CN106023612A - Vehicle priority passage method and roadside unit - Google Patents
Vehicle priority passage method and roadside unit Download PDFInfo
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- CN106023612A CN106023612A CN201610438670.0A CN201610438670A CN106023612A CN 106023612 A CN106023612 A CN 106023612A CN 201610438670 A CN201610438670 A CN 201610438670A CN 106023612 A CN106023612 A CN 106023612A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
Abstract
The invention discloses a vehicle priority passage method and a roadside unit. The method includes the following steps that: an emergency passage request sent by a target vehicle is received, and the preset driving route information of the target vehicle is obtained, wherein the preset driving route information contains the departure place of the target vehicle, the destination of the target vehicle and the information of road sections between the departure place and the destination; the real-time position of the target vehicle is obtained, and road sections to which the real-time position belongs in the preset driving route information are determined; and prompting information about the priority passage of the target vehicle is sent to a plurality of vehicles in the road sections to which the real-time position belongs in the preset driving route information, so that the vehicles receiving the prompting information can drive according to their respective planed lanes. With the vehicle priority passage method and the roadside unit of the invention adopted, driving routes can be adjusted and controlled in real time even when emergencies such as rescue, arrest and traffic congestion occur, and the timeliness of emergency handling can be improved.
Description
Technical field
The present invention relates to car networking technology field, particularly relate to a kind of vehicle priority pass method and roadside unit.
Background technology
Along with the raising of people's living standard, automobile becomes the requisite vehicles in people's life, number
Amount rises year by year, causes environmental pollution, traffic congestion.And existing navigation product, route rule can be carried out
Draw, facilitate the trip of people to a certain extent, but vehicle driving can not be guided according to actual traffic situation.
Especially when the emergency such as rescuing, arrest, once congestion in road, it will delay the place of emergency
Reason, reduces the promptness that emergency processes.
Summary of the invention
Embodiment of the present invention technical problem to be solved is, it is provided that a kind of vehicle priority pass method and road
Limit unit, can guide vehicle driving according to actual traffic situation, even if rescuing, arresting etc. tightly
When urgent thing part and congestion in road, it is also possible to real-time monitoring traffic route, improve the timely of emergency process
Property.
In order to solve above-mentioned technical problem, embodiments provide a kind of vehicle priority pass method, institute
The method of stating includes:
When receiving the urgent current request that target vehicle sends, obtain the traveling that described target vehicle is preset
Route information, described default travel routes information include the departure place of described target vehicle, destination and
Each road section information from described departure place to described destination；
Obtain the real time position of described target vehicle, and determine that described real time position is on described default traveling road
Section belonging in line information；
To the described real time position determined in described default travel routes information belonging to multiple cars in section
Send described target vehicle priority pass information so that receiving multiple vehicles of described information
According to respective planning lanes.
Correspondingly, the embodiment of the present invention additionally provides a kind of roadside unit, including:
Predetermined paths acquisition module, for when receiving the urgent current request that target vehicle sends, obtaining
The travel routes information that described target vehicle is preset, described default travel routes information includes described target carriage
Departure place, destination and each road section information from described departure place to described destination；
Section determines module, for obtaining the real time position of described target vehicle, and determines described real time position
Section belonging in described default travel routes information；
Information sending module, for believing at described default travel route to the described real time position determined
Multiple vehicles in the section belonging in breath send the information of described target vehicle priority pass, so that receiving
Multiple vehicles of described information are according to respective planning lanes.
Implement the embodiment of the present invention, have the advantages that and send when roadside unit receives target vehicle
Urgent current request time, obtain the travel routes information that target vehicle is preset, and according to the reality of target vehicle
Time position determine the section belonging to vehicle driving, multiple vehicles to the section belonging to target vehicle send target
The information of vehicle priority pass, so that receiving multiple vehicles of information according to respective planning track
Travel.Vehicle driving can be guided, even if rescuing, arresting etc. promptly according to actual traffic situation
When event and congestion in road, it is also possible to real-time monitoring traffic route, improve the promptness that emergency processes.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement
In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below
In accompanying drawing be only some embodiments of the present invention, for those of ordinary skill in the art, do not paying
On the premise of going out creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of a kind of vehicle priority pass method in the embodiment of the present invention；
Fig. 2 is a kind of vehicle driving route schematic diagram in the embodiment of the present invention；
Fig. 3 (3-1,3-2) is regulation and control interface, a kind of track schematic diagram in the embodiment of the present invention；
Fig. 4 is the schematic flow sheet of a kind of vehicle priority pass method in another embodiment of the present invention；
Fig. 5 is the structural representation of a kind of roadside unit in the embodiment of the present invention；
Fig. 6 is the structural representation that in the embodiment of the present invention, the section of roadside unit determines module.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, be fully described by, it is clear that described embodiment be only a part of embodiment of the present invention rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
The every other embodiment obtained under property work premise, broadly falls into the scope of protection of the invention.
The execution of the vehicle priority pass method mentioned in the embodiment of the present invention depends on computer program, can transport
Row is on the computer system of Feng Ruoyiman system.This computer program can run based on roadside unit.Should
Roadside unit be have monitoring, control, the terminal unit of the function such as process.
It should be noted that the term used in embodiments of the present invention is only merely for describing specific embodiment
Purpose, and be not intended to be limiting the present invention.Used in the embodiment of the present invention and appended claims
" a kind of ", " described " and " being somebody's turn to do " of singulative is also intended to include most form, unless context understands
Ground represents other implications.It is also understood that term "and/or" used herein refer to and comprise one or
Any or all of multiple projects of listing being associated may combination.
Fig. 1 is the schematic flow sheet of a kind of vehicle priority pass method in the embodiment of the present invention, as shown in the figure
Described method may include that
Step S101, when receiving the urgent current request that target vehicle sends, obtains described target vehicle
The travel routes information preset.
Concrete, when roadside unit receives first aid that target vehicle sends, the urgent current request such as arrests,
Obtain the traffic route from current location to destination that target vehicle board units sets.Wherein, described row
Bus or train route line include the departure place of described target vehicle, destination and from described departure place to described destination it
Between each road section information.
Such as, when somewhere breaking out of fire, extinguishing vehicle sets the roadway from current location to scene of fire
Line, and send urgent current request to roadside unit, after roadside unit receives request, obtain described request and take
The traffic route of the extinguishing vehicle of band.Traffic route as shown in Figure 2, arrives B ground from A, including
Tetra-sections of AC, CD, DE, EB.
Optionally, after described roadside unit receives the urgent current request that described target vehicle sends, obtain
The relevant information of described target vehicle, such as license plate number, the character etc. of vehicle, thus judges described target vehicle
Request is urgent current the most legal.
Step S102, obtains the real time position of described target vehicle, and determines that described real time position is described pre-
If travel routes information in belonging to section.
Concrete, obtain the real time position of described target vehicle, obtain described target vehicle in described real-time position
The travel direction put, searches the section consistent with described travel direction in described travel routes information, then will
The section that described that find and described travel direction is consistent be defined as described vehicle currently belonging to section.
Such as, if as in figure 2 it is shown, the current direction of traffic of target vehicle is positive North and South direction, and correspondence
In section, AC section is also positive North and South direction, therefore, it is determined that target vehicle is currently at AC sections of road；If mesh
The mark current direction of traffic of vehicle be 45 degree of deflection north, east, and the direction, EB section of correspondence also be eastern be partial to northern
45 degree, therefore, it is determined that target vehicle is currently at EB sections of road.
Optionally, if in the traffic route of target vehicle, there is the section that direction is identical, then by vehicle
GPS alignment system obtains the current location of target vehicle, the current location that Search and Orientation arrives in each section
Affiliated road section scope.
Step S103, to the road that the described real time position determined is affiliated in described default travel routes information
Multiple vehicles of section send the information of described target vehicle priority pass, so that receiving described information
Multiple vehicles according to respective planning lanes.
Concrete, roadside unit is each vehicle one driving lane of planning and a road speed, so that often
After individual vehicle travels according to respective planning track and speed, regulate and control out a track for empty tubs for target vehicle.
Such as, however, it is determined that target vehicle is the most just at DE sections of road, then roadside unit notifies Zheng DE road
Other vehicles that section travels travel according to the track that roadside unit is the planning of each vehicle and speed, thus are mesh
Mark vehicle regulation and control track.Concrete have three lanes in DE section as shown in figure 3-1, and wherein target vehicle is
X1, X2～X9 are to travel other vehicles in DE section, after the roadside unit regulation and control to vehicle, for
Target vehicle X1 plans a target track, as shown in figure 3-2.
In the embodiment of the present invention, when roadside unit receives the urgent current request that target vehicle sends, obtain
Take the travel routes information that target vehicle is preset, and determine vehicle driving institute according to the real time position of target vehicle
The section belonged to, the multiple vehicles to the section belonging to target vehicle send the prompting letter of target vehicle priority pass
Breath, so that receiving multiple vehicles of information according to respective planning lanes.Can hand over according to reality
Understanding and considerate condition, guides vehicle driving, even if when emergency and the congestion in road such as rescuing, arrest, also
The promptness that emergency processes can be improve with real-time monitoring traffic route.
Fig. 4 is the schematic flow sheet of the vehicle priority pass method in another embodiment of the present invention, as shown in the figure
Described method may include that
Step S201, when receiving the urgent current request that target vehicle sends, obtains described target vehicle
The travel routes information preset.
Concrete, when roadside unit receives first aid that target vehicle sends, the urgent current request such as arrests,
Obtain the traffic route from current location to destination that target vehicle board units sets.Wherein, described row
Bus or train route line include the departure place of described target vehicle, destination and from described departure place to described destination it
Between each road section information.
Such as, when somewhere breaking out of fire, extinguishing vehicle sets the roadway from current location to scene of fire
Line, and send urgent current request to roadside unit, after roadside unit receives request, obtain described request and take
The traffic route of the extinguishing vehicle of band.Traffic route as shown in Figure 2, arrives B ground from A, including
Tetra-sections of AC, CD, DE, EB.
Optionally, after described roadside unit receives the urgent current request that described target vehicle sends, obtain
The relevant information of described target vehicle, such as license plate number, the character etc. of vehicle, thus judges described target vehicle
Request is urgent current the most legal.
Step S202, obtains the real time position of described target vehicle, obtain described target vehicle described in real time
The travel direction of position, searches the section consistent with described travel direction in described travel routes information.
Step S203, is defined as section consistent for described that find and described travel direction described vehicle and works as
Section belonging to before.
Such as, if as in figure 2 it is shown, the current direction of traffic of target vehicle is positive North and South direction, and correspondence
In section, AC section is also positive North and South direction, therefore, it is determined that target vehicle is currently at AC sections of road；If mesh
The mark current direction of traffic of vehicle be 45 degree of deflection north, east, and the direction, EB section of correspondence also be eastern be partial to northern
45 degree, therefore, it is determined that target vehicle is currently at EB sections of road.
Optionally, if in the traffic route of target vehicle, there is the section that direction is identical, then by vehicle
GPS alignment system obtains the current location of target vehicle, the current location that Search and Orientation arrives in each section
Affiliated road section scope.
Step S204, to the road that the described real time position determined is affiliated in described default travel routes information
Multiple vehicles of section send the information of described target vehicle priority pass, so that receiving described information
Multiple vehicles according to respective planning lanes.
Concrete, roadside unit is each vehicle one driving lane of planning and a road speed, so that often
After individual vehicle travels according to respective planning track and speed, regulate and control out a track for empty tubs for target vehicle.
Such as, however, it is determined that target vehicle is the most just at DE sections of road, then roadside unit notifies Zheng DE road
Other vehicles that section travels travel according to the track that roadside unit is the planning of each vehicle and speed, thus are mesh
Mark vehicle regulation and control track.Concrete have three lanes in DE section as shown in figure 3-1, and wherein target vehicle is
X1, X2～X9 are to travel other vehicles in DE section, after the roadside unit regulation and control to vehicle, for
Target vehicle X1 plans a target track, as shown in figure 3-2.
Step S205, indicates the target lanes that described target vehicle regulates and controls according to roadside unit.
Concrete, it is after target vehicle regulates and controls out target track at roadside unit, instruction target vehicle is to specify
Speed current on target track, thus ensured current safety.
Optionally, the described prompting letter sending described target vehicle priority pass to the multiple vehicles determining section
After breath, also include:
Monitor multiple vehicles of the described information of described reception the most all according to respective planning lanes；
Multiple vehicles of the described information of described reception exist not according to planning lanes if monitoring
Vehicle, then not according to the information of the vehicle planning lanes described in record, and to described not according to planning car
The vehicle that road travels sends information warning.
Concrete, when having violation driving vehicle in roadside unit monitors the vehicle being adjusted, record is in violation of rules and regulations
The relevant information of vehicle, and again send information warning to violation vehicle, to point out the violation row of violation vehicle
For.
Optionally, described travel routes information also includes that the position of traffic light, described method also include:
Distance between the real time position and the position of described traffic light of described target vehicle less than or etc.
When predeterminable range threshold value and described traffic light show red, indicate described target vehicle according to planning
Speed travels.
Concrete, when target vehicle travels to distance traffic light preset range, if traffic light
Being shown as red light, in order to save the time arrived at, roadside unit instruction target vehicle is according to regulation
Speed (deceleration) passes through traffic light intersection, has on the one hand saved running time, has on the other hand ensured driving
Safety.
In the embodiment of the present invention, when roadside unit receives the urgent current request that target vehicle sends, obtain
Take the travel routes information that target vehicle is preset, and determine vehicle driving institute according to the real time position of target vehicle
The section belonged to, the multiple vehicles to the section belonging to target vehicle send the prompting letter of target vehicle priority pass
Breath, so that receiving multiple vehicles of information according to respective planning lanes.Can hand over according to reality
Understanding and considerate condition, guides vehicle driving, even if when emergency and the congestion in road such as rescuing, arrest, also
The promptness that emergency processes can be improve with real-time monitoring traffic route.
Fig. 5 is the structural representation of a kind of roadside unit in the embodiment of the present invention, the most described roadside
Unit may include that
Predetermined paths acquisition module 510, for when receiving the urgent current request that target vehicle sends, obtaining
Take the travel routes information that described target vehicle is preset.
Concrete, when roadside unit receives first aid that target vehicle sends, the urgent current request such as arrests,
Obtain the traffic route from current location to destination that target vehicle board units sets.Wherein, described row
Bus or train route line include the departure place of described target vehicle, destination and from described departure place to described destination it
Between each road section information.
Such as, when somewhere breaking out of fire, extinguishing vehicle sets the roadway from current location to scene of fire
Line, and send urgent current request to roadside unit, after roadside unit receives request, obtain described request and take
The traffic route of the extinguishing vehicle of band.Traffic route as shown in Figure 2, arrives B ground from A, including
Tetra-sections of AC, CD, DE, EB.
Optionally, after described roadside unit receives the urgent current request that described target vehicle sends, obtain
The relevant information of described target vehicle, such as license plate number, the character etc. of vehicle, thus judges described target vehicle
Request is urgent current the most legal.
Section determines module 520, for obtaining the real time position of described target vehicle, and determines described real-time position
Section belonging to putting in described default travel routes information.
Concrete, as shown in Figure 6, described section determines module 520, including:
Unit 521 is searched in section, for obtaining the described target vehicle travel direction at described real time position,
Described travel routes information is searched the section consistent with described travel direction；
Section determines unit 522, for being defined as in section consistent for described that find and described travel direction
The section that described vehicle is currently affiliated.
Such as, if as in figure 2 it is shown, the current direction of traffic of target vehicle is positive North and South direction, and correspondence
In section, AC section is also positive North and South direction, therefore, it is determined that target vehicle is currently at AC sections of road；If mesh
The mark current direction of traffic of vehicle be 45 degree of deflection north, east, and the direction, EB section of correspondence also be eastern be partial to northern
45 degree, therefore, it is determined that target vehicle is currently at EB sections of road.
Optionally, if in the traffic route of target vehicle, there is the section that direction is identical, then by vehicle
GPS alignment system obtains the current location of target vehicle, the current location that Search and Orientation arrives in each section
Affiliated road section scope.
Information sending module 530, is used for the described real time position determined at described default travel route
Multiple vehicles in the section belonging in information send the information of described target vehicle priority pass, so that connecing
Receive multiple vehicles of described information according to respective planning lanes.
Concrete, roadside unit is each vehicle one driving lane of planning and a road speed, so that often
After individual vehicle travels according to respective planning track and speed, regulate and control out a track for empty tubs for target vehicle.
Such as, however, it is determined that target vehicle is the most just at DE sections of road, then roadside unit notifies Zheng DE road
Other vehicles that section travels travel according to the track that roadside unit is the planning of each vehicle and speed, thus are mesh
Mark vehicle regulation and control track.Concrete have three lanes in DE section as shown in figure 3-1, and wherein target vehicle is
X1, X2～X9 are to travel other vehicles in DE section, after the roadside unit regulation and control to vehicle, for
Target vehicle X1 plans a target track, as shown in figure 3-2.
Optionally, described roadside unit, also include:
Track indicating module 540, for the target track row indicating described target vehicle to regulate and control according to roadside unit
Sail.
Concrete, it is after target vehicle regulates and controls out target track at roadside unit, instruction target vehicle is to specify
Speed current on target track, thus ensured current safety.
Optionally, described roadside unit, also include:
Monitoring modular 550, for monitoring multiple vehicles of the described information of described reception the most all according to each
Planning lanes；
Logging modle 560, if for monitor multiple vehicles of the described information of described reception exist not by
According to the vehicle of planning lanes, then not according to the information of the vehicle planning lanes described in record, and to
Described not according to the vehicle transmission information warning of planning lanes.
Concrete, when having violation driving vehicle in roadside unit monitors the vehicle being adjusted, record is in violation of rules and regulations
The relevant information of vehicle, and again send information warning to violation vehicle, to point out the violation row of violation vehicle
For.
Optionally, described travel routes information also includes that the position of traffic light, described roadside unit are also wrapped
Include:
Speed indicating module 570, is used for the position of the real time position at described target vehicle and described traffic light
When distance between putting is red less than or equal to predeterminable range threshold value and the display of described traffic light, indicate institute
State target vehicle to travel according to the speed of planning.
Concrete, when target vehicle travels to distance traffic light preset range, if traffic light
Being shown as red light, in order to save the time arrived at, roadside unit instruction target vehicle is according to regulation
Speed (deceleration) passes through traffic light intersection, has on the one hand saved running time, has on the other hand ensured driving
Safety.
In the embodiment of the present invention, when roadside unit receives the urgent current request that target vehicle sends, obtain
Take the travel routes information that target vehicle is preset, and determine vehicle driving institute according to the real time position of target vehicle
The section belonged to, the multiple vehicles to the section belonging to target vehicle send the prompting letter of target vehicle priority pass
Breath, so that receiving multiple vehicles of information according to respective planning lanes.Can hand over according to reality
Understanding and considerate condition, guides vehicle driving, even if when emergency and the congestion in road such as rescuing, arrest, also
The promptness that emergency processes can be improve with real-time monitoring traffic route.
One of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method,
Can be by computer program and complete to instruct relevant hardware, described program can be stored in a calculating
In machine read/write memory medium, this program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.
Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory,
Or random store-memory body (Random Access Memory, RAM) etc. ROM).
Above disclosed be only present pre-ferred embodiments, certainly can not with this limit the present invention it
Interest field, the equivalent variations therefore made according to the claims in the present invention, still belong to the scope that the present invention is contained.
Claims (10)
1. a vehicle priority pass method, it is characterised in that including:
When receiving the urgent current request that target vehicle sends, obtain the traveling that described target vehicle is preset
Route information, described default travel routes information include the departure place of described target vehicle, destination and
Each road section information from described departure place to described destination；
Obtain the real time position of described target vehicle, and determine that described real time position is on described default traveling road
Section belonging in line information；
To the described real time position determined in described default travel routes information belonging to multiple cars in section
Send described target vehicle priority pass information so that receiving multiple vehicles of described information
According to respective planning lanes.
2. the method for claim 1, it is characterised in that described exist to the described real time position determined
Multiple vehicles in the section belonging in described default travel routes information send described target vehicle priority pass
Information after, also include:
Indicate the target lanes that described target vehicle regulates and controls according to roadside unit.
3. method as claimed in claim 1 or 2, it is characterised in that described to the multiple cars determining section
Send described target vehicle priority pass information after, also include:
Monitor multiple vehicles of the described information of described reception the most all according to respective planning lanes；
Multiple vehicles of the described information of described reception exist not according to planning lanes if monitoring
Vehicle, then not according to the information of the vehicle planning lanes described in record, and to described not according to planning car
The vehicle that road travels sends information warning.
4. the method for claim 1, it is characterised in that described travel routes information also includes traffic
The position of signal lights, described method also includes:
Distance between the real time position and the position of described traffic light of described target vehicle less than or etc.
When predeterminable range threshold value and described traffic light show red, indicate described target vehicle according to planning
Speed travels.
5. the method for claim 1, it is characterised in that described determine that described real time position is described
Section belonging in travel routes information, including:
Obtain the described target vehicle travel direction at described real time position, look in described travel routes information
Look for the section consistent with described travel direction；
Section consistent for described that find and described travel direction is defined as the road that described vehicle is currently affiliated
Section.
6. a roadside unit, it is characterised in that including:
Predetermined paths acquisition module, for when receiving the urgent current request that target vehicle sends, obtaining
The travel routes information that described target vehicle is preset, described default travel routes information includes described target carriage
Departure place, destination and each road section information from described departure place to described destination；
Section determines module, for obtaining the real time position of described target vehicle, and determines described real time position
Section belonging in described default travel routes information；
Information sending module, for believing at described default travel route to the described real time position determined
Multiple vehicles in the section belonging in breath send the information of described target vehicle priority pass, so that receiving
Multiple vehicles of described information are according to respective planning lanes.
7. roadside unit as claimed in claim 6, it is characterised in that described roadside unit, also includes:
Track indicating module, for the target lanes indicating described target vehicle to regulate and control according to roadside unit.
Roadside unit the most as claimed in claims 6 or 7, it is characterised in that described roadside unit, also wraps
Include:
Monitoring modular, for monitoring multiple vehicles of the described information of described reception the most all according to respective
Planning lanes；
Logging modle, if for monitor multiple vehicles of the described information of described reception exist not according to
The vehicle of planning lanes, then not according to the information of the vehicle planning lanes described in record, and to institute
State and do not send information warning according to the vehicle of planning lanes.
9. roadside unit as claimed in claim 6, it is characterised in that described travel routes information also includes
The position of traffic light, described device also includes:
Speed indicating module, is used for the position of the real time position at described target vehicle and described traffic light
Between distance red less than or equal to predeterminable range threshold value and the display of described traffic light time, instruction is described
Target vehicle travels according to the speed of planning.
10. roadside unit as claimed in claim 6, it is characterised in that described section determines module, bag
Include:
Unit is searched in section, for obtaining the described target vehicle travel direction at described real time position, in institute
State the section that in travel routes information, lookup is consistent with described travel direction；
Section determines unit, for section consistent for described that find and described travel direction is defined as institute
State the section that vehicle is currently affiliated.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610438670.0A CN106023612A (en) | 2016-06-17 | 2016-06-17 | Vehicle priority passage method and roadside unit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610438670.0A CN106023612A (en) | 2016-06-17 | 2016-06-17 | Vehicle priority passage method and roadside unit |
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| CN201610438670.0A Pending CN106023612A (en) | 2016-06-17 | 2016-06-17 | Vehicle priority passage method and roadside unit |
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| CN111815988A (en) * | 2020-07-15 | 2020-10-23 | 中国电子技术标准化研究院 | Method and system for controlling vehicle driving route under emergency condition |
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