CN115810263B - Emergency vehicle avoiding method and device - Google Patents

Abstract

The application provides an emergency vehicle avoiding method and device, wherein the method comprises the steps that when a service end detects an emergency vehicle avoiding request, a road vehicle distribution diagram in a road area where an emergency vehicle is located is generated through running data of the emergency vehicle and running data of an ordinary vehicle in the road area where the emergency vehicle is located, an emergency running channel is planned on the road vehicle distribution diagram according to the vehicle position and the running direction of the emergency vehicle, a target avoiding position of at least one ordinary vehicle is determined on the road vehicle distribution diagram according to the vehicle type and the vehicle position of at least one ordinary vehicle on the emergency running channel, and an avoiding instruction is sent to the ordinary vehicle occupying the emergency running channel. Therefore, the scheme is characterized in that an emergency running channel is planned in advance, and an avoidance command is continuously sent to a common vehicle occupying the emergency running channel, so that the emergency running channel is ensured to be smooth, and the emergency vehicle can be effectively ensured to execute an emergency task in time.

Description

Emergency vehicle avoiding method and device

Technical Field

The application relates to the technical field of highway cooperative management, in particular to an emergency vehicle avoiding method and device.

Background

In current social traffic, emergency vehicles (such as ambulances, engineering emergency vehicles, fire trucks and the like) can only remind the front common vehicle to avoid through warning lights and warning sounds in the running process, but the front common vehicle can accurately know the running lane of the emergency vehicle and accurately avoid according to the running lane of the emergency vehicle only when the front common vehicle is very close to the emergency vehicle, so that the normal running of the emergency vehicle is delayed, and the emergency vehicle is influenced to timely execute emergency tasks. Moreover, if the vehicles in each lane are more and travel slowly when the traffic peak is met, the common vehicles in each lane are not uniformly coordinated to avoid when the emergency vehicles are avoided, so that each lane is occupied by the common vehicles, the emergency vehicles can only be clamped in the common vehicles to slowly travel, and particularly when the traffic intersection in front is red, all the lanes are occupied by the common vehicles, so that the emergency vehicles can only wait for a green light to pass along with the common vehicles, the travel of the emergency vehicles is seriously delayed, and the emergency vehicles cannot timely execute emergency tasks.

In view of the foregoing, there is a need for an emergency vehicle avoidance method for effectively ensuring that an emergency vehicle can timely execute an emergency task.

Disclosure of Invention

The application provides an emergency vehicle avoiding method and device, which are used for effectively ensuring that an emergency vehicle can timely execute an emergency task.

In a first aspect, in an exemplary embodiment of the present application, there is provided an emergency vehicle avoidance method, including:

when detecting an avoidance request of an emergency vehicle, a service end generates a road vehicle distribution map in a road area where the emergency vehicle is located through the driving data of the emergency vehicle and the driving data of a common vehicle in the road area where the emergency vehicle is located; the avoidance request is generated in real time by the emergency vehicle in the process of executing an emergency task; the driving data comprise a vehicle type, a vehicle position and a driving direction;

The service end plans an emergency running channel for assisting the emergency vehicle to normally run on the road vehicle distribution map according to the vehicle position and the running direction of the emergency vehicle;

The service end determines a target avoiding position of at least one common vehicle on the road vehicle distribution map according to the vehicle type and the vehicle position of the at least one common vehicle on the emergency running channel; the target avoidance position is not located within the emergency travel path;

for each common vehicle positioned on the emergency running channel, the service end sends an avoidance instruction to the common vehicle; the avoidance command is used for indicating the common vehicle to travel from the emergency travel channel to a target avoidance position of the common vehicle.

According to the technical scheme, as the common vehicle positioned in front of the emergency vehicle in the prior art can accurately know the driving lane of the emergency vehicle and accurately avoid the emergency vehicle according to the driving lane of the emergency vehicle only when the common vehicle is very close to the emergency vehicle, the normal driving of the emergency vehicle is delayed, and the emergency vehicle can be influenced to timely execute an emergency task. Based on the above, the technical scheme of the application designs an emergency running channel in advance by combining the running data of the emergency vehicle and the running data of the common vehicle in the road area where the emergency vehicle is located, so that the emergency vehicle can be ensured to pass through in time, delay of the time for executing the emergency task for the emergency vehicle is reduced, and the emergency vehicle can be effectively ensured to execute the emergency task in time. Specifically, when the service end detects the avoidance request of the emergency vehicle, the road vehicle distribution map with the current real running state of each vehicle can be timely and accurately generated according to the running data of the emergency vehicle and the running data of the common vehicle in the road area where the emergency vehicle is located, so that the planning of the emergency running channel can be accurately carried out on the road vehicle distribution map. According to the vehicle position and the driving direction of the emergency vehicle, an emergency driving channel for assisting the normal passing of the emergency vehicle can be accurately planned in advance on the road vehicle distribution map, and according to the vehicle type and the vehicle position of at least one common vehicle on the emergency driving channel, the target avoiding position of the at least one common vehicle is determined on the road vehicle distribution map, so that an avoiding instruction can be continuously sent to each common vehicle on the emergency driving channel, the common vehicle can leave the emergency driving channel as soon as possible to drive to the target avoiding position of the common vehicle, the common vehicle occupying the emergency driving channel can effectively avoid, the emergency driving channel can be ensured to be smooth, and the emergency vehicle can be effectively ensured to pass through the emergency driving channel in time.

In some exemplary embodiments, the generating the road-vehicle distribution map in the road area where the emergency vehicle is located by using the driving data of the emergency vehicle and the driving data of the normal vehicle in the road area where the emergency vehicle is located includes:

And the service end performs fitting processing on the driving data of the emergency vehicle, the driving data of the common vehicle in the road area where the emergency vehicle is located and a traffic road map to generate the road vehicle distribution map.

According to the technical scheme, in order to accurately plan the emergency running channel, the traffic road map is fitted with the running data of the emergency vehicle and the running data of the common vehicle in the road area where the emergency vehicle is located, so that the traffic road map can intuitively and clearly present the vehicle running data information, the emergency running channel is accurately planned on the traffic road map with the vehicle running data, and then the common vehicle occupying the emergency running channel can be known to effectively avoid according to the road vehicle distribution diagram, so that the common vehicle occupying the emergency running channel can timely and effectively avoid, and the emergency vehicle can timely and smoothly pass through the emergency running channel.

In some exemplary embodiments, the server plans an emergency driving channel for assisting the emergency vehicle to normally pass on the road-vehicle distribution map according to the vehicle position and the driving direction of the emergency vehicle, including:

If the service end determines that the lane where the emergency vehicle is located is any one of two lanes in the same driving direction, the vehicle position of the emergency vehicle is taken as a planning starting point, a first emergency driving channel with a set distance range is planned in the middle area of the two lanes along the driving direction of the emergency vehicle on the road vehicle distribution map, or a second emergency driving channel with a set distance range is planned in the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map;

And if the service end determines that the lane where the emergency vehicle is located is any one of at least three lanes in the same driving direction, a third emergency driving channel with a set distance range is planned on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map by taking the vehicle position of the emergency vehicle as a planning starting point.

According to the technical scheme, on the road vehicle distribution map, the emergency running channel with the set range can be effectively planned along the current running direction of the emergency vehicle based on the lane type (such as two lanes or at least three lanes) where the emergency vehicle is located and by taking the current position of the emergency vehicle as a planning starting point, and the emergency running channel is used for ensuring that the emergency vehicle can quickly pass through the road area, so that the situation that the road where the emergency vehicle is located cannot pass through in time due to the fact that the emergency vehicle is occupied by a common vehicle is avoided, and certain loss and harm caused by the fact that the emergency vehicle misses the optimal time for executing an emergency task are avoided.

In some exemplary embodiments, the service end determines a target avoidance position of at least one common vehicle on the road-vehicle distribution map according to a vehicle type and a vehicle position of the at least one common vehicle on the emergency driving channel, including:

for each first common vehicle positioned on the first emergency running channel, the service end determines an avoidance direction of the first common vehicle according to the vehicle type and the vehicle position of the first common vehicle, and determines a target avoidance position of the first common vehicle in the avoidance direction of the first common vehicle;

For each second common vehicle positioned on the second emergency running channel, the service end determines the avoiding direction of the second common vehicle according to the vehicle type and the vehicle position of the second common vehicle, and determines the target avoiding position of the second common vehicle in the avoiding direction of the second common vehicle;

For each third common vehicle located on the third emergency running channel, the service end determines an avoidance direction of the third common vehicle according to the vehicle type and the vehicle position of the third common vehicle, and determines a target avoidance position of the third common vehicle in the avoidance direction of the third common vehicle.

According to the technical scheme, according to the vehicle type and the vehicle position of each common vehicle on the emergency running channel, the avoidance direction of the common vehicle can be accurately determined by combining the road vehicle distribution diagram, and the target avoidance position of the common vehicle can be accurately determined in the avoidance direction of the common vehicle, so that the service end can conveniently and effectively command the common vehicle to move in the specific direction and the position where the avoidance position is moved, and therefore, each common vehicle occupying the emergency running channel can know how to effectively avoid, and further, the emergency running channel can be effectively ensured to be smooth, and the emergency vehicle can quickly pass through the emergency running channel.

In some exemplary embodiments, before sending the avoidance command to the ordinary vehicle, the method further includes:

If the lane in which the emergency vehicle is located is a left-hand lane of two lanes or at least three lanes and the situation of the emergency vehicle on the left-hand lane meets the priority traffic condition, the service end sends a priority traffic request to traffic signal control equipment of the traffic intersection; the priority traffic request is used for indicating the traffic signal control equipment to adjust the traffic signal period of the left-turn lane according to traffic phase operation information so as to enable the common vehicles and the emergency vehicles in the left-turn lane to pass preferentially.

In some exemplary embodiments, the method further comprises:

If the lane in which the emergency vehicle is located is a straight lane in two lanes or at least three lanes and the situation of the emergency vehicle on the straight lane meets the priority traffic condition, the service end sends a priority traffic request to traffic signal control equipment of the traffic intersection; the priority traffic request is used for indicating the traffic signal control equipment to adjust the traffic signal period of the straight lane according to the traffic phase operation information so as to enable the common vehicles and the emergency vehicles in the straight lane to pass preferentially.

In some exemplary embodiments, the method further comprises:

If the lane in which the emergency vehicle is located is a right-turn lane in at least three lanes and the situation of the emergency vehicle on the right-turn lane meets the priority traffic condition, the service end sends a priority traffic request to traffic signal control equipment of the traffic intersection; the priority traffic request is used for indicating the traffic signal control equipment to adjust the traffic signal period of the right-turn lane according to traffic phase operation information so as to enable the ordinary vehicles and the emergency vehicles in the right-turn lane to pass preferentially.

In some exemplary embodiments, the preferential traffic condition is that a distance between a vehicle position of the emergency vehicle and a traffic intersection on a lane where the emergency vehicle is located is less than or equal to a distance threshold value and a traffic signal state on the lane where the emergency vehicle is located is no longer in traffic.

In the above technical solution, if the traffic signal state of the traffic intersection in front of the lane where the emergency vehicle is located (such as a left turn lane, a straight run lane or a right turn lane) is prohibited from passing during the running of the emergency vehicle, the normal vehicle occupying all lanes where the emergency vehicle passes and waiting for passing cannot timely and effectively avoid, so that the emergency vehicle is delayed from passing due to waiting for the passing signal. Based on the traffic signal, the service end can send a request for preferential passing to the traffic signal control equipment at the traffic intersection when determining that the traffic signal state of the lane where the emergency vehicle is located is forbidden, so that delay caused by waiting for a traffic release signal of the emergency vehicle is reduced, and the traffic efficiency of the emergency vehicle is improved to the greatest extent. Specifically, when the service side determines that the traffic signal state of the traffic intersection in front of the lane where the emergency vehicle is located is forbidden to pass on the road-vehicle distribution map according to the current vehicle position of the emergency vehicle, and the distance between the current vehicle position of the emergency vehicle and the traffic intersection in the lane where the emergency vehicle is located is smaller than or equal to the distance threshold value, the service side can send a priority passing request to the traffic signal control device of the traffic intersection so as to instruct the traffic signal control device to adjust the traffic signal period in the lane where the emergency vehicle is located according to the traffic phase operation information, so that the traffic signal state of the traffic intersection in front of the lane where the emergency vehicle is located can be changed into a passing state as soon as possible, so that the common vehicle occupying all the lanes where the emergency vehicle is located can be passed through as soon as possible, and the traffic delay of the emergency vehicle caused by the fact that the common vehicle occupying all the lanes waiting to be passed through cannot be effectively avoided can be reduced as soon as possible.

In some exemplary embodiments, for any traffic road, at least one roadside device is disposed on the traffic road; each road side device is used for being in communication connection with an emergency vehicle or a common vehicle passing through the road side device and is used for being in communication connection with the service end;

Before detecting the avoidance request of the emergency vehicle, further comprising:

And the service end receives the driving data uploaded by the emergency vehicle or the common vehicle through the road side equipment.

According to the technical scheme, the road side equipment is arranged on each traffic road at each set distance so as to realize the full coverage of the traffic road area, so that when an emergency vehicle or a common vehicle passes through at least one road side equipment in the traffic road area, the own running data can be timely uploaded to the service end through the at least one road side equipment, the service end can timely acquire the current running state information of the emergency vehicle or the common vehicle, the service end can effectively plan an emergency running channel according to the running data of the emergency vehicle and the running data of the common vehicle so as to provide support, and the emergency vehicle congestion can be avoided from being unable to timely pass due to the occurrence of traffic road congestion.

In some exemplary embodiments, each of the roadside apparatuses is configured to be communicatively connected to an emergency vehicle or a general vehicle passing through the roadside apparatus, and includes:

For any road side device, when the road side device detects a communication connection request of the emergency vehicle or the common vehicle, a communication link is established with vehicle-mounted devices on the emergency vehicle or the common vehicle; the vehicle-mounted device on the emergency vehicle is used for uploading the driving data of the emergency vehicle to road side equipment through which the emergency vehicle passes; the vehicle-mounted device on the common vehicle is used for uploading the running data of the common vehicle to the road side device through which the common vehicle passes.

According to the technical scheme, when the emergency vehicle or the common vehicle provided with the vehicle-mounted device passes through the coverage area of any road side device, the vehicle-mounted device can send a communication connection request to the road side device, and then the road side device establishes a communication link with the vehicle-mounted device of the emergency vehicle or the common vehicle based on the communication connection request, so that the emergency vehicle or the common vehicle can communicate with the road side device in time, for example, the road side device can transmit own running data to the road side device in time through the communication link, and the road side device can upload the running data of one or more emergency vehicles (or common vehicles) to the service end in time.

In some exemplary embodiments, the sending, by the service end, an avoidance command to a common vehicle occupying the emergency driving channel includes:

And the server periodically sends an avoidance instruction to a common vehicle occupying the emergency running channel through road side equipment.

In the above technical solution, the service end periodically (for example, every 10 seconds, 15 seconds or 20 seconds, etc.) sends the avoidance command to the ordinary vehicle occupying the emergency driving channel through the road side device, so that the ordinary vehicle occupying the emergency driving channel can be effectively commanded to leave the emergency driving channel as soon as possible according to the avoidance command requirement (for example, the distribution situation of the ordinary vehicle of all lanes through which the emergency vehicle needs to pass can be known based on the road vehicle distribution diagram, so that the ordinary vehicle can be commanded to effectively avoid, for example, the ordinary vehicle occupying the emergency driving channel is commanded to approach to the left lane and/or the right lane), but the ordinary vehicle occupying the emergency driving channel is not commanded to reasonably avoid so as not to leave the emergency driving channel as soon as possible, thereby ensuring that the emergency driving channel is smooth, and the emergency vehicle can pass through the emergency driving channel as soon as possible.

In a second aspect, in an exemplary embodiment of the present application, there is provided an emergency vehicle avoidance apparatus including:

A generation unit, configured to generate a road vehicle distribution map in a road area where an emergency vehicle is located, by using traveling data of the emergency vehicle and traveling data of a normal vehicle in the road area where the emergency vehicle is located when an avoidance request of the emergency vehicle is detected; the avoidance request is generated in real time by the emergency vehicle in the process of executing an emergency task; the driving data comprise a vehicle type, a vehicle position and a driving direction;

The processing unit is used for planning an emergency driving channel for assisting the emergency vehicle to normally pass on the road vehicle distribution map according to the vehicle position and the driving direction of the emergency vehicle; determining a target avoidance position of at least one common vehicle on the road-vehicle distribution map according to the vehicle type and the vehicle position of the at least one common vehicle on the emergency running channel; the target avoidance position is not located within the emergency travel path; for each common vehicle positioned on the emergency running channel, sending an avoidance instruction to the common vehicle; the avoidance command is used for indicating the common vehicle to travel from the emergency travel channel to a target avoidance position of the common vehicle.

In some exemplary embodiments, the generating unit is specifically configured to:

and fitting the driving data of the emergency vehicle, the driving data of the common vehicle in the road area where the emergency vehicle is located and a traffic road map to generate the road vehicle distribution map.

In some exemplary embodiments, the processing unit is specifically configured to:

If the lane where the emergency vehicle is located is determined to be any one of two lanes in the same driving direction, the vehicle position of the emergency vehicle is taken as a planning starting point, a first emergency driving channel with a set distance range is planned in the middle area of the two lanes along the driving direction of the emergency vehicle on the road vehicle distribution map, or a second emergency driving channel with a set distance range is planned on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map;

And if the lane where the emergency vehicle is located is determined to be any one of at least three lanes in the same driving direction, a third emergency driving channel with a set distance range is planned on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road-vehicle distribution map by taking the vehicle position of the emergency vehicle as a planning starting point.

In some exemplary embodiments, the processing unit is specifically configured to:

For each first common vehicle positioned on the first emergency running channel, determining an avoidance direction of the first common vehicle according to the vehicle type and the vehicle position of the first common vehicle, and determining a target avoidance position of the first common vehicle in the avoidance direction of the first common vehicle;

For each second common vehicle positioned on the second emergency running channel, determining an avoidance direction of the second common vehicle according to the vehicle type and the vehicle position of the second common vehicle, and determining a target avoidance position of the second common vehicle in the avoidance direction of the second common vehicle;

for each third common vehicle located on the third emergency running channel, determining an avoidance direction of the third common vehicle according to the vehicle type and the vehicle position of the third common vehicle, and determining a target avoidance position of the third common vehicle in the avoidance direction of the third common vehicle.

In some exemplary embodiments, the processing unit is further configured to:

Before sending an avoidance command to the common vehicle, if the lane in which the emergency vehicle is located is a left-hand lane of two lanes or at least three lanes and the situation of the emergency vehicle on the left-hand lane meets a priority traffic condition, sending a priority traffic request to traffic signal control equipment of the traffic intersection; the priority traffic request is used for indicating the traffic signal control equipment to adjust the traffic signal period of the left-turn lane according to traffic phase operation information so as to enable the common vehicles and the emergency vehicles in the left-turn lane to pass preferentially.

In some exemplary embodiments, the processing unit is further configured to:

Before sending an avoidance command to the common vehicle, if the lane in which the emergency vehicle is located is a straight lane in two lanes or at least three lanes and the situation of the emergency vehicle on the straight lane meets a priority traffic condition, sending a priority traffic request to traffic signal control equipment of the traffic intersection; the priority traffic request is used for indicating the traffic signal control equipment to adjust the traffic signal period of the straight lane according to the traffic phase operation information so as to enable the common vehicles and the emergency vehicles in the straight lane to pass preferentially.

In some exemplary embodiments, the processing unit is further configured to:

Before sending an avoidance command to the common vehicle, if the lane in which the emergency vehicle is located is a right-turn lane of at least three lanes and the condition of the emergency vehicle on the right-turn lane meets a priority traffic condition, sending a priority traffic request to traffic signal control equipment of the traffic intersection; the priority traffic request is used for indicating the traffic signal control equipment to adjust the traffic signal period of the right-turn lane according to traffic phase operation information so as to enable the ordinary vehicles and the emergency vehicles in the right-turn lane to pass preferentially.

In some exemplary embodiments, the preferential traffic condition is that a distance between a vehicle position of the emergency vehicle and a traffic intersection on a lane where the emergency vehicle is located is less than or equal to a distance threshold value and a traffic signal state on the lane where the emergency vehicle is located is no longer in traffic.

In some exemplary embodiments, for any traffic road, at least one roadside device is disposed on the traffic road; each road side device is used for being in communication connection with an emergency vehicle or a common vehicle passing through the road side device and is used for being in communication connection with the service end;

The processing unit is further configured to:

And before detecting an avoidance request of the emergency vehicle, receiving traveling data uploaded by the emergency vehicle or the common vehicle through a road side device.

In some exemplary embodiments, the processing unit is specifically configured to:

Establishing a communication link with an on-vehicle device on the emergency vehicle or the ordinary vehicle when a communication connection request of the emergency vehicle or the ordinary vehicle is detected for any one of the road side devices; the vehicle-mounted device on the emergency vehicle is used for uploading the driving data of the emergency vehicle to road side equipment through which the emergency vehicle passes; the vehicle-mounted device on the common vehicle is used for uploading the running data of the common vehicle to the road side device through which the common vehicle passes.

In some exemplary embodiments, the processing unit is specifically configured to:

and periodically sending an avoidance command to a common vehicle occupying the emergency running channel through the road side equipment.

In a third aspect, an embodiment of the present application provides a computing device, including at least one processor and at least one memory, where the memory stores a computer program that, when executed by the processor, causes the processor to perform the emergency vehicle avoidance method according to any of the first aspects above.

In a fourth aspect, an embodiment of the present application provides a computer readable storage medium storing a computer program executable by a computing device, which when run on the computing device, causes the computing device to perform the emergency vehicle avoidance method of any of the first aspects described above.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a possible system architecture according to some embodiments of the present application;

Fig. 2 is a schematic flow chart of an emergency vehicle avoidance method according to some embodiments of the present application;

FIG. 3 is a schematic illustration of avoiding a common vehicle on three lanes in the same driving direction according to some embodiments of the present application;

FIG. 4 is a schematic illustration of avoiding a common vehicle on two lanes in the same driving direction according to some embodiments of the present application;

fig. 5 is a schematic illustration of a common vehicle avoidance for a congested road according to some embodiments of the present application;

Fig. 6 is a schematic structural diagram of an emergency vehicle avoidance device according to some embodiments of the present application;

Fig. 7 is a schematic structural diagram of a computing device according to some embodiments of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

To facilitate an understanding of embodiments of the present application, an emergency vehicle avoidance system architecture suitable for use with embodiments of the present application is first described with respect to one possible system architecture shown in FIG. 1. The system architecture can be applied to how common vehicles in urban traffic can effectively avoid when facing emergency vehicles. As shown in fig. 1, the system architecture may include at least one vehicle (e.g., vehicle 101, vehicle 102, etc.), at least one roadside device (e.g., roadside device 201, roadside device 202, etc.), and a service control center 300. The vehicle may be a general vehicle, an emergency vehicle, or the like.

The vehicle-mounted device and the road side device on the vehicle can communicate with each other, for example, by microwave, infrared, or other communication technologies, which is not limited by the embodiment of the application. Wherein a certain vehicle travels on a certain road, one side of the road is provided with road side equipment, such as one road side equipment at certain intervals (e.g. at intervals of 50 meters, 100 meters, 150 meters, 200 meters or 300 meters, etc.). Taking the vehicle 101 and the roadside apparatus 201 as an example, the vehicle 101 is mounted with an in-vehicle apparatus, and the vehicle 101 runs on a certain road, for example, the in-vehicle apparatus may be mounted at a head position, a roof position, a tail position, or a body shell of the vehicle 101, and when the vehicle 101 enters the coverage area of the roadside apparatus 201, a communication connection request may be sent to the roadside apparatus 201 by the in-vehicle apparatus so that a communication link is established with the roadside apparatus 201. It should be noted that, one vehicle-mounted device may communicate with a plurality of road side devices, and one road side device may also communicate with a plurality of vehicle-mounted devices, for example, when the vehicle 101 enters the coverage area of the road side device 201, communication may be established between the vehicle-mounted device and the road side device 201; the link, upon entering the coverage of the roadside device 202, may establish a communication link with the roadside device 202 through the in-vehicle device. Or when both the vehicle 101 and the vehicle 102 enter the coverage area of the roadside device 201, both the vehicle 101 and the vehicle 102 may establish a communication link with the roadside device 102 through their own vehicle-mounted devices.

In general, in-vehicle devices, such as On Board Units (OBUs), are installed on vehicles, and Road Side Units (RSUs) are installed on one side of a road, so that communication between the OBUs and the RSUs is possible. When a certain vehicle passes through the RSU, the OBU and the RSU can communicate in a microwave mode, and then the vehicle can upload own running data to the RSU through the OBU. In addition, other terminal devices, such as sensing devices, e.g. cameras, lidars or sensors, etc., may be mounted on the vehicle, by means of which the driving data of the vehicle may be detected, e.g. the driving data may comprise vehicle position, driving speed, driving direction, etc. A road side device, for example an RSU, is a fixed infrastructure entity supporting a vehicle-to-everything (V2X) application, which may exchange information with other devices supporting the V2X application, for example may transmit received driving data of at least one vehicle (such as an emergency vehicle or at least one general vehicle) to the service control center 300, or may transmit received avoidance commands or other information (such as information of an emergency vehicle behind the general vehicle) issued by the service control center 300 to the at least one general vehicle.

The service control center 300 is configured to receive traveling data of a certain vehicle or a plurality of vehicles transmitted from a roadside apparatus. The road side device may receive the traveling data uploaded by one or more vehicles through its own vehicle-mounted device, and then upload the received traveling data of at least one vehicle to the service control center 300. When receiving an avoidance request of an emergency vehicle, the service control center 300 can generate a road vehicle distribution map by combining the driving data of the emergency vehicle and the driving data of a common vehicle in a road area where the emergency vehicle is located with a traffic road map, then plan an emergency driving channel for assisting the normal passing of the emergency vehicle on the road vehicle distribution map, and send an avoidance instruction to at least one common vehicle occupying the emergency driving channel so that the at least one common vehicle occupying the emergency driving channel leaves the emergency driving channel as soon as possible, thereby ensuring that the emergency vehicle can pass through the emergency driving channel smoothly.

It should be noted that the system structure shown in fig. 1 is merely an example, and the embodiment of the present application is not limited thereto.

Based on the above description, fig. 2 exemplarily illustrates a flow of an emergency vehicle avoidance method provided by an embodiment of the present application, where the flow may be executed by an emergency vehicle avoidance apparatus. The emergency vehicle avoidance method may be performed by a service control center (such as a service end), or may be performed by a chip or an integrated circuit capable of supporting functions required by the service control center to implement the emergency vehicle avoidance method. The following describes an example of a method for the server to execute emergency vehicle avoidance.

As shown in fig. 2, the process specifically includes:

In step 201, when detecting an avoidance request of an emergency vehicle, a service end generates a road vehicle distribution map in a road area where the emergency vehicle is located through running data of the emergency vehicle and running data of a common vehicle in the road area where the emergency vehicle is located.

In the embodiment of the application, for each traffic road, at least one road side device is arranged on one side of the traffic road, for example, one road side device is arranged on one side of the traffic road at a set distance, for example, one road side device is arranged at intervals of 100 meters, 150 meters, 200 meters or 300 meters, and the like, so that the coverage of the whole area position of the traffic road can be realized, and vehicles or other terminal devices (such as smart phones, V2X terminal devices, and the like) at any position of the traffic road can be detected. Each road side device is used for being in communication connection with an emergency vehicle or a common vehicle passing through the road side device, and is used for being in communication connection with a service end. When the emergency vehicle or the common vehicle provided with the vehicle-mounted device passes through the coverage area of any road side device, a communication connection request can be sent to the road side device through the vehicle-mounted device, and when the communication connection request of the emergency vehicle or the common vehicle is detected, the road side device establishes a communication link with the vehicle-mounted device on the emergency vehicle or the common vehicle, so that the emergency vehicle or the common vehicle can timely communicate with the road side device, for example, the running data of the emergency vehicle or the common vehicle can be timely transmitted to the road side device through the communication link. The emergency vehicle can upload the driving data of the emergency vehicle passing through the coverage range of a certain road side device to the road side device through the vehicle-mounted device; the common vehicle can upload the running data of the common vehicle passing through the coverage range of a certain road side device to the road side device through the vehicle-mounted device. For example, when any vehicle passes through the traffic road, the running data generated by the vehicle passing through the traffic road can be transmitted to the service end through the road side equipment of the traffic road, for example, when a common vehicle passes through the traffic road, for example, when the common vehicle just enters the traffic road and passes through the first road side equipment, a communication link is established between the common vehicle and the first road side equipment, the running data generated by the common vehicle in the coverage area of the first road side equipment is transmitted to the first road side equipment, and then the first road side equipment transmits the running data to the service end; when passing through the second road side equipment, a communication link is established with the second road side equipment, the driving data generated by the common vehicle in the coverage area of the second road side equipment is transmitted to the second road side equipment, then the second road side equipment transmits the driving data to a service end, and the like until the common vehicle finishes driving on the traffic road. And the same is true. The emergency vehicle may also transmit the driving data according to the above-mentioned mode of uploading the driving data by the common vehicle, which is not described herein. Therefore, when a common vehicle or an emergency vehicle passes through each road side device in the traffic road, the driving data generated in the coverage range of any one of the passed road side devices can be timely transmitted to the service end through the road side device. The driving data may include a vehicle type, a vehicle position, a driving speed, a driving direction, and the like of the vehicle.

Specifically, in order to accurately plan the emergency running channel, when the service end detects an avoidance request of the emergency vehicle, the service end fits the running data of the emergency vehicle and the running data of the common vehicle in the road area where the emergency vehicle is located on the traffic road map to generate a road vehicle distribution map, so that the traffic road map can intuitively and clearly present the vehicle running data information, and the emergency running channel can be accurately planned on the traffic road map with the vehicle running data, and then the service end can know how to effectively avoid the common vehicle occupying the emergency running channel according to the road vehicle distribution map, so that the common vehicle occupying the emergency running channel can timely and effectively avoid. Wherein the avoidance request is generated in real time by the emergency vehicle during the execution of the emergency task.

The server side can start from the emergency vehicle to execute the emergency task and send the first avoidance request, and then perform fitting processing on a traffic road map according to the driving data of the emergency vehicle and the driving data of at least one common vehicle on a traffic road through which the emergency vehicle passes in real time, so as to generate a road vehicle distribution map in real time. The road-vehicle distribution map may reflect a current real running state of each vehicle, such as a distribution state of each normal vehicle and each emergency vehicle on a traffic road through which a certain emergency vehicle passes, for example, a distribution state of each normal vehicle and each emergency vehicle on the traffic road, what a distance between each normal vehicle and each emergency vehicle is, a distribution density of each normal vehicle on each lane of the traffic road, how many lanes are on the traffic road, a traffic signal state of a traffic intersection on the traffic road, and the like.

For example, when an emergency vehicle executes an emergency task, in order to avoid that the emergency vehicle is blocked on a traffic road and cannot reach a destination in time, the road side device (such as an RSU) continuously uploads own driving data to the service end, and meanwhile, the road side device continuously sends an avoidance request to the service end, so that the service end can clear a channel for the emergency vehicle in advance, and the emergency vehicle can reach the destination in time. Of course, each vehicle will also continuously upload its own travel data to the server via the road side device (e.g., RSU) for at least one common vehicle on the traffic road through which the emergency vehicle passes. The road side devices transmit the received driving data of at least one vehicle (such as an emergency vehicle or a common vehicle) to a Multi-access edge Computing device (Multi-ACCESS EDGE Computing, MEC) arranged on the outer side of the service end, and the Multi-access edge Computing device calculates a road vehicle distribution map according to the received driving data of the emergency vehicle and the driving data of at least one common vehicle on a traffic road through which the emergency vehicle passes and in combination with a traffic road map. Wherein, the outside of the service end can be provided with one or more multi-access edge computing devices. The multi-access edge computing device may perform fitting processing on a traffic road map according to running data of at least one vehicle (including an emergency vehicle and at least one normal vehicle) received in real time, and generate a road vehicle distribution map in real time, that is, the road vehicle distribution map may be updated and changed in real time.

Step 202, the service end plans an emergency driving channel for assisting the emergency vehicle to normally pass on the road vehicle distribution map according to the vehicle position and the driving direction of the emergency vehicle.

In the embodiment of the application, after the service end generates the road vehicle distribution map, if the service end determines that the lane where the emergency vehicle is located is any one of two lanes in the same driving direction, the service end takes the vehicle position of the emergency vehicle as a planning starting point, and can effectively plan a first emergency driving channel with a set distance range in the middle area of the two lanes along the driving direction of the emergency vehicle on the road vehicle distribution map, or can effectively plan a second emergency driving channel with a set distance range on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map. In addition, if the service end determines that the lane where the emergency vehicle is located is any one of at least three lanes in the same driving direction, the third emergency driving channel with the set distance range can be effectively planned on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map by taking the vehicle position of the emergency vehicle as a planning starting point. The first emergency driving passage, the second emergency driving passage or the third emergency driving passage is used for assisting the emergency vehicle to quickly pass through the emergency driving passage so as to ensure that the emergency vehicle can reach a destination in time and avoid certain loss and harm caused by the emergency vehicle missing the optimal time for executing the emergency task. The set distance range may be a distance length range of 100 meters, 200 meters, 300 meters, 400 meters, 500 meters, or the like, which is not limited in the embodiment of the present application. For example, if the service side determines that the lane where the emergency vehicle is located is the middle lane on the three lanes in the same driving direction, the current position of the emergency vehicle can be used as a planning starting point, and an emergency driving channel with a length of 500 meters can be planned along the middle lane where the emergency vehicle is located.

Specifically, if there are three lanes in the same driving direction on the traffic road where the emergency vehicle passes, and if the emergency vehicle runs on the middle lane and there is a normal vehicle in each lane, the service end plans an emergency driving lane on the middle lane, that is, according to the distribution situation of the normal vehicles on each lane, for example, the distribution of the normal vehicles on the two lanes is sparse, the middle lane can be used as an emergency driving lane. Because the common vehicles on the two side traffic lanes are sparsely distributed, the common vehicles on the middle traffic lane can be planned on the two side traffic lanes, namely, the common vehicles on the middle traffic lane can be commanded to leave the middle traffic lane and go on the two side traffic lanes, so that a smooth passage can be formed for emergency vehicles to pass, and an emergency running passage can be planned on the middle traffic lane. Or if the emergency vehicle runs on one of the side lanes and each lane has a common vehicle, the service end plans an emergency running channel on the side lane, i.e. according to the distribution situation of the common vehicles on each lane, such as sparse distribution of the common vehicles on the middle lane and the other side lane, the side lane can be used as an emergency running channel. Because the common vehicles on the middle traffic lane and the other side traffic lane are distributed sparsely, the common vehicles on the side traffic lane can be planned to the middle traffic lane, if the middle traffic lane is not enough to place the common vehicles on the side traffic lane, some common vehicles on the middle traffic lane can be driven to the other side traffic lane, so that a clear passage can be formed for emergency vehicles to pass, and an emergency driving passage can be planned on the side traffic lane.

Or if the emergency vehicles run on the middle traffic lane and each traffic lane has a common vehicle, the service end plans an emergency running channel on the middle traffic lane, i.e. according to the distribution condition of the common vehicles on each lane, for example, the distribution condition of the common vehicles on two traffic lanes is relatively dense, the emergency running channel cannot be planned by adjusting the common vehicles on the middle traffic lane to the traffic lanes on two sides, at this time, the problem can be solved by sending a priority passing request to the traffic signal control equipment of the traffic intersection of the traffic road, i.e. the traffic signal control equipment adjusts the traffic signal period according to the traffic phase running information to adjust the traffic signal state of the traffic intersection as soon as possible, so that each common vehicle on the traffic road passes through the traffic road as soon as possible, and the emergency vehicles can pass through the traffic road timely, thereby improving the passing efficiency of the emergency vehicles to the greatest extent. Or if the emergency vehicles run on one of the side traffic lanes and each traffic lane has a common vehicle, the service end plans an emergency running channel on the side traffic lane, that is, according to the distribution situation of the common vehicles on each traffic lane, for example, the distribution situation of the common vehicles on the middle traffic lane and the other side traffic lane is relatively dense, the emergency running channel cannot be planned by adjusting the common vehicles on the side traffic lane to the middle traffic lane and the other side traffic lane, and at the moment, the problem can be solved by sending a priority passing request to the traffic signal control device of the traffic intersection of the traffic road, that is, the traffic signal control device adjusts the traffic signal period according to the traffic phase running information to adjust the traffic signal state of the traffic intersection as soon as possible, so that each common vehicle on the traffic road passes through the traffic road as soon as possible, and the emergency vehicles can pass through the traffic road timely.

If two traffic lanes with the same driving direction exist on a traffic road where the emergency vehicle passes, and if the emergency vehicle runs on one traffic lane and each traffic lane has a common vehicle, the service end plans an emergency driving channel on the traffic lane, that is, according to the distribution situation of the common vehicles on each traffic lane, for example, the distribution of the common vehicles on the other traffic lane is sparse, the traffic lane where the emergency vehicle is located can be used as an emergency driving channel. Because the common vehicles on the other traffic lane are distributed sparsely, the common vehicles on the traffic lane where the emergency vehicles are located can be planned on the other traffic lane, so that a smooth passage can be formed for the emergency vehicles to pass, and an emergency running passage can be planned on the traffic lane where the emergency vehicles are located. Or if an emergency running channel cannot be planned by planning the common vehicles on the traffic lane where the emergency vehicles are located on the other traffic lane, then the common vehicles on the two traffic lanes need to be indicated to move towards the road side on one side where the emergency vehicles are located respectively, for example, the common vehicles on the left traffic lane are close to the left, and the common vehicles on the right traffic lane are close to the right, so that an emergency running channel is planned in the middle position area of the two traffic lanes, and the emergency vehicles can quickly pass through the traffic road according to the emergency running channel. Or if the emergency vehicles run on one of the traffic lanes and each traffic lane has a common vehicle, the service end plans an emergency running channel on the traffic lane, i.e. according to the distribution situation of the common vehicles on each traffic lane, for example, the distribution situation of the common vehicles on the other traffic lane is relatively dense, an emergency running channel cannot be planned by adjusting the common vehicles on the two traffic lanes to approach to two sides respectively, at this time, the problem can be solved by sending a priority passing request to the traffic signal control equipment of the traffic intersection of the traffic road, i.e. the traffic signal control equipment can adjust the traffic signal period according to the traffic phase running information to adjust the traffic signal state of the traffic intersection as soon as possible, so that each common vehicle on the traffic road passes through the traffic road as soon as possible, and the emergency vehicles can pass through the traffic road in time, thereby improving the passing efficiency of the emergency vehicles to the greatest extent.

In step 203, the server determines a target avoiding position of at least one common vehicle on the road-vehicle distribution map according to the vehicle type and the vehicle position of the at least one common vehicle on the emergency driving channel.

In the embodiment of the application, after an emergency running channel for assisting the normal running of an emergency vehicle is planned on a road vehicle distribution map, aiming at each first common vehicle positioned on the first emergency running channel, a service end determines the avoiding direction of the first common vehicle according to the vehicle type and the vehicle position of the first common vehicle, and determines the target avoiding position of the first common vehicle in the avoiding direction of the first common vehicle; for each second common vehicle positioned on the second emergency running channel, the service end determines the avoiding direction of the second common vehicle according to the vehicle type and the vehicle position of the second common vehicle, and determines the target avoiding position of the second common vehicle in the avoiding direction of the second common vehicle; for each third common vehicle positioned on the third emergency running channel, the service end determines the avoiding direction of the third common vehicle according to the vehicle type and the vehicle position of the third common vehicle, and determines the target avoiding position of the third common vehicle in the avoiding direction of the third common vehicle. Wherein, the target avoidance position of each common vehicle occupying the emergency driving channel is not located in the emergency driving channel.

Specifically, if there are three lanes in the same driving direction on the traffic road where the emergency vehicle passes, assuming that the emergency vehicle runs on the middle lane (i.e. the straight lane) and there is a common vehicle in each lane, the service end plans an emergency driving path on the middle lane, that is, the service end may specifically determine the vehicle distribution situation on each lane according to the vehicle type (such as a small vehicle, a mini vehicle, a compact vehicle, a medium vehicle type, an MPV vehicle type, an SUV vehicle type, etc.) and the vehicle position in the received driving data of the common vehicle on each lane, and if the common vehicle distribution on both lanes is relatively sparse, determine, according to the vehicle type and the vehicle position of each common vehicle on the middle lane, which direction the common vehicle needs to move (i.e. determine the avoiding direction of the common vehicle), that is, determine which lane the common vehicle needs to move to both lanes, and specifically determine which position on the determined side of the common vehicle moves to the left (such as the vehicle direction of the emergency vehicle is in the east and, for example, may determine which position moves to the left to the front lane by 50 ° in the common vehicle region. Because the types of the common vehicles are different, the occupied space is different, and the position of the common vehicle on which traffic lane on the two traffic lanes is suitable for placing the common vehicle is needed to be considered, and the types and the positions of the vehicles of the common vehicles on the two traffic lanes are considered, so that the common vehicles on the two traffic lanes can be indicated to move to leave some space for conveniently placing the common vehicle of a certain vehicle type. Therefore, when sending the avoidance command to each common vehicle on the middle traffic lane, the comprehensive consideration is performed according to the vehicle type and the vehicle position of the common vehicle, so that the common vehicle can be placed at a proper position on the two traffic lanes, that is, the common vehicle is indicated to move effectively, so that the common vehicle can move to a proper position on an adjacent traffic lane, and meanwhile, the avoidance command can be sent to one or a plurality of common vehicles on the adjacent traffic lane, so that the common vehicle on the adjacent traffic lane can move in a certain amount to make the common vehicle on the middle traffic lane in a position area where the one or a plurality of common vehicles are required to move in a timely and reasonable manner, for example, according to the vehicle type and the vehicle position of the one common vehicle on the middle traffic lane, the front position area (or the rear position area) of the one common vehicle on the adjacent traffic lane can be indicated to make the one common vehicle on the middle traffic lane move. Assuming that a certain common vehicle on the middle traffic lane belongs to a small vehicle, and the common vehicle is located at a position of the middle traffic lane near a traffic intersection, and meanwhile, the front area position of the certain common vehicle on the left traffic lane near the traffic intersection is judged to be capable of placing the common vehicle belonging to the small vehicle, then an avoidance instruction can be sent to the common vehicle belonging to the small vehicle, and the avoidance instruction is used for indicating the common vehicle belonging to the small vehicle to move to the front area position of the certain common vehicle on the left traffic lane near the traffic intersection.

As an example, as shown in fig. 3, a schematic view of avoiding a common vehicle on three lanes in the same driving direction is provided in an embodiment of the present application. Based on the fig. 3, assuming that the emergency vehicle is traveling on the middle traffic lane (i.e. on the traffic lane 2), and that each traffic lane has a common vehicle, the service end plans an emergency travel path on the middle traffic lane, that is, the service end determines that the vehicle 11 on the traffic lane 1 belongs to the small-sized vehicle, the vehicle 12 belongs to the medium-sized vehicle, and the vehicle 13 belongs to the micro-sized vehicle according to the received travel data of each common vehicle; determining that the vehicle 21 belongs to a small vehicle, the vehicle 22 belongs to a medium vehicle type and the vehicle 23 belongs to a micro vehicle on the traffic lane 2; it is determined that the vehicle 31 on the traffic lane 3 belongs to a small vehicle, the vehicle 32 belongs to a medium vehicle type, and the vehicle 33 belongs to a small vehicle. Thus, after the vehicle type of each common vehicle on each traffic lane is determined, according to the vehicle position of the vehicle 21, and by combining the common vehicle distribution situation of the traffic lane 1 and the common vehicle distribution situation of the traffic lane 3, the vehicle 21 can be determined to move to the front position area of the vehicle 31 on the traffic lane 3, then an avoidance command can be sent to the vehicle 21, and the avoidance command includes the position where the vehicle 21 specifically needs to move, for example, the front position area of the vehicle 31 on the traffic lane 3, then the vehicle 21 on the traffic lane 2 can be commanded to travel to the front position area of the vehicle 31 on the traffic lane 3 for avoidance; according to the vehicle position of the vehicle 22, by combining the common vehicle distribution situation of the traffic lane 1 and the common vehicle distribution situation of the traffic lane 3, the vehicle 22 can be determined to be moved to a position area between the vehicle 11 and the vehicle 12 on the traffic lane 1, then an avoidance command can be sent to the vehicle 22, the avoidance command comprises a position where the vehicle 22 specifically needs to be moved, for example, the vehicle 22 is moved to the position area between the vehicle 11 and the vehicle 12 on the traffic lane 1, then the vehicle 22 on the traffic lane 2 can be commanded to travel to the position area between the vehicle 11 and the vehicle 12 on the traffic lane 1 for avoidance; according to the vehicle position of the vehicle 23 and combining the common vehicle distribution situation of the traffic lane 1 and the common vehicle distribution situation of the traffic lane 3, it can be determined that the vehicle 23 is moved to a position area between the vehicle 32 and the vehicle 33 on the traffic lane 3, then an avoidance command can be sent to the vehicle 23, where the avoidance command includes a position where the vehicle 23 specifically needs to be moved, for example, the vehicle 23 is moved to the position area between the vehicle 32 and the vehicle 33 on the traffic lane 3, then the vehicle 23 on the traffic lane 2 can be commanded to travel to the position area between the vehicle 32 and the vehicle 33 on the traffic lane 3 for avoidance.

If two traffic lanes with the same driving direction exist on a traffic road where an emergency vehicle passes, if the emergency vehicle runs on one traffic lane and a common vehicle exists on each traffic lane, the service end plans an emergency driving channel on the traffic lane, that is, the service end can specifically determine the vehicle distribution situation on the two traffic lanes according to the vehicle type and the vehicle position in the received driving data of the common vehicle on each traffic lane, if the common vehicle distribution on the other traffic lane is sparse, the traffic lane where the emergency vehicle exists can be used as an emergency driving channel, then the avoidance direction of the common vehicle is determined according to the vehicle type and the vehicle position of each common vehicle on the traffic lane where the emergency vehicle exists, that is, determining which position on the other traffic lane the common vehicle needs to move to, for example, determining that the left traffic lane is used as the emergency driving channel, determining that the common vehicle moves to the right front (for example, determining that the emergency vehicle moves to the north and the south) for each common vehicle on the left traffic lane, for example, determining that the emergency vehicle moves to the right and the common vehicle moves to the right in a position on the north and the common lane. Because the types of the common vehicles are different, the occupied space is different, and therefore, the position on the other traffic lane is suitable for placing the common vehicle needs to be considered, and the common vehicle on the other traffic lane can be indicated to move to leave some space for placing the common vehicle of a certain type conveniently. Therefore, when an avoidance command is transmitted to each normal vehicle on a traffic lane where an emergency vehicle is located, comprehensive consideration is made according to the vehicle type and the vehicle position of the normal vehicle so that the normal vehicle can be placed at an appropriate position on another traffic lane.

As an example, as shown in fig. 4, a schematic diagram of avoiding a common vehicle on two lanes in the same driving direction is provided in an embodiment of the present application. Based on the fig. 4, assuming that the emergency vehicle is traveling on one of the traffic lanes (i.e. on the traffic lane 2), and that there is a common vehicle in each traffic lane, the service end plans an emergency travel path on the middle traffic lane, that is, the service end determines that the vehicle 11 belongs to the small-sized vehicle, the vehicle 12 belongs to the medium-sized vehicle, and the vehicle 13 belongs to the micro-sized vehicle on the traffic lane 1 according to the received travel data of each common vehicle; it is determined that the vehicle 21 on the traffic lane 2 belongs to a small vehicle, the vehicle 22 belongs to a medium vehicle type, and the vehicle 23 belongs to a small vehicle. Thus, after the vehicle types of the common vehicles on each traffic lane are determined, according to the vehicle positions of the vehicles 21 and in combination with the common vehicle distribution situation of the traffic lane 1, the vehicles 21 can be determined to move to the front position area of the vehicles 11 on the traffic lane 1, then an avoidance command can be sent to the vehicles 21, the avoidance command comprises the positions where the vehicles 21 specifically need to move, such as the front position area of the vehicles 11 on the traffic lane 1, then the vehicles 21 on the traffic lane 2 can be commanded to travel to the front position area of the vehicles 11 on the traffic lane 1 for avoidance; according to the vehicle position of the vehicle 22 and in combination with the common vehicle distribution situation of the traffic lane 1, the vehicle 22 can be determined to move to the position area between the vehicles 11 and 12 on the traffic lane 1, then an avoidance command can be sent to the vehicle 22, the avoidance command comprises the position where the vehicle 22 specifically needs to move, for example, the vehicle 22 moves to the position area between the vehicles 11 and 12 on the traffic lane 1, then the vehicle 22 on the traffic lane 2 can be commanded to travel to the position area between the vehicles 11 and 12 on the traffic lane 1 for avoidance; according to the vehicle position of the vehicle 23 and in combination with the common vehicle distribution situation of the traffic lane 1, it can be determined that the vehicle 23 is moved to a position area between the vehicle 12 and the vehicle 13 on the traffic lane 1, then an avoidance command can be sent to the vehicle 23, where the avoidance command includes a position where the vehicle 23 specifically needs to be moved, for example, the vehicle 23 is moved to a position area between the vehicle 12 and the vehicle 13 on the traffic lane 1, then the vehicle 23 on the traffic lane 2 can be commanded to travel to a position area between the vehicle 12 and the vehicle 13 on the traffic lane 1 to avoid.

It should be noted that if an emergency driving lane cannot be planned by planning a normal vehicle on a lane where an emergency vehicle is located onto another lane, then an emergency driving lane needs to be planned in the middle area of the two lanes. That is, by indicating that the vehicles on the emergency driving lane each move toward the road side, for example, the vehicles on the left side area on the emergency driving lane approach to the left and the vehicles on the right side area approach to the right, an emergency driving lane is defined in the middle position area of the two driving lanes, so that the emergency vehicles can quickly pass through the traffic road according to the emergency driving lane. In view of this, the service side may determine the avoiding direction of each common vehicle on the emergency driving path according to the vehicle type and the vehicle position of the common vehicle, that is, determine the direction in which each common vehicle on the emergency driving path needs to move toward the road side and the specific moving position area. For example, for each common vehicle on the emergency driving channel, determining that the left road side of a certain common vehicle moves, assuming that the emergency vehicle is in the east-west driving direction, determining that the common vehicle moves to a certain position area of the left road side toward the southwest 30 degrees. For example, continuing with the description of fig. 4, the vehicles 11, 12, 13 on the traffic lane 1 are respectively drawn toward the road side on the side of the traffic lane 1, and the vehicles 21, 22, 23 on the traffic lane 2 are respectively drawn toward the road side on the side of the traffic lane 2, so that an emergency travel path is left between the traffic lane 1 and the traffic lane 2, so that the emergency vehicle can quickly pass through the traffic path according to the emergency travel path.

Step 204, for each common vehicle located on the emergency running channel, the service end sends an avoidance command to the common vehicle.

In the embodiment of the application, the avoidance command is used for indicating that the common vehicle occupying the emergency running channel leaves the emergency running channel, namely, the avoidance command sent to the common vehicle comprises the target avoidance position of the common vehicle aiming at each common vehicle occupying the emergency running channel, so that the common vehicle can be timely and effectively indicated to run from the emergency running channel to the target avoidance position of the common vehicle. Specifically, the service end periodically (for example, every 10 seconds, 15 seconds or 20 seconds, etc.) sends an avoidance command to the ordinary vehicle occupying the emergency running channel through the road side device, so that the ordinary vehicle occupying the emergency running channel can be effectively commanded to leave the emergency running channel as soon as possible according to the avoidance command requirement (for example, the distribution situation of the ordinary vehicle of all lanes through which the emergency vehicle needs to pass can be known based on the road vehicle distribution diagram, so that the ordinary vehicle can be commanded to effectively avoid, for example, the ordinary vehicle occupying the emergency running channel is commanded to approach to the left lane and/or the right lane), but the ordinary vehicle not occupying the emergency running channel cannot leave the emergency running channel as soon as possible without knowing how to reasonably avoid, and therefore, the emergency running channel can be ensured to be smooth so that the emergency vehicle can pass through the emergency running channel as soon as possible. The avoidance command may include a vehicle identification number that needs to be moved and information indicating how the normal vehicle corresponding to the vehicle identification number moves, such as in which direction and to which position.

Before sending an avoidance command to at least one common vehicle occupying an emergency driving channel, if a traffic signal state of a front traffic intersection on a lane where the emergency vehicle is located (such as a left-turn lane, a straight lane or a right-turn lane) is forbidden to pass in the driving process of the emergency vehicle, the common vehicle occupying all lanes where the emergency vehicle passes and waiting for being released cannot effectively avoid in time, so that the emergency vehicle is delayed in passing due to waiting for a release signal. Based on the traffic signal, the service end can send a request for preferential passing to the traffic signal control equipment at the traffic intersection when determining that the traffic signal state of the lane where the emergency vehicle is located is forbidden, so that delay caused by waiting for a traffic release signal of the emergency vehicle is reduced, and the traffic efficiency of the emergency vehicle is improved to the greatest extent. Specifically, when the service side determines that the traffic signal state of the traffic intersection in front of the lane where the emergency vehicle is located is forbidden to pass on the road-vehicle distribution map according to the current vehicle position of the emergency vehicle, and the distance between the current vehicle position of the emergency vehicle and the traffic intersection in the lane where the emergency vehicle is located is smaller than or equal to the distance threshold value, the service side can send a priority passing request to the traffic signal control device of the traffic intersection so as to instruct the traffic signal control device to adjust the traffic signal period in the lane where the emergency vehicle is located according to the traffic phase operation information, so that the traffic signal state of the traffic intersection in front of the lane where the emergency vehicle is located can be changed into a passing state as soon as possible, so that the common vehicle occupying all lanes where the emergency vehicle is passing can be passed through as soon as possible, the emergency vehicle can pass through the traffic intersection as soon as possible, delay caused by waiting for traffic passing signals can be reduced, and the passing efficiency of the emergency vehicle can be improved to the greatest extent. Specifically, if the lane in which the emergency vehicle is located is a left-hand lane of two lanes or at least three lanes and the situation of the emergency vehicle on the left-hand lane meets the priority traffic condition, the service end sends a priority traffic request to traffic signal control equipment of the traffic intersection; the priority traffic request is used for instructing the traffic signal control device to adjust the traffic signal period of the left-turn lane according to the traffic phase operation information so as to enable the common vehicles and the emergency vehicles in the left-turn lane to pass preferentially. If the lane where the emergency vehicle is located is a straight lane in two lanes or at least three lanes and the situation of the emergency vehicle on the straight lane meets the priority traffic condition, the service end sends a priority traffic request to traffic signal control equipment of a traffic intersection; the priority traffic request is used for instructing the traffic signal control device to adjust the traffic signal period of the straight lane according to the traffic phase operation information so as to enable the common vehicles and the emergency vehicles in the straight lane to pass preferentially. If the lane where the emergency vehicle is located is a right-turn lane in two lanes or at least three lanes and the situation of the emergency vehicle on the right-turn lane meets the priority traffic condition, the service end sends a priority traffic request to traffic signal control equipment of a traffic intersection; the priority traffic request is used for instructing the traffic signal control device to adjust the traffic signal period of the right-turn lane according to the traffic phase operation information so as to enable the common vehicles and the emergency vehicles in the right-turn lane to pass preferentially. The priority traffic condition is that the distance between the vehicle position of the emergency vehicle and the traffic intersection on the lane where the emergency vehicle is located is smaller than or equal to a distance threshold value, and the traffic signal state on the lane where the emergency vehicle is located is no longer in traffic. The distance threshold may be set according to an actual application scenario or according to experience of a person skilled in the art, for example, may be set to 100 meters, 200 meters, 300 meters, etc., which is not limited in the embodiment of the present application.

As an example, as shown in fig. 5, a schematic diagram of common vehicle avoidance on a congested road is provided in an embodiment of the present application. Based on the fig. 5, it can be known that all the three traffic lanes are occupied by the common vehicle, and the traffic signal state of the traffic intersection is forbidden to pass (for example, the traffic signal lamps of the traffic lanes in the driving direction are red light states), if the emergency vehicle is on the middle traffic lane (i.e., the straight traffic lane), and an emergency driving channel cannot be planned by adjusting the common vehicle on the middle traffic lane to the two traffic lanes at the moment, then the problem needs to be solved by sending a priority passing request to the traffic signal control device of the traffic intersection of the traffic road, that is, the traffic signal control device adjusts the traffic signal period of the straight traffic lane of the emergency vehicle according to the traffic phase operation information to adjust the traffic signal state of the traffic intersection of the straight traffic lane of the emergency vehicle as soon as possible, so that the priority passing request is satisfied as possible, and the emergency vehicle can pass through the traffic road as soon as possible.

The above embodiment shows that, because the common vehicle in front of the emergency vehicle in the prior art can accurately know the driving lane of the emergency vehicle and accurately avoid the vehicle according to the driving lane of the emergency vehicle only when the common vehicle is very close to the emergency vehicle, the normal driving of the emergency vehicle is delayed, and thus the emergency vehicle can be influenced to timely execute the emergency task. Based on the above, the technical scheme of the application designs an emergency running channel in advance by combining the running data of the emergency vehicle and the running data of the common vehicle in the road area where the emergency vehicle is located, so that the emergency vehicle can be ensured to pass through in time, delay of the time for executing the emergency task for the emergency vehicle is reduced, and the emergency vehicle can be effectively ensured to execute the emergency task in time. Specifically, when the service end detects the avoidance request of the emergency vehicle, the road vehicle distribution map with the current real running state of each vehicle can be timely and accurately generated according to the running data of the emergency vehicle and the running data of the common vehicle in the road area where the emergency vehicle is located, so that the planning of the emergency running channel can be accurately carried out on the road vehicle distribution map. According to the vehicle position and the driving direction of the emergency vehicle, an emergency driving channel for assisting the normal passing of the emergency vehicle can be accurately planned in advance on the road vehicle distribution map, and according to the vehicle type and the vehicle position of at least one common vehicle on the emergency driving channel, the target avoiding position of the at least one common vehicle is determined on the road vehicle distribution map, so that an avoiding instruction can be continuously sent to each common vehicle on the emergency driving channel, the common vehicle can leave the emergency driving channel as soon as possible to drive to the target avoiding position of the common vehicle, the common vehicle occupying the emergency driving channel can effectively avoid, the emergency driving channel can be ensured to be smooth, and the emergency vehicle can be effectively ensured to pass through the emergency driving channel in time.

Based on the same technical concept, fig. 6 exemplarily shows a flow of an emergency vehicle avoidance device provided by an embodiment of the present application, where the device may perform an emergency vehicle avoidance method. The emergency vehicle avoidance method may be performed by a service control center (such as a service end), or may be performed by a chip or an integrated circuit capable of supporting functions required by the service control center to implement the emergency vehicle avoidance method.

As shown in fig. 6, the apparatus includes:

A generating unit 601, configured to generate, when an avoidance request of an emergency vehicle is detected, a road vehicle distribution map in a road area where the emergency vehicle is located according to traveling data of the emergency vehicle and traveling data of a normal vehicle in the road area where the emergency vehicle is located; the avoidance request is generated in real time by the emergency vehicle in the process of executing an emergency task; the driving data comprise a vehicle type, a vehicle position and a driving direction;

A processing unit 602, configured to plan an emergency driving lane for assisting the emergency vehicle to normally pass on the road-vehicle distribution map according to the vehicle position and the driving direction of the emergency vehicle; determining a target avoidance position of at least one common vehicle on the road-vehicle distribution map according to the vehicle type and the vehicle position of the at least one common vehicle on the emergency running channel; the target avoidance position is not located within the emergency travel path; for each common vehicle positioned on the emergency running channel, sending an avoidance instruction to the common vehicle; the avoidance command is used for indicating the common vehicle to travel from the emergency travel channel to a target avoidance position of the common vehicle.

In some exemplary embodiments, the generating unit 601 is specifically configured to:

and fitting the driving data of the emergency vehicle, the driving data of the common vehicle in the road area where the emergency vehicle is located and a traffic road map to generate the road vehicle distribution map.

In some exemplary embodiments, the processing unit 602 is specifically configured to:

If the lane where the emergency vehicle is located is determined to be any one of two lanes in the same driving direction, the vehicle position of the emergency vehicle is taken as a planning starting point, a first emergency driving channel with a set distance range is planned in the middle area of the two lanes along the driving direction of the emergency vehicle on the road vehicle distribution map, or a second emergency driving channel with a set distance range is planned on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map;

And if the lane where the emergency vehicle is located is determined to be any one of at least three lanes in the same driving direction, a third emergency driving channel with a set distance range is planned on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road-vehicle distribution map by taking the vehicle position of the emergency vehicle as a planning starting point.

In some exemplary embodiments, the processing unit 602 is specifically configured to:

For each first common vehicle positioned on the first emergency running channel, determining an avoidance direction of the first common vehicle according to the vehicle type and the vehicle position of the first common vehicle, and determining a target avoidance position of the first common vehicle in the avoidance direction of the first common vehicle;

For each second common vehicle positioned on the second emergency running channel, determining an avoidance direction of the second common vehicle according to the vehicle type and the vehicle position of the second common vehicle, and determining a target avoidance position of the second common vehicle in the avoidance direction of the second common vehicle;

for each third common vehicle located on the third emergency running channel, determining an avoidance direction of the third common vehicle according to the vehicle type and the vehicle position of the third common vehicle, and determining a target avoidance position of the third common vehicle in the avoidance direction of the third common vehicle.

In some exemplary embodiments, the processing unit 602 is further configured to:

Before sending an avoidance command to the common vehicle, if the lane in which the emergency vehicle is located is a left-hand lane of two lanes or at least three lanes and the situation of the emergency vehicle on the left-hand lane meets a priority traffic condition, sending a priority traffic request to traffic signal control equipment of the traffic intersection; the priority traffic request is used for indicating the traffic signal control equipment to adjust the traffic signal period of the left-turn lane according to traffic phase operation information so as to enable the common vehicles and the emergency vehicles in the left-turn lane to pass preferentially.

In some exemplary embodiments, the processing unit 602 is further configured to:

Before sending an avoidance command to the common vehicle, if the lane in which the emergency vehicle is located is a straight lane in two lanes or at least three lanes and the situation of the emergency vehicle on the straight lane meets a priority traffic condition, sending a priority traffic request to traffic signal control equipment of the traffic intersection; the priority traffic request is used for indicating the traffic signal control equipment to adjust the traffic signal period of the straight lane according to the traffic phase operation information so as to enable the common vehicles and the emergency vehicles in the straight lane to pass preferentially.

In some exemplary embodiments, the processing unit 602 is further configured to:

Before sending an avoidance command to the common vehicle, if the lane in which the emergency vehicle is located is a right-turn lane of at least three lanes and the condition of the emergency vehicle on the right-turn lane meets a priority traffic condition, sending a priority traffic request to traffic signal control equipment of the traffic intersection; the priority traffic request is used for indicating the traffic signal control equipment to adjust the traffic signal period of the right-turn lane according to traffic phase operation information so as to enable the ordinary vehicles and the emergency vehicles in the right-turn lane to pass preferentially.

In some exemplary embodiments, the preferential traffic condition is that a distance between a vehicle position of the emergency vehicle and a traffic intersection on a lane where the emergency vehicle is located is less than or equal to a distance threshold value and a traffic signal state on the lane where the emergency vehicle is located is no longer in traffic.

In some exemplary embodiments, for any traffic road, at least one roadside device is disposed on the traffic road; each road side device is used for being in communication connection with an emergency vehicle or a common vehicle passing through the road side device and is used for being in communication connection with the service end;

the processing unit 602 is further configured to:

And before detecting an avoidance request of the emergency vehicle, receiving traveling data uploaded by the emergency vehicle or the common vehicle through a road side device.

In some exemplary embodiments, the processing unit 602 is specifically configured to:

Establishing a communication link with an on-vehicle device on the emergency vehicle or the ordinary vehicle when a communication connection request of the emergency vehicle or the ordinary vehicle is detected for any one of the road side devices; the vehicle-mounted device on the emergency vehicle is used for uploading the driving data of the emergency vehicle to road side equipment through which the emergency vehicle passes; the vehicle-mounted device on the common vehicle is used for uploading the running data of the common vehicle to the road side device through which the common vehicle passes.

In some exemplary embodiments, the processing unit 602 is specifically configured to:

and periodically sending an avoidance command to a common vehicle occupying the emergency running channel through the road side equipment.

Based on the same technical concept, the embodiment of the present application further provides a computing device, as shown in fig. 7, including at least one processor 701, and a memory 702 connected to the at least one processor, where a specific connection medium between the processor 701 and the memory 702 is not limited in the embodiment of the present application, and in fig. 7, the processor 701 and the memory 702 are connected by a bus, for example. The buses may be divided into address buses, data buses, control buses, etc.

In the embodiment of the present application, the memory 702 stores instructions executable by the at least one processor 701, and the at least one processor 701 can perform the steps included in the aforementioned emergency vehicle avoidance method by executing the instructions stored in the memory 702.

Where the processor 701 is a control center of a computing device, various interfaces and lines may be utilized to connect various portions of the computing device, implement data processing by executing or executing instructions stored in the memory 702 and invoking data stored in the memory 702. Alternatively, the processor 701 may include one or more processing units, and the processor 701 may integrate an application processor and a modem processor, wherein the application processor primarily processes an operating system, a user interface, an application program, and the like, and the modem processor primarily processes issuing instructions. It will be appreciated that the modem processor described above may not be integrated into the processor 701. In some embodiments, processor 701 and memory 702 may be implemented on the same chip, or they may be implemented separately on separate chips in some embodiments.

The processor 701 may be a general purpose processor such as a Central Processing Unit (CPU), digital signal processor, application SPECIFIC INTEGRATED Circuit (ASIC), field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or a combination thereof, that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in connection with the emergency vehicle avoidance method embodiments may be embodied directly in hardware processor execution or in a combination of hardware and software modules in the processor.

The memory 702 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory 702 may include at least one type of storage medium, and may include, for example, flash memory, hard disk, multimedia card, card memory, random access memory (Random Access Memory, RAM), static random access memory (Static Random Access Memory, SRAM), programmable read-only memory (Programmable Read Only Memory, PROM), read-only memory (ROM), charged erasable programmable read-only memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-only memory, EEPROM), magnetic memory, magnetic disk, optical disk, and the like. Memory 702 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 702 in embodiments of the present application may also be circuitry or any other device capable of performing storage functions for storing program instructions and/or data.

Based on the same technical idea, an embodiment of the present application further provides a computer-readable storage medium storing a computer program executable by a computing device, which when run on the computing device, causes the computing device to perform the steps of the above-mentioned emergency vehicle avoidance method.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. An emergency vehicle avoidance method, comprising:

when detecting an avoidance request of an emergency vehicle, a service end generates a road vehicle distribution map in a road area where the emergency vehicle is located through the driving data of the emergency vehicle and the driving data of a common vehicle in the road area where the emergency vehicle is located; the avoidance request is generated in real time by the emergency vehicle in the process of executing an emergency task; the driving data comprise a vehicle type, a vehicle position and a driving direction;

The service end plans an emergency running channel for assisting the emergency vehicle to normally run on the road vehicle distribution map according to the vehicle position and the running direction of the emergency vehicle;

the service end determines the avoiding direction of each common vehicle on the road vehicle distribution map according to the vehicle type and the vehicle position of each common vehicle on the emergency running channel, and determines the target avoiding position of each common vehicle in the avoiding direction of each common vehicle; the target avoiding position of each common vehicle is not located in the emergency running channel; the target avoiding position of each common vehicle is a proper position to which each common vehicle needs to move; the avoiding direction of each common vehicle is the direction of each common vehicle to be moved;

For each common vehicle positioned on the emergency running channel, the service end sends an avoidance instruction to the common vehicle; the avoidance command is used for indicating the common vehicle to travel from the emergency travel channel to a target avoidance position of the common vehicle; the avoidance command includes a vehicle identification of the ordinary vehicle and information indicating how the ordinary vehicle moves.

2. The method of claim 1, wherein the server planning an emergency driving path for assisting the emergency vehicle to normally pass on the road-vehicle distribution map according to the vehicle position and the driving direction of the emergency vehicle comprises:

If the service end determines that the lane where the emergency vehicle is located is any one of two lanes in the same driving direction, the vehicle position of the emergency vehicle is taken as a planning starting point, a first emergency driving channel with a set distance range is planned in the middle area of the two lanes along the driving direction of the emergency vehicle on the road vehicle distribution map, or a second emergency driving channel with a set distance range is planned in the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map;

And if the service end determines that the lane where the emergency vehicle is located is any one of at least three lanes in the same driving direction, a third emergency driving channel with a set distance range is planned on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map by taking the vehicle position of the emergency vehicle as a planning starting point.

3. The method of claim 2, wherein the service end determines an avoidance direction of each ordinary vehicle on the road-vehicle distribution map according to a vehicle type and a vehicle position of each ordinary vehicle located on the emergency driving lane, and determines a target avoidance position of each ordinary vehicle in the avoidance direction of each ordinary vehicle, comprising:

for each first common vehicle positioned on the first emergency running channel, the service end determines an avoidance direction of the first common vehicle according to the vehicle type and the vehicle position of the first common vehicle, and determines a target avoidance position of the first common vehicle in the avoidance direction of the first common vehicle;

For each second common vehicle positioned on the second emergency running channel, the service end determines the avoiding direction of the second common vehicle according to the vehicle type and the vehicle position of the second common vehicle, and determines the target avoiding position of the second common vehicle in the avoiding direction of the second common vehicle;

For each third common vehicle located on the third emergency running channel, the service end determines an avoidance direction of the third common vehicle according to the vehicle type and the vehicle position of the third common vehicle, and determines a target avoidance position of the third common vehicle in the avoidance direction of the third common vehicle.

4. The method of claim 2, further comprising, prior to sending the avoidance command to the average vehicle:

If the lane where the emergency vehicle is located is a left-hand lane of two lanes or at least three lanes and the situation of the emergency vehicle on the left-hand lane meets the priority traffic condition, the service end sends a priority traffic request to traffic signal control equipment of a traffic intersection; the priority traffic request is used for indicating the traffic signal control equipment to adjust the traffic signal period of the left-turn lane according to traffic phase operation information so as to enable the common vehicles and the emergency vehicles in the left-turn lane to pass preferentially.

5. The method of claim 4, wherein the method further comprises:

If the lane in which the emergency vehicle is located is a straight lane in two lanes or at least three lanes and the situation of the emergency vehicle on the straight lane meets the priority traffic condition, the service end sends a priority traffic request to traffic signal control equipment of the traffic intersection; the priority traffic request is used for indicating the traffic signal control equipment to adjust the traffic signal period of the straight lane according to the traffic phase operation information so as to enable the common vehicles and the emergency vehicles in the straight lane to pass preferentially.

6. The method of claim 4, wherein the method further comprises:

If the lane in which the emergency vehicle is located is a right-turn lane in at least three lanes and the situation of the emergency vehicle on the right-turn lane meets the priority traffic condition, the service end sends a priority traffic request to traffic signal control equipment of the traffic intersection; the priority traffic request is used for indicating the traffic signal control equipment to adjust the traffic signal period of the right-turn lane according to traffic phase operation information so as to enable the ordinary vehicles and the emergency vehicles in the right-turn lane to pass preferentially.

7. The method of any one of claims 4 to 6, wherein the preferential traffic condition is that a distance between a vehicle position of the emergency vehicle and a traffic intersection on a lane in which the emergency vehicle is located is equal to or less than a distance threshold and a traffic signal state on the lane in which the emergency vehicle is located is a no-traffic.

8. An emergency vehicle avoidance device, comprising:

A generation unit, configured to generate a road vehicle distribution map in a road area where an emergency vehicle is located, by using traveling data of the emergency vehicle and traveling data of a normal vehicle in the road area where the emergency vehicle is located when an avoidance request of the emergency vehicle is detected; the avoidance request is generated in real time by the emergency vehicle in the process of executing an emergency task; the driving data comprise a vehicle type, a vehicle position and a driving direction;

The processing unit is used for planning an emergency driving channel for assisting the emergency vehicle to normally pass on the road vehicle distribution map according to the vehicle position and the driving direction of the emergency vehicle; according to the vehicle type and the vehicle position of each common vehicle on the emergency running channel, determining the avoiding direction of each common vehicle on the road vehicle distribution map, and determining the target avoiding position of each common vehicle in the avoiding direction of each common vehicle; the target avoiding position of each common vehicle is not located in the emergency running channel; the target avoiding position of each common vehicle is a proper position to which each common vehicle needs to move; the avoiding direction of each common vehicle is the direction of each common vehicle to be moved; for each common vehicle positioned on the emergency running channel, sending an avoidance instruction to the common vehicle; the avoidance command is used for indicating the common vehicle to travel from the emergency travel channel to a target avoidance position of the common vehicle; the avoidance command includes a vehicle identification of the ordinary vehicle and information indicating how the ordinary vehicle moves.

9. A computing device comprising at least one processor and at least one memory, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the method of any of claims 1 to 7.

10. A computer readable storage medium, characterized in that it stores a computer program executable by a computing device, which when run on the computing device, causes the computing device to perform the method of any of claims 1 to 7.