamp of the intersection.
However, the method only realizes the one-by-one control of the single intersections on the driving route of the emergency vehicles, queuing phenomena can exist at a plurality of continuous intersections of the main road during the peak time of traffic flow, and the queuing can not be cleared in time due to the one-by-one control of the intersections, so that the passing efficiency of the emergency vehicles is reduced. Therefore, it is necessary to provide a further solution to the above problems.
Disclosure of Invention
The invention aims to provide an absolute priority control method, device and storage medium for multiple intersections of an emergency vehicle, so as to overcome the defects in the prior art.
In order to achieve the aim, the invention provides an absolute priority control method for multiple intersections of an emergency vehicle, which comprises the following steps:
s1, selecting a path with the shortest travel distance between the starting point and the ending point of the emergency vehicle as a target, generating a shortest path, a crossing ID and a roadside device sequence on the shortest path, and generating priority request information;
s2, matching GPS positioning points of emergency vehicles with map information in real time by analyzing the map information and signal phase information sent by road side equipment, matching target path tracks with IDs (identity) of four corresponding entering directions of each configured intersection, and judging the ID of the current intersection;
s3, locking a plurality of intersections on a path in a communication range, and simultaneously executing signal priority tasks of the intersections according to priority request information;
s4, detecting whether the vehicle is driven away from the stop line of the locked intersection, if so, unlocking the phase control of the intersection and returning to the initial state;
s5, detecting whether the intersection is the last intersection on the path or not, if so, ending the process; otherwise, it returns to step S2.
As an improvement of the emergency vehicle multi-intersection absolute priority control method of the present invention, the step S1 further includes:
the method comprises the steps of obtaining the starting and ending points of emergency vehicles, configuring each intersection ID, a signal machine and road side equipment bound correspondingly, selecting a path with the shortest travel distance between the starting and ending points of the emergency vehicles as a target, generating the shortest path, intersection IDs and road side equipment sequences on the shortest path, and generating priority request information.
As an improvement of the emergency vehicle multi-intersection absolute priority control method of the present invention, the step S2 further includes:
judging whether the vehicle drives away from the specified route or not through the matching of the GPS and the map information;
if the vehicle is traveling along the predetermined route, step S3 is executed;
if the vehicle deviates from the driving route, the current position information is analyzed, the shortest route is planned again, and the step S1 is repeated.
As an improvement of the emergency vehicle multi-intersection absolute priority control method of the present invention, the step S3 further includes:
the emergency vehicle transmits the priority request information to the road side equipment in the communication range, and the road side equipment locks a plurality of intersections on a path in the communication range by analyzing the priority request information and simultaneously executes signal priority tasks of the intersections according to the priority request information.
The improvement of the absolute priority control method for the multi-intersection of the emergency vehicle is that whether the vehicle is driven away from the stop line of the locked intersection or not is detected according to basic information sent by the emergency vehicle.
As an improvement of the emergency vehicle multi-intersection absolute priority control method of the present invention, the basic information includes: position, speed, direction of travel of the emergency vehicle.
As an improvement of the absolute priority control method for multiple intersections of an emergency vehicle, the step of detecting whether the vehicle is driven away from a stop line of a locked intersection comprises the following steps:
if the emergency vehicle driving direction is a green light phase, controlling a signaler to prolong the green light time, receiving basic information, and switching to an original intersection signal timing scheme after prolonging the green light preset time when detecting that the emergency vehicle drives away from the intersection stop line through map matching;
if the emergency vehicle driving direction is the red light phase, the control signal machine is switched to the green light phase, basic information is received, and when the emergency vehicle is detected to drive away from the intersection stop line through map matching, the green light preset time is prolonged, and then the original intersection signal timing scheme is switched;
and if the emergency vehicle driving direction is the yellow light phase, the control signal machine is switched to the green light phase, the basic information is received, and when the emergency vehicle is detected to drive away from the stop line of the intersection through map matching, the green light preset time is prolonged, and then the original intersection signal timing scheme is switched.
As an improvement of the emergency vehicle multi-intersection absolute priority control method of the present invention, detecting whether the vehicle has driven off the stop line of the locked intersection further comprises:
sequencing task information in a signal priority information table of the intersection according to information updating time;
if the updating time of two or more pieces of task information is consistent, the priority levels of the task information are detected, and the task information is arranged according to the priority levels from high to low.
In order to achieve the above object, the present invention provides an absolute priority control apparatus for a multi-intersection of an emergency vehicle, comprising: the device comprises a memory and a processor connected with the memory;
the memory stores instructions, and the processor executes the instructions stored in the memory according to the emergency vehicle multi-intersection absolute priority control method.
To achieve the above object, the present invention provides a storage medium storing instructions for loading by a processor to execute the emergency vehicle multi-intersection absolute priority control method as described above.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, through map matching and communication between the emergency vehicle and roadside equipment, the intercommunication and interconnection between the vehicle and the road are realized, and the time delay and the error for realizing intersection signal control according to the GPS position are reduced; and meanwhile, a plurality of intersection annunciators in a communication range are controlled, so that the problem that the vehicles in a queue cannot be dissipated timely by controlling the single intersections one by one on the emergency vehicle running path under the condition of high traffic flow is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic illustration of an intersection on a path within communication range of an emergency vehicle, wherein circles represent communication ranges;
fig. 2 is a schematic operation flow diagram of an embodiment of an absolute priority control method for multiple intersections of an emergency vehicle according to the present invention.
Detailed Description
The present invention is described in detail below with reference to various embodiments, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should be able to make modifications and substitutions on the functions, methods, or structures of these embodiments without departing from the scope of the present invention.
In order to realize the method of the embodiment, the emergency vehicle can be provided with a vehicle-mounted unit OBU, supports V2X communication, transmits layer messages (SAE J2735-2017), generates and broadcasts basic messages to the outside to receive and analyze map messages. The vehicle can be accessed to realize the monitoring of the vehicle state; judging the current position and the driving path of the vehicle in real time; when the vehicle enters the intersection, the road side equipment is requested to pass preferentially and confirmed.
Road side units RSU can be installed at intersections of signalized intersections to support V2X communication, and signaling timing schemes of transport layer messages (SAE J2735-2016) (SNMP real-time communication, OID sending) read, receive and analyze basic safety messages to adaptively and dynamically coordinate, control and process map information broadcasting. The annunciator can be accessed to realize read-write control on the annunciator; broadcasting the state of the current signal machine, and knowing the vehicles in the coverage area; and receiving a priority passing request of the emergency vehicle, and adjusting the phase of the signal machine to meet the priority passing requirement of the driving direction of the vehicle.
The annunciator can support SNMP and UDP real-time communication and is based on OID signal control.
As shown in fig. 2, the emergency vehicle multi-intersection absolute priority control method according to the embodiment includes the following steps:
s1, selecting the path with the shortest travel distance between the start point and the end point of the emergency vehicle as a target, generating the shortest path, the intersection ID and the road side equipment sequence on the shortest path, and generating priority request information at the same time.
The step S1 further includes: the method comprises the steps of obtaining the starting and ending points of emergency vehicles, configuring each intersection ID, a signal machine and road side equipment bound correspondingly, selecting a path with the shortest travel distance between the starting and ending points of the emergency vehicles as a target, generating the shortest path, intersection IDs and road side equipment sequences on the shortest path, and generating priority request information.
The priority request information comprises a road side equipment sequence, intersection IDs, phase requests and priority levels.
S2, matching the GPS positioning point of the emergency vehicle with the map information in real time by analyzing the map information and the signal phase information sent by the road side equipment, matching the target path track with the configured IDs of four entering directions corresponding to each intersection, and judging the ID of the current intersection.
The step S2 further includes:
judging whether the vehicle drives away from the specified route or not through the matching of the GPS and the map information;
if the vehicle is traveling along the predetermined route, step S3 is executed;
if the vehicle deviates from the driving route, the current position information is analyzed, the shortest route is planned again, and the step S1 is repeated. In this way, priority request information is generated simultaneously with the generation of new shortest path and intersection ID and roadside device sequence on the shortest path
And S3, locking a plurality of intersections on the path in the communication range, and simultaneously executing signal priority tasks of the intersections according to the priority request information.
The step S3 further includes: the emergency vehicle transmits the priority request information to the road side equipment in the communication range, and the road side equipment locks a plurality of intersections on a path in the communication range by analyzing the priority request information and simultaneously executes signal priority tasks of the intersections according to the priority request information.
And S4, detecting whether the vehicle is driven away from the stop line of the locked intersection, and if the vehicle is driven away, unlocking the phase control of the intersection and returning to the initial state.
Specifically, whether the vehicle is driven away from a stop line of a locked intersection is detected according to basic information sent by the emergency vehicle. Wherein the basic information includes: position, speed, direction of travel of the emergency vehicle. Based on this, detecting whether the vehicle is driving off of the locked intersection stop line comprises:
if the emergency vehicle driving direction is a green light phase, controlling a signaler to prolong the green light time, receiving basic information, and switching to an original intersection signal timing scheme after prolonging the green light preset time when detecting that the emergency vehicle drives away from the intersection stop line through map matching;
if the emergency vehicle driving direction is the red light phase, the control signal machine is switched to the green light phase, basic information is received, and when the emergency vehicle is detected to drive away from the intersection stop line through map matching, the green light preset time is prolonged, and then the original intersection signal timing scheme is switched;
and if the emergency vehicle driving direction is the yellow light phase, the control signal machine is switched to the green light phase, the basic information is received, and when the emergency vehicle is detected to drive away from the stop line of the intersection through map matching, the green light preset time is prolonged, and then the original intersection signal timing scheme is switched.
The preset time may be three seconds.
Further, detecting whether the vehicle is driven off the locked intersection stop line further comprises:
sequencing task information in a signal priority information table of the intersection according to information updating time;
if the updating time of two or more pieces of task information is consistent, the priority levels of the task information are detected, and the task information is arranged according to the priority levels from high to low.
S5, detecting whether the intersection is the last intersection on the path or not, if so, ending the process; otherwise, it returns to step S2. It should be noted that steps S4 and S5 may be executed sequentially or in parallel.
Based on the same technical concept, the invention also provides an absolute priority control device for multiple intersections of an emergency vehicle, which comprises: a memory and a processor coupled to the memory. The memory stores instructions, and the processor executes the instructions stored in the memory according to the emergency vehicle multi-intersection absolute priority control method.
Based on the same technical concept, the invention also provides a storage medium, wherein the storage medium stores instructions for being loaded by a processor to execute the emergency vehicle multi-intersection absolute priority control method.
In conclusion, the invention realizes the intercommunication and interconnection between the vehicle and the road through the map matching and the communication between the emergency vehicle and the road side equipment, and reduces the time delay and the error for realizing the intersection signal control according to the GPS position; and meanwhile, a plurality of intersection annunciators in a communication range are controlled, so that the problem that the vehicles in a queue cannot be dissipated timely by controlling the single intersections one by one on the emergency vehicle running path under the condition of high traffic flow is solved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. An absolute priority control method for multiple intersections of an emergency vehicle is characterized by comprising the following steps:
s1, selecting a path with the shortest travel distance between the starting point and the ending point of the emergency vehicle as a target, generating a shortest path, a crossing ID and a roadside device sequence on the shortest path, and generating priority request information;
s2, matching GPS positioning points of emergency vehicles with map information in real time by analyzing the map information and signal phase information sent by road side equipment, matching target path tracks with IDs (identity) of four corresponding entering directions of each configured intersection, and judging the ID of the current intersection;
s3, locking a plurality of intersections on a path in a communication range, and simultaneously executing signal priority tasks of the intersections according to priority request information;
s4, detecting whether the vehicle is driven away from the stop line of the locked intersection, if so, unlocking the phase control of the intersection and returning to the initial state;
s5, detecting whether the intersection is the last intersection on the path or not, if so, ending the process; otherwise, it returns to step S2.
2. The emergency vehicle multi-intersection absolute priority control method according to claim 1, wherein the step S1 further comprises:
the method comprises the steps of obtaining the starting and ending points of emergency vehicles, configuring each intersection ID, a signal machine and road side equipment bound correspondingly, selecting a path with the shortest travel distance between the starting and ending points of the emergency vehicles as a target, generating the shortest path, intersection IDs and road side equipment sequences on the shortest path, and generating priority request information.
3. The emergency vehicle multi-intersection absolute priority control method according to claim 1, wherein the step S2 further includes:
judging whether the vehicle drives away from the specified route or not through the matching of the GPS and the map information;
if the vehicle is traveling along the predetermined route, step S3 is executed;
if the vehicle deviates from the driving route, the current position information is analyzed, the shortest route is planned again, and the step S1 is repeated.
4. The emergency vehicle multi-intersection absolute priority control method according to claim 1, wherein the step S3 further comprises:
the emergency vehicle transmits the priority request information to the road side equipment in the communication range, and the road side equipment locks a plurality of intersections on a path in the communication range by analyzing the priority request information and simultaneously executes signal priority tasks of the intersections according to the priority request information.
5. The emergency vehicle multi-intersection absolute priority control method according to claim 1, characterized by detecting whether the vehicle is driven off a stop line of a locked intersection or not according to basic information sent by the emergency vehicle.
6. The emergency vehicle multi-intersection absolute priority control method according to claim 5, wherein the basic information includes: position, speed, direction of travel of the emergency vehicle.
7. The emergency vehicle multi-intersection absolute priority control method according to any one of claims 1, 5 or 6, wherein detecting whether the vehicle has driven off a locked intersection stop line comprises:
if the emergency vehicle driving direction is a green light phase, controlling a signaler to prolong the green light time, receiving basic information, and switching to an original intersection signal timing scheme after prolonging the green light preset time when detecting that the emergency vehicle drives away from the intersection stop line through map matching;
if the emergency vehicle driving direction is the red light phase, the control signal machine is switched to the green light phase, basic information is received, and when the emergency vehicle is detected to drive away from the intersection stop line through map matching, the green light preset time is prolonged, and then the original intersection signal timing scheme is switched;
and if the emergency vehicle driving direction is the yellow light phase, the control signal machine is switched to the green light phase, the basic information is received, and when the emergency vehicle is detected to drive away from the stop line of the intersection through map matching, the green light preset time is prolonged, and then the original intersection signal timing scheme is switched.
8. The method of absolute priority control for an emergency vehicle multi-intersection of claim 7, wherein detecting whether the vehicle has driven off of a locked intersection stop line further comprises:
sequencing task information in a signal priority information table of the intersection according to information updating time;
if the updating time of two or more pieces of task information is consistent, the priority levels of the task information are detected, and the task information is arranged according to the priority levels from high to low.
9. An emergency vehicle multi-intersection absolute priority control apparatus, comprising: the device comprises a memory and a processor connected with the memory;
the memory has instructions stored therein that are executed by the processor in accordance with the emergency vehicle multi-intersection absolute priority control method of any one of claims 1-8.
10. A storage medium storing instructions for loading by a processor to perform the emergency vehicle multi-intersection absolute priority control method of any one of claims 1-8.
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| CN112927525A (en) * | 2021-05-11 | 2021-06-08 | 华砺智行(武汉)科技有限公司 | Signal lamp phase distribution method and device under intelligent networking environment and storage medium |
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Application publication date: 20200508 |