CN107170258A - A kind of emergency vehicle priority system and method based on V2X technologies - Google Patents
A kind of emergency vehicle priority system and method based on V2X technologies Download PDFInfo
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- CN107170258A CN107170258A CN201710541636.0A CN201710541636A CN107170258A CN 107170258 A CN107170258 A CN 107170258A CN 201710541636 A CN201710541636 A CN 201710541636A CN 107170258 A CN107170258 A CN 107170258A
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Classifications
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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
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Abstract
The present invention is applied to technical field of intelligent traffic, there is provided emergency vehicle priority system and method based on V2X technologies, it is described including be arranged at emergency vehicle it is vehicle-mounted on positioning unit, be arranged at the roadside unit and traffic grade unit of the cross road mouthful trackside, wherein, positioning unit, when emergency vehicle enters bus or train route range for wireless communication, sent for the position of timing acquisition emergency vehicle, and by the emergency vehicle position to roadside unit；Roadside unit, for according to emergency vehicle current location, the position in track and place track where judging emergency vehicle to generate the control instruction of traffic lights, and control instruction is passed into traffic light unit；Traffic grade unit, the state of lane traffic lamp where controlling emergency vehicle based on the control instruction.Current location of the emergency vehicle priority pass scheme based on emergency vehicle provided in an embodiment of the present invention is designed, and mentality of designing is simple, thus with stronger practicality.
Description
Technical field
The invention belongs to technical field of intelligent traffic, more particularly to a kind of emergency vehicle priority pass based on V2X technologies
System and method.
Background technology
The emergency vehicles such as ambulance, fire fighting truck are as the important tool for handling emergency event, during implementation emergency relief,
Often limited in intersection by traffic flow and signal lamp, so as to cause rescue to be delayed, or even occur security incident.Cause
This, carries out bus priority at intersection access control research to emergency vehicle, improves its traffic efficiency significant with security.
At present, the intersection emergency vehicle priority system built using wireless communication technique has been occurred in that, can be effective
The traffic efficiency of emergency vehicle is improved, but the design of existing emergency vehicle priority system is complex, for example
Priority pass scheme in CN201510026164.6 patent documents is designed based on the current position of emergency vehicle and speed,
Its priority pass conceptual design thinking is complex, and practicality is not good enough.
The content of the invention
The embodiment of the present invention provides the emergency vehicle priority system based on V2X technologies, it is intended to solve existing urgent
Vehicle priority pass conceptual design thinking is complex, the problem of its practicality is not good enough.
The present invention is achieved in that a kind of emergency vehicle priority system based on V2X technologies, and the system includes setting
Be placed in emergency vehicle it is vehicle-mounted on positioning unit, be arranged at the roadside unit and traffic grade unit of the cross road mouthful trackside, wherein
Positioning unit, when emergency vehicle enters bus or train route range for wireless communication, for the position of timing acquisition emergency vehicle,
And send the emergency vehicle position to roadside unit；
Roadside unit, for according to emergency vehicle current location, judging the position in emergency vehicle place track and place track
Put, generate the control instruction of traffic lights, and control instruction is passed into traffic light unit；
Traffic grade unit, the state of lane traffic lamp where controlling emergency vehicle based on the control instruction.
Present invention also offers a kind of emergency vehicle priority pass method based on V2X technologies, this method includes following step
Suddenly：
S1, at positioning unit obtain emergency vehicle current location,
S2, according to emergency vehicle current location, the position in track and place track where judging emergency vehicle, generation is related
Control instruction, and control instruction is passed into traffic light unit, so that traffic light unit is based on control instruction control promptly
The state of lane traffic lamp where vehicle.
Emergency vehicle priority pass scheme provided in an embodiment of the present invention is that the current location based on emergency vehicle judges tight
Track where anxious vehicle and the position in the track, the position generation relevant control based on emergency vehicle in the track are controlled
Instruction, traffic grade unit controls the state of traffic lights based on the control instruction, the emergency vehicle priority pass scheme base
It is designed in the current location of emergency vehicle, mentality of designing is simple, thus with stronger practicality.
Brief description of the drawings
Fig. 1 is the structural representation of the emergency vehicle priority system provided in an embodiment of the present invention based on V2X technologies；
Fig. 2 is the priority pass side of the emergency vehicle priority system provided in an embodiment of the present invention based on V2X technologies
Method.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the structural representation of the emergency vehicle priority system provided in an embodiment of the present invention based on V2X technologies,
For convenience of description, the part related to the embodiment of the present invention is only shown.
The system includes：Be arranged at emergency vehicle it is vehicle-mounted on positioning unit 1, be arranged at the roadside unit of the cross road mouthful trackside
2 and traffic light unit 3, positioning unit 1 passes through DSRC (Dedicated Short Range with roadside unit 2
Communications, DSRC technology is communicated, and when emergency vehicle enters DSRC communication ranges, is arranged at tight
The current position of the timing acquisition vehicle of positioning unit 1 on anxious vehicle, in embodiments of the present invention, positioning unit 1 can pass through
High-precision GPS position indicator obtains the position that emergency vehicle is current, and the current positional information of the emergency vehicle is sent to setting
In the roadside unit 2 of the cross road mouthful, roadside unit 2 is that would know that the track that vehicle is presently in based on the current position of emergency vehicle
And in the location of the track, control instruction is generated in the position described in the track of place based on emergency vehicle, and will control
Instruction is sent to traffic lights control unit 3, and traffic grade unit 3 controls the state of traffic lights according to the control instruction.
In embodiments of the present invention, above-mentioned control instruction includes the instruction of red light control instruction and green light control, traffic lights
State include in red light phase, in green light phase and in amber light state.
In embodiments of the present invention, when roadside unit 2 judge emergency vehicle not less than place track stop line when, then give birth to
Into control instruction be green light control instruction, traffic grade unit be based on green light control instruction control traffic lights be in green light shape
State, the stop line in track where the roadside unit 2 judges that emergency vehicle has passed past, then the control instruction generated is red light control
System instruction, traffic grade unit is based on red light control instruction control traffic lights and is in red light phase.
In embodiments of the present invention, green light control instruction is to instigate traffic grade unit 3 to control traffic lights to be in green light
State, and when a length of Tg=Q/S in green light phase, wherein, Q is the intersection track queuing vehicle number, and S should for intersection
Track saturation volume rate；Red light control instruction is to instigate traffic grade unit 3 to control traffic lights to be in red light phase, and in red
Lamp state when a length of 3 seconds, afterwards control traffic lights recover to initial state.
In embodiments of the present invention, if generate green light control instruction, the shape of track Current traffic lamp where emergency vehicle
State is green light, then does not change the state of traffic lights, and the duration in green light phase is on original green light phase residual time length m basis
On extend Tg-m seconds backward；If generate green light control instruction, the state of track Current traffic lamp where emergency vehicle is red light
Or amber light, then after 3 seconds, the state of the traffic lights is switched into green light, and when a length of Tg in green light phase.
In embodiments of the present invention, during emergency vehicle priority pass, that is, during changing original traffic lights order, hand over
Logical lamp reaches that emergency vehicle is possible to the stop line in track where not crossing when setting duration Tg in green light phase duration, because
This, when traffic lights reaches setting duration Tg in green light phase duration, roadside unit 2 is communicated from positioning unit 2 by DSRC
Place obtains the current location of emergency vehicle, and the current location based on the emergency vehicle judges whether emergency vehicle crosses stop line,
If the determination result is YES, then red light control instruction is generated, if judged result is no, green light control instruction is generated.
Emergency vehicle priority pass scheme provided in an embodiment of the present invention is that the current location based on emergency vehicle judges tight
Track where anxious vehicle and the position in the track, the position generation relevant control based on emergency vehicle in the track are controlled
Instruction, the state of traffic lights is controlled based on the control instruction, the emergency vehicle priority pass scheme working as based on emergency vehicle
Front position is designed, and mentality of designing is simple, thus with stronger practicality.
Fig. 2 is the priority pass side of the emergency vehicle priority system provided in an embodiment of the present invention based on V2X technologies
Method, methods described specifically includes following steps：
S1, at positioning unit obtain emergency vehicle current location；
In embodiments of the present invention, positioning unit 1 is led to roadside unit 2 by DSRC DSRC technologies
Letter, when emergency vehicle enters bus or train route communication range, the current position of the timing acquisition vehicle of positioning unit 1 on emergency vehicle is vehicle-mounted
Put, in embodiments of the present invention, positioning unit 1 can obtain the current position of emergency vehicle by high-precision GPS position indicator,
And send the current positional information of the emergency vehicle to the roadside unit located at the cross road mouthful trackside, the roadside unit 2 receives fixed
The current location information for the emergency vehicle that bit location is sent.
S2, according to emergency vehicle current location, the position in track and place track where judging emergency vehicle, generation is related
Control instruction, and control instruction is passed into traffic light unit, so that traffic light unit is based on control instruction control promptly
The state of lane traffic lamp where vehicle.
In embodiments of the present invention, above-mentioned control instruction includes the instruction of red light control instruction and green light control, traffic lights
State include in red light phase, in green light phase and in amber light state.
In embodiments of the present invention, when emergency vehicle current location not less than place track stop line when, then generate
Control instruction be green light control instruction, traffic grade unit 3 be based on green light control instruction control traffic lights be in green light shape
State, the stop line in track where the current location of emergency vehicle has passed past, the then control instruction generated is red light control instruction,
Traffic grade unit 3 is based on red light control instruction control traffic lights and is in red light phase.
In embodiments of the present invention, green light control instruction is to instigate traffic light unit 3 to control traffic lights to be in green light phase,
And when a length of Tg=Q/S in green light phase, wherein, Q is the intersection track queuing vehicle number, and S is the intersection track
Saturation volume rate；Red light control instruction is to instigate traffic grade unit 3 to control traffic lights to be in red light phase, and in red light shape
State when a length of 3 seconds, afterwards control traffic lights recover to initial state.
In embodiments of the present invention, when green light control instruction is generated, if the track Current traffic lamp where emergency vehicle
State be green light, then do not change the state of traffic lights, the duration in green light phase is original green light phase residual time length m's
On the basis of extend Tg-m seconds backward；When green light control instruction is generated, if where emergency vehicle track Current traffic lamp shape
State is red light or amber light, generates green light control instruction, then after 3 seconds, and the state of the traffic lights is switched into green light, and place
In when a length of Tg of green light phase.
In embodiments of the present invention, during emergency vehicle priority pass, that is, during changing original traffic lights order, handing over
Logical lamp reaches that emergency vehicle is possible to the stop line in track where not crossing when setting duration Tg in green light phase duration, because
This, when traffic lights reaches setting duration Tg in green light phase duration, roadside unit 2 obtains urgent car at positioning unit 1
Current location, the current location based on the emergency vehicle judges whether emergency vehicle crosses stop line, if judged result is
It is then to generate red light control instruction, if judged result is no, generates green light control instruction.
Emergency vehicle priority pass scheme provided in an embodiment of the present invention is that the current location based on emergency vehicle judges tight
Track where anxious vehicle and the position in the track, the position generation relevant control based on emergency vehicle in the track are controlled
Instruction, the state of traffic lights is controlled based on the control instruction, the emergency vehicle priority pass scheme working as based on emergency vehicle
Front position is designed, and mentality of designing is simple, thus with stronger practicality.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of emergency vehicle priority system based on V2X technologies, it is characterised in that the system includes：It is arranged at tight
Positioning unit on anxious vehicle on-board, the roadside unit and traffic grade unit for being arranged at the cross road mouthful trackside, wherein
The positioning unit, when emergency vehicle enters bus or train route range for wireless communication, for the position of timing acquisition emergency vehicle,
And send the emergency vehicle position to the roadside unit；
The roadside unit, for according to emergency vehicle current location, judging the position in emergency vehicle place track and place track
Put, generate the control instruction of traffic lights, and control instruction is passed into the traffic light unit；
The traffic grade unit, the state of lane traffic lamp where controlling emergency vehicle based on the control instruction.
2. the emergency vehicle priority system as claimed in claim 1 based on V2X technologies, it is characterised in that when the road
Side unit judges that emergency vehicle does not cross the stop line in place track, then the control instruction generated is green light control instruction；Work as institute
State roadside unit and judge that emergency vehicle has passed past the stop line in place track, then the control instruction generated is red light control instruction.
3. the emergency vehicle priority system as claimed in claim 2 based on V2X technologies, it is characterised in that the green light
Control instruction is to instigate traffic grade unit control traffic lights to be in green light phase, and in green light phase when it is a length of
Tg=Q/S, wherein, Q is the intersection track queuing vehicle number, and S is the intersection track saturation volume rate；The red light control refers to
Order is to instigate traffic grade unit control traffic lights to be in red light phase, and in red light phase when a length of 3 seconds, it
Traffic lights recovers to original state afterwards.
4. the emergency vehicle priority system as claimed in claim 3 based on V2X technologies, it is characterised in that in urgent car
During priority pass, when traffic lights reaches setting duration Tg in green light phase duration, roadside unit is at positioning unit
The current location of emergency vehicle is obtained, judges whether emergency vehicle crosses the stop line in place track, if the determination result is YES, then
Red light control instruction is generated, if judged result is no, green light control instruction is generated.
5. the emergency vehicle priority system based on V2X technologies as described in claim 3 or 4, it is characterised in that
When generating green light control instruction, if the state of track Current traffic lamp where emergency vehicle is green light, friendship is not changed
The state of logical lamp, the duration in green light phase extends Tg-m seconds backward on the basis of original green light phase residual time length m；
When generating green light control instruction, if the state of track Current traffic lamp where emergency vehicle is red light or amber light, 3
After second, the state of the traffic lights is switched into green light, when a length of Tg in green light phase.
6. a kind of emergency vehicle priority pass method based on V2X technologies, it is characterised in that methods described comprises the following steps：
S1, at positioning unit obtain emergency vehicle current location,
S2, according to emergency vehicle current location, the position in track and place track where judging emergency vehicle generates relevant control
Instruction, and control instruction is passed into traffic light unit, so that traffic light unit is based on the control instruction and controls emergency vehicle
The state of place lane traffic lamp.
7. the emergency vehicle priority pass method as claimed in claim 6 based on V2X technologies, it is characterised in that when urgent car
Current location do not cross where track stop line when, then the control instruction generated be green light control instruction；When urgent car
Current location have passed past where track stop line when, then the control instruction generated be red light control instruction.
8. the emergency vehicle priority pass method as claimed in claim 7 based on V2X technologies, it is characterised in that the green light
Control instruction is to instigate traffic grade unit control traffic lights to be in green light phase, and in green light phase when it is a length of
Tg=Q/S, wherein, Q is the intersection track queuing vehicle number, and S is the intersection track saturation volume rate；The red light control refers to
Order is to instigate traffic grade unit control traffic lights to be in red light phase, and in red light phase when a length of 3 seconds, it
Traffic lights recovers to original state afterwards.
9. the emergency vehicle priority pass method as claimed in claim 8 based on V2X technologies, it is characterised in that in urgent car
During priority pass, when traffic lights reaches setting duration Tg in green light phase duration, then the current of emergency vehicle is obtained
Position, judges whether emergency vehicle crosses the stop line in place track, if the determination result is YES, then generates red light control instruction,
If judged result is no, green light control instruction is generated.
10. the emergency vehicle priority pass method as claimed in claim 8 or 9 based on V2X technologies, it is characterised in that
When generating green light control instruction, if the state of track Current traffic lamp where emergency vehicle is green light, friendship is not changed
The state of logical lamp, the duration in green light phase extends Tg-m seconds backward on the basis of original green light phase residual time length m；
During green light control instruction is generated, if the state of track Current traffic lamp where emergency vehicle is red light or amber light,
After 3 seconds, the state of the traffic lights is switched into green light, when a length of Tg in green light phase.
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| CN201710541636.0A CN107170258A (en) | 2017-07-05 | 2017-07-05 | A kind of emergency vehicle priority system and method based on V2X technologies |
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| CN201710541636.0A CN107170258A (en) | 2017-07-05 | 2017-07-05 | A kind of emergency vehicle priority system and method based on V2X technologies |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108648476A (en) * | 2018-05-21 | 2018-10-12 | 宜宾道安安防工程有限公司 | A kind of special train priority system and method |
| CN108961751A (en) * | 2018-07-16 | 2018-12-07 | 周口师范学院 | A kind of intelligent transportation system based on cloud computing |
| CN109649391A (en) * | 2017-10-06 | 2019-04-19 | 本田技研工业株式会社 | Controller of vehicle |
| WO2019085846A1 (en) * | 2017-11-06 | 2019-05-09 | 华为技术有限公司 | Planning method for express lane and unit |
| CN110505602A (en) * | 2018-05-17 | 2019-11-26 | 大唐移动通信设备有限公司 | A kind of data processing method of car networking, server and car networking system |
| CN110517513A (en) * | 2019-08-22 | 2019-11-29 | 上海电气集团智能交通科技有限公司 | A kind of dynamic right of way system and its control method |
| CN110588726A (en) * | 2019-09-26 | 2019-12-20 | 公安部交通管理科学研究所 | Tramcar signal priority control system and method based on LTE-V2X |
| CN111369817A (en) * | 2018-12-26 | 2020-07-03 | 北京嘀嘀无限科技发展有限公司 | Passage control method, device and system |
| CN111951569A (en) * | 2019-05-16 | 2020-11-17 | 大唐移动通信设备有限公司 | Green wave passing method and device |
| CN112513953A (en) * | 2020-02-21 | 2021-03-16 | 华为技术有限公司 | Emergency vehicle passing method and device |
| CN113240919A (en) * | 2021-04-20 | 2021-08-10 | 中国汽车技术研究中心有限公司 | Emergency vehicle priority passing method based on Internet of vehicles |
| CN113538906A (en) * | 2021-07-01 | 2021-10-22 | 东风悦享科技有限公司 | V2X-based vehicle priority passing system and method |
| CN114446043A (en) * | 2020-11-06 | 2022-05-06 | Oppo广东移动通信有限公司 | Prompting method, electronic equipment, traffic light, vehicle and storage medium |
| CN115273504A (en) * | 2022-07-19 | 2022-11-01 | 江苏航天大为科技股份有限公司 | Vehicle passing signal control method and system based on Internet of vehicles and storage medium |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109649391A (en) * | 2017-10-06 | 2019-04-19 | 本田技研工业株式会社 | Controller of vehicle |
| CN109649391B (en) * | 2017-10-06 | 2021-12-03 | 本田技研工业株式会社 | Vehicle control device |
| US11087621B2 (en) | 2017-11-06 | 2021-08-10 | Huawei Technologies Co., Ltd. | Express lane planning method and unit |
| WO2019085846A1 (en) * | 2017-11-06 | 2019-05-09 | 华为技术有限公司 | Planning method for express lane and unit |
| CN110505602A (en) * | 2018-05-17 | 2019-11-26 | 大唐移动通信设备有限公司 | A kind of data processing method of car networking, server and car networking system |
| CN108648476A (en) * | 2018-05-21 | 2018-10-12 | 宜宾道安安防工程有限公司 | A kind of special train priority system and method |
| CN108961751A (en) * | 2018-07-16 | 2018-12-07 | 周口师范学院 | A kind of intelligent transportation system based on cloud computing |
| CN111369817A (en) * | 2018-12-26 | 2020-07-03 | 北京嘀嘀无限科技发展有限公司 | Passage control method, device and system |
| CN111951569B (en) * | 2019-05-16 | 2022-04-05 | 大唐移动通信设备有限公司 | Green wave passing method and device |
| CN111951569A (en) * | 2019-05-16 | 2020-11-17 | 大唐移动通信设备有限公司 | Green wave passing method and device |
| CN110517513A (en) * | 2019-08-22 | 2019-11-29 | 上海电气集团智能交通科技有限公司 | A kind of dynamic right of way system and its control method |
| CN110517513B (en) * | 2019-08-22 | 2021-10-26 | 上海电气集团智能交通科技有限公司 | Dynamic road right system and control method thereof |
| CN110588726A (en) * | 2019-09-26 | 2019-12-20 | 公安部交通管理科学研究所 | Tramcar signal priority control system and method based on LTE-V2X |
| CN112513953A (en) * | 2020-02-21 | 2021-03-16 | 华为技术有限公司 | Emergency vehicle passing method and device |
| CN114446043A (en) * | 2020-11-06 | 2022-05-06 | Oppo广东移动通信有限公司 | Prompting method, electronic equipment, traffic light, vehicle and storage medium |
| CN113240919A (en) * | 2021-04-20 | 2021-08-10 | 中国汽车技术研究中心有限公司 | Emergency vehicle priority passing method based on Internet of vehicles |
| CN113240919B (en) * | 2021-04-20 | 2022-03-15 | 中国汽车技术研究中心有限公司 | Emergency vehicle priority passing method based on Internet of vehicles |
| CN113538906A (en) * | 2021-07-01 | 2021-10-22 | 东风悦享科技有限公司 | V2X-based vehicle priority passing system and method |
| CN115273504A (en) * | 2022-07-19 | 2022-11-01 | 江苏航天大为科技股份有限公司 | Vehicle passing signal control method and system based on Internet of vehicles and storage medium |
| CN115273504B (en) * | 2022-07-19 | 2024-01-02 | 江苏航天大为科技股份有限公司 | Vehicle passing signal control method, system and storage medium based on Internet of vehicles |
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Application publication date: 20170915 |