CN108648477B - Traffic control method for red light running at emergency vehicle intersection based on RFID technology - Google Patents
Traffic control method for red light running at emergency vehicle intersection based on RFID technology Download PDFInfo
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Abstract
The invention discloses a traffic control method for an emergency vehicle intersection running a red light based on an RFID technology, and relates to a traffic control method for an emergency vehicle intersection running a red light. The invention aims to solve the problem of high traffic accident rate caused by red light running at the intersection of the conventional emergency vehicle. When the RFID reader detects the electronic tag of the emergency vehicle and determines the lane where the emergency vehicle is located, the LED color-changeable lane indicating plate and the indicating mark line corresponding to the lane where the emergency vehicle is located are changed into red, and the vehicle in front of the emergency vehicle is changed into other lanes; the LED color-changeable lane indicating plate mark lines on the lanes corresponding to the emergency vehicle conflicted routes turn yellow, and the warning lamps of the entrance lanes where the emergency vehicle conflicted routes are located flicker; taking the advancing direction of the vehicle as the front, the vehicle in front of the warning lamp normally runs, the vehicle behind the warning lamp decelerates to run, and the vehicle stops before a stop line to give way; the invention is used in the field of traffic control.
Description
Technical Field
The invention relates to a traffic control method for an emergency vehicle intersection running a red light.
Background
As an indispensable part of modern urban life, emergency vehicles are vital to fast and safe running. But their collision accidents at intersections also occur frequently, of which a considerable proportion is caused by emergency vehicles running red light. According to emergency vehicle accident investigations in virginia, usa, about 31% of emergency vehicle accidents occur at signalized intersections. Due to the influence of the traffic flow, the sight distance, the driving speed and other factors at the intersection, the drivers of the vehicles on the intersection roads may not notice the arrival of the emergency vehicle and still drive at a high speed, so that the emergency vehicle collides with the emergency vehicle, and serious loss is caused, and many accidents such as the accident are caused.
At present, emergency vehicles are mainly researched in the aspects of rescue path optimization of emergency vehicles in cities, coordination control of emergency vehicles and traffic lights, a scheduling scheme for preferential passage of emergency vehicles and the like. Research on the transit time of emergency vehicles has been trending toward a greater stream, and how to more safely transit in an efficient environment is worth further consideration.
Disclosure of Invention
The invention aims to solve the problem of high traffic accident rate caused by red light running at the conventional emergency vehicle intersection, and provides a traffic control method based on an RFID technology for the emergency vehicle intersection when the red light running.
A traffic control method for an emergency vehicle intersection running a red light based on an RFID technology comprises the following steps:
the method comprises the following steps: when an emergency vehicle enters a cross road and wants to run a red light to pass, determining a route which conflicts with the emergency vehicle;
step two: determining the installation positions of RFID readers on four entrance roads of the intersection according to the route determined in the step one and conflicted with the emergency vehicle;
step three: determining the installation positions of the warning lamps on the four entrance roads of the intersection according to the route which is determined in the step one and conflicts with the emergency vehicle;
step four: determining the installation positions of LED color-variable lane indicating plates on four entrance lanes of the intersection, wherein indicating marked lines arranged on the LED color-variable lane indicating plates are consistent with corresponding entrance lane marked lines, namely the number of lanes of the entrance lane is consistent with that of the indicating plates, and the directions of the lane marked lines are the same;
step five: when the RFID reader detects the electronic tag of the emergency vehicle and determines the lane where the emergency vehicle is located, the LED color-changeable lane indicating plate and the indicating mark line corresponding to the lane where the emergency vehicle is located are changed into red, and the vehicle in front of the emergency vehicle is changed into other lanes; the LED color-changeable lane indicating plate mark lines on the lanes corresponding to the emergency vehicle conflicted routes turn yellow, and the warning lamps of the entrance lanes where the emergency vehicle conflicted routes are located flicker; taking the advancing direction of the vehicle as the front, the vehicle in front of the warning lamp normally runs, the vehicle behind the warning lamp decelerates to run, and the vehicle stops before a stop line to give way;
when the electronic tag of the emergency vehicle is detected by the RFID reader again, or the warning lamp and the LED color-changeable lane indicator light up for 25 seconds, the warning lamp and the LED color-changeable lane indicator are automatically closed.
The emergency vehicle comprises an ambulance, a fire engine and the like.
The invention has the beneficial effects that:
(1) the invention combines the RFID technology and the RSSI technology, realizes the identification and the positioning of the emergency vehicle, thereby accurately realizing the early warning induction function.
(2) At present, how emergency vehicles rapidly pass through an intersection is mainly researched at home, and the invention mainly researches the safety and high efficiency problems of the emergency vehicles running the red light.
(3) The invention eliminates the hesitant psychology of the driver, namely, the vehicle passing the early warning line can normally run through the intersection, and the vehicle not passing the early warning line performs corresponding speed reduction and stops for giving way.
(4) The invention establishes a conflict rate model, and calculates and compares the conflict rate of the early warning induction system at the intersection, and carries out quantitative analysis.
According to the sampling investigation of the physical condition of an automobile driver and the consideration of the character factors, 1.1% of vehicles do not stop and give way after the early warning induction device is installed, the rest vehicles stop and give way, the probability of collision is only 88.6% multiplied by 1.1% which is 0.98%, and the accident rate of the emergency vehicles running the red light is greatly reduced.
The RFID technology is low in cost, emergency vehicles can be accurately identified by using the RFID technology, and the color-changeable lane indicating plates and the warning lamps are effectively controlled. The method of the invention can not only improve the safety of the emergency vehicle, but also improve the passing efficiency of the emergency vehicle. With the continuous maturity of the RFID technology and the rapid development of intelligent roads, the invention has great application prospect.
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FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of the internal operation of the RFID technology of the present invention;
FIG. 3 is a diagram showing the display of a sign with a straight collision when turning left but not in a single phase (two phases);
FIG. 4 is a diagram of the display of a sign with a straight collision when turning left on a single phase (two phases);
FIG. 5 is a diagram showing the display of a sign in which a straight collision occurs when the sign is rotated to the left in a single phase (three phases);
FIG. 6 is a diagram showing a left turn collision indication board in a left turn single phase (three phases);
FIG. 7 is a schematic diagram of a south import versus an east import conflict; in the figure, A is the intersection point of an east entry conflict vehicle line and a stop line, B is the intersection point of a south entry emergency vehicle straight line and an east entry straight line conflict vehicle line, C is the intersection point of a south entry emergency vehicle straight line and an east entry left-turn conflict vehicle line, and M is the intersection point of a south entry emergency vehicle line and a stop line;
FIG. 8 is a schematic diagram of a south import versus west import conflict; in the figure, P is a cross point of a south entry emergency vehicle line and a stop line, E is a cross point of a south entry emergency vehicle left-turn line and a west entry direct-driving conflict vehicle line, N is a cross point of a west entry conflict direction vehicle line and a stop line, and F is a cross point of a south entry emergency vehicle direct-driving line and a west entry direct-driving conflict vehicle line;
FIG. 9 is a schematic view of the system apparatus in a mounted position; in the figure, A is an emergency vehicle, B is an RFID reader, C is a common vehicle, D is a warning lamp, E is a warning line, and F is an LED color-changeable lane indicator;
FIG. 10 is a schematic illustration of a straight-ahead vehicle collision.
Detailed Description
The first embodiment is as follows: a traffic control method for an emergency vehicle intersection running a red light based on an RFID technology comprises the following steps:
the system is divided into three modules, namely a radio frequency information acquisition module, an MCU control module and an early warning induction module. When the emergency vehicle is detected by the RFID reader, the radio frequency information acquisition module identifies the lane where the emergency vehicle is located by combining the RSSI positioning algorithm, and transmits the acquired information to the MCU control module. The MCU controls the response of the early warning induction module: the color of the lamp of the lane where the emergency vehicle is located is changed into red, so that the social vehicle in the lane is reminded to change to other lanes, and a space is provided for the emergency vehicle to rapidly pass through; the color of the lamp of the lane where the traffic flow which conflicts with the emergency vehicle is changed into yellow to remind that the emergency vehicle arrives fast in front and the vehicle should run slowly, and the vehicle is parked in front of the stop line for giving way. Meanwhile, the warning light in the center of the road blinks, the vehicle in front of the warning light is not decelerated and safely passes, and the vehicle behind the warning light must run at a slow speed. Therefore, the emergency vehicle can pass through the emergency vehicle quickly, and the safety is improved. The work flow is shown in figure 1.
The hardware structure is divided into three modules, namely a radio frequency information acquisition module, an MCU control module and an early warning induction module. The working principle is shown in fig. 2.
The radio frequency information acquisition module:
mifare1 radio frequency IC card: the radio frequency IC card is MIFARE MF1 standard card and consists of IC microchip and high efficiency antenna.
MFRC522 read-write card chip: the MFRC522 is a contactless low-power read-write base station chip, and the receiver part provides an efficient demodulation and decoding circuit, a built-in CRC coprocessor and a self-checking circuit.
Electronic label: the electronic tag executes ISO18000-6C protocol standard, and the tag comprises four storage areas of a reserved area, an EPC, a TID and a User.
The MCU control module:
a main control chip: STC89C52 is selected as a main control chip of the system, is a CMOS 8-bit microcontroller with low power consumption and high performance, and is provided with a 16K in-system programmable Flash memory.
Crystal oscillator circuit, digital circuit (including operational amplifier, conventional resistor, voltage regulator, power supply, switch, etc.).
Early warning induction module:
high-brightness LED stroboscopic warning light: the power consumption is about half of that of an incandescent bulb (110V/220V alternating current), and the continuous and quick flash type three-strobe flash lamp can be used.
Variable color lane sign: each lane indication arrow consists of small LED lamp tubes and has red and yellow colors. The display of the signs under different phase conflicts is shown in fig. 3-6.
The method comprises the following steps: when an emergency vehicle enters a cross road and wants to run a red light to pass, determining a route which conflicts with the emergency vehicle;
step two: determining the installation positions of RFID readers on four entrance roads of the intersection according to the route determined in the step one and conflicted with the emergency vehicle;
step three: determining the installation positions of the warning lamps on the four entrance roads of the intersection according to the route which is determined in the step one and conflicts with the emergency vehicle;
step four: determining the installation positions of LED color-variable lane indicating plates on four entrance lanes of the intersection, wherein indicating marked lines arranged on the LED color-variable lane indicating plates are consistent with corresponding entrance lane marked lines, namely the number of lanes of the entrance lane is consistent with that of the indicating plates, and the directions of the lane marked lines are the same;
step five: when the RFID reader detects the electronic tag of the emergency vehicle and determines the lane where the emergency vehicle is located, the LED color-changeable lane indicating plate and the indicating mark line corresponding to the lane where the emergency vehicle is located are changed into red, and the vehicle in front of the emergency vehicle is changed into other lanes; the LED color-changeable lane indicating plate mark lines on the lanes corresponding to the emergency vehicle conflicted routes turn yellow, and the warning lamps of the entrance lanes where the emergency vehicle conflicted routes are located flicker; taking the advancing direction of the vehicle as the front, the vehicle in front of the warning lamp normally runs, the vehicle behind the warning lamp decelerates to run, and the vehicle stops before a stop line to give way;
when the electronic tag of the emergency vehicle is detected by the RFID reader again, or the warning lamp and the LED color-changeable lane indicator light up for 25 seconds, the warning lamp and the LED color-changeable lane indicator are automatically closed.
The second embodiment is as follows: the first difference between the present embodiment and the specific embodiment is: in the first step, when the emergency vehicle enters the intersection and wants to run the red light to pass, the specific process of determining the route which conflicts with the emergency vehicle is as follows:
the pre-warning line is a vertical line that is a distance from the parking location to the parking distance (including the driver reaction distance and the braking distance). When the emergency vehicle passes through the induction device, the warning lamp positioned at the position of the early warning line can send out an early warning signal, at the moment, the vehicle passing through the early warning line can continuously drive forwards at the original speed, and the vehicle behind the early warning line adopts corresponding speed reduction treatment.
When the urgent vehicle enters the intersection from the south entrance, four conflict routes with higher conflict probability are obtained:
(1) emergency vehicles go straight, east entry vehicles go straight, as in cross-over route 1 in fig. 7;
(2) emergency vehicles go straight, east entry vehicles turn left, as in cross-over route 2 in fig. 7;
(3) the emergency vehicle turns left and the western-style import vehicle moves straight, as shown by cross route 3 in fig. 8;
(4) emergency vehicles go straight, western import vehicles go straight, as cross route 4 in fig. 8;
when the urgent vehicle enters the intersection from the north entrance, four conflict routes with higher conflict probability are obtained:
(1) emergency vehicles go straight, western import vehicles go straight, as cross route 1 in fig. 7;
(2) emergency vehicles go straight, western import vehicles turn left, as cross route 2 in fig. 7;
(3) emergency vehicles turn left and east entry vehicles go straight, as in cross-over route 3 in fig. 8;
(4) emergency vehicles go straight, east entry vehicles go straight, as in cross-over route 4 in fig. 8;
when the urgent vehicle enters the intersection from the east entrance, four conflict routes with higher conflict probability are obtained:
(1) the emergency vehicle is running straight, and the north-entry vehicle is running straight, as shown by the cross route 1 in fig. 7;
(2) the emergency vehicle is going straight, the north entry vehicle turns left, as shown by cross route 2 in fig. 7;
(3) turning left for the emergency vehicle, the south entry vehicle going straight, as cross route 3 in fig. 8;
(4) the emergency vehicle is running straight, and the south entry vehicle is running straight, as shown by the cross route 4 in fig. 8;
when the urgent vehicle enters the intersection from the west entrance, four conflict routes with higher conflict probability are obtained:
(1) the emergency vehicle is running straight, the south entry vehicle is running straight, as shown in fig. 7 as cross route 1;
(2) the emergency vehicle is going straight, the south entry vehicle turns left, as in cross route 2 in fig. 7;
(3) turning left for the emergency vehicle, the north entry vehicle going straight, as cross route 3 in fig. 8;
(4) the emergency vehicle is traveling straight and the north entry vehicle is traveling straight, as shown by cross-route 4 in fig. 8.
Other steps and parameters are the same as those in the first embodiment.
The third concrete implementation mode: the present embodiment differs from the first or second embodiment in that: the specific process of determining the installation positions of the RFID readers on the four entrance roads of the intersection according to the route which is determined in the step one and conflicts with the emergency vehicle in the step two is as follows:
the relevant parameters of each intersection are shown in table 1.
TABLE 1 intersection-related parameter definitions
Perception reaction distance S of vehicle needing to be parked and yielding on lane corresponding to emergency vehicle conflict route0Comprises the following steps:
S0＝V1·Δt
wherein V1The normal vehicle running speed is obtained, the delta t is the reaction time of the driver, and the value is 0.5 s;
braking distance S of vehicle needing to stop and give way on lane corresponding to emergency vehicle conflict route1Comprises the following steps:
wherein a is the safe acceleration during deceleration and takes a value of 2.8m/s2；
The time t taken for the vehicle needing to stop and give way to safely decelerate to stop on the lane corresponding to the emergency vehicle conflict route0Comprises the following steps:
t0＝V1/a
turning radius R1Comprises the following steps:
R1＝R0+L/2+S/2
wherein R is0The radius of an intersection corner curb, L the lane width and S the intersection width;
when the emergency vehicle enters the intersection from the south entrance, the emergency vehicle moves straight, and when the vehicle at the east entrance moves straight:
S21+R0+L/2+S/2＝V2·(t0+Δt)
namely: s21＝V2·(t0+Δt)-R0-L/2-S/2＝V2·(t0+Δt)-R1
Wherein S21When the emergency vehicle runs straight and the east import vehicle runs straight, the distance V between the RFID reader and the stop line2The emergency vehicle running speed;
obtaining the distance S between the RFID reader and the stop line when the emergency vehicle runs straight and the east import vehicle turns left22(ii) a Obtaining the distance S between the RFID reader and the stop line when the emergency vehicle turns left and the vehicle at the west entrance moves straight23(ii) a Obtaining the distance S between the RFID reader and the stop line when the emergency vehicle runs straight and the vehicle at the west entrance runs straight24；
Wherein S21＜S22，S22＜S23，S24＜S23Therefore, in order to ensure sufficient safety when the emergency vehicle passes through the intersection, the RFID reader is installed at a distance S from the stop line23On the central median strip of the road at the location of (a);
and determining the installation positions of the RFID readers on the north entrance way, the east entrance way and the west entrance way in the same way.
Other steps and parameters are the same as those in the first or second embodiment.
The fourth concrete implementation mode: the difference between this embodiment mode and one of the first to third embodiment modes is: : and in the third step, according to the route which is determined in the first step and conflicts with the emergency vehicle, the specific process of determining the installation positions of the warning lamps on the four entrance roads of the intersection is as follows:
when the emergency vehicle enters the intersection from the south entrance, the emergency vehicle moves straight, and when the vehicle at the east entrance moves straight:
S11+R0+L/2＝S11+AB＝S0+S1
namely S11＝S0+S1-R0-L/2＝S0+S1-AB
Wherein S11For emergency vehicles to go straight, when the vehicles at east import go straight, the warning is givenDistance of the lamp from the stop line;
obtaining the distance S between the RFID reader and the stop line when the emergency vehicle runs straight and the east import vehicle turns left12(ii) a Obtaining the distance S between the RFID reader and the stop line when the emergency vehicle turns left and the vehicle at the west entrance moves straight13(ii) a Obtaining the distance S between the RFID reader and the stop line when the emergency vehicle runs straight and the vehicle at the west entrance runs straight14；
Wherein S11＞S12，S11＞S13，S11＞S14(ii) a Therefore, in order to ensure sufficient safety when the emergency vehicle passes through the intersection, the warning lamp should be installed at a distance S from the stop line11On the central median strip of the road at the location of (a);
similarly, the installation positions of the warning lamps on the north entrance way, the east entrance way and the west entrance way are determined;
the installation height of the warning lamp is 2m to 2.5 m.
The identification action distance of the high-frequency RFID is larger than 1m, the typical action distance is 3-l0m, and in combination with the problem of system operation cost, the FRID reader and the warning lamps are arranged at the central separation zone of the road, namely four RFID readers and four warning lamps are arranged at one intersection respectively. The device placement position is shown in plan view in fig. 9.
Other steps and parameters are the same as those in one of the first to third embodiments.
The fifth concrete implementation mode: the difference between this embodiment and one of the first to fourth embodiments is: the step four for determining the installation positions of the LED color-changeable lane indication boards on the four entrance lanes of the intersection specifically comprises the following steps:
the LED color-changeable lane indicating plate is arranged above the stop line of the intersection. According to the setting and installation standard of road traffic signal lamps, the installation height of the indicator is 5.5m to 7 m; the installation height of the warning lamp is 2m to 2.5 m.
The LED color-changeable lane indicator board is arranged above a stop line at an intersection, and the installation height is 5.5m to 7 m.
Other steps and parameters are the same as in one of the first to fourth embodiments.
The following examples were used to demonstrate the beneficial effects of the present invention:
the first embodiment is as follows:
taking an urban road intersection as an example, two bidirectional four-lane crossroads are arranged, the lane width L is 3.5m, the road width S is 20m, and the maximum speed V of an emergency vehicle is270km/h, the recommended installation distance can be found, as shown in table 2.
TABLE 2 distance between facility and parking line
(I) Conflict Rate modeling
As shown in fig. 10, the probability of collision occurring when an emergency vehicle runs a red light is calculated by taking a straight-ahead collision as an example, and the vehicles are respectively called a vehicle a and a vehicle B. The conflict area inside the intersection is a red area. The following assumptions are made:
(1) considering the randomness of the emergence of emergency vehicles and social vehicles, it is assumed for simplicity that their starting positions are equidistant from the respective collision areas;
(2) as the vehicle approaches the intersection, the speed is varied and follows an even distribution.
From the above assumption, the conditions under which the vehicle a and the vehicle B do not collide with each other are:
(1) when the vehicle A arrives at the conflict area, the vehicle B passes through the conflict area and is marked as an event A.
(2) When the vehicle B arrives at the conflict area, the vehicle A passes through and is marked as an event B.
Described in symbolic language as:
if only 2 inequalities are not satisfied, a conflict will occur, denoted as event C. Namely: p (c) ═ 1-p (a) -p (b) (3)
In the formula, xA、xBRespectively the distance between the vehicle and the conflict area; lA、lBRespectively the length of the vehicle; w is aA、wBRespectively the width of the vehicle; v. ofA、vBRespectively, represent the average speed at which the vehicle reaches the collision zone. From the assumption (2),
in the formula, f (v)A) Is v isAIs used as the density function. Therefore, the first and second electrodes are formed on the substrate,
similarly, P (B) is obtained, and then the formula (3) and P (C) are obtained.
(II) analysis and comparison of conflict rates
And calculating and analyzing the probability of the occurrence of the conflict by using the model.
Let lA＝8m，lB＝5m，xA＝xB＝10m，wA＝wB＝2.5m。
Under the condition of no early warning induction system:
substituting the formula to calculate to obtain: p (a) 6.3%, p (b) 1.8%, and p (c) 91.9%.
Under the condition of an early warning induction system:
substituting the formula to calculate to obtain: p (a) ═ 2.8%, p (b) ═ 8.6%, and p (c) ═ 88.6%. According to the sampling investigation of the physical condition of the automobile driver and the consideration of the character factors, 1.1 percent of vehicles do not stop and yield after the early warning induction device is installed, and the rest vehicles stopWhen the vehicle gives way, the probability of collision is only 88.6 percent multiplied by 1.1 percent to 0.98 percent, and the accident rate of the emergency vehicle running the red light is greatly reduced.
The present invention is capable of other embodiments and its several details are capable of modifications in various obvious respects, all without departing from the spirit and scope of the present invention.
Claims (4)
1. A traffic control method for an emergency vehicle intersection running red light based on RFID technology comprises the following steps:
the method comprises the following steps: when an emergency vehicle enters a cross road and wants to run a red light to pass, determining a route which conflicts with the emergency vehicle;
step two: determining the installation positions of RFID readers on four entrance roads of the intersection according to the route determined in the step one and conflicted with the emergency vehicle;
step three: determining the installation positions of the warning lamps on the four entrance roads of the intersection according to the route which is determined in the step one and conflicts with the emergency vehicle;
step four: determining the installation positions of LED color-variable lane indicating plates on four entrance lanes of the intersection, wherein indicating marked lines arranged on the LED color-variable lane indicating plates are consistent with corresponding entrance lane marked lines, namely the number of lanes of the entrance lane is consistent with that of the indicating plates, and the directions of the lane marked lines are the same;
step five: when the RFID reader detects the electronic tag of the emergency vehicle and determines the lane where the emergency vehicle is located, the LED color-changeable lane indicating plate and the indicating mark line corresponding to the lane where the emergency vehicle is located are changed into red, and the vehicle in front of the emergency vehicle is changed into other lanes; the LED color-changeable lane indicating plate mark lines on the lanes corresponding to the emergency vehicle conflicted routes turn yellow, and the warning lamps of the entrance lanes where the emergency vehicle conflicted routes are located flicker; taking the advancing direction of the vehicle as the front, the vehicle in front of the warning lamp normally runs, the vehicle behind the warning lamp decelerates to run, and the vehicle stops before a stop line to give way;
when the electronic tag of the emergency vehicle is detected by the RFID reader again, or the warning lamp and the LED color-changeable lane indicator light up for 25 seconds, the warning lamp and the LED color-changeable lane indicator automatically close;
the method is characterized in that: the specific process of determining the installation positions of the RFID readers on the four entrance roads of the intersection according to the route which is determined in the step one and conflicts with the emergency vehicle in the step two is as follows:
perception reaction distance S of vehicle needing to be parked and yielding on lane corresponding to emergency vehicle conflict route0Comprises the following steps:
S0＝V1·Δt
wherein V1The normal vehicle running speed is adopted, and delta t is the reaction time of a driver;
braking distance S of vehicle needing to stop and give way on lane corresponding to emergency vehicle conflict route1Comprises the following steps:
wherein a is the safe acceleration during deceleration;
the time t taken for the vehicle needing to stop and give way to safely decelerate to stop on the lane corresponding to the emergency vehicle conflict route0Comprises the following steps:
t0＝V1/a
turning radius R1Comprises the following steps:
R1＝R0+L/2+S/2
wherein R is0The radius of an intersection corner curb, L the lane width and S the intersection width;
when the emergency vehicle enters the intersection from the south entrance, the emergency vehicle moves straight, and when the vehicle at the east entrance moves straight:
S21+R0+L/2+S/2＝V2·(t0+Δt)
namely: s21＝V2·(t0+Δt)-R0-L/2-S/2＝V2·(t0+Δt)-R1
Wherein S21When the emergency vehicle runs straight and the east import vehicle runs straight, the distance V between the RFID reader and the stop line2The emergency vehicle running speed;
obtaining the distance S between the RFID reader and the stop line when the emergency vehicle runs straight and the east import vehicle turns left22(ii) a Obtaining the distance S between the RFID reader and the stop line when the emergency vehicle turns left and the vehicle at the west entrance moves straight23(ii) a Obtaining the distance S between the RFID reader and the stop line when the emergency vehicle runs straight and the vehicle at the west entrance runs straight24；
Wherein S21＜S22，S22＜S23，S24＜S23The RFID reader is arranged at a distance S from the stop line23On the central median strip of the road at the location of (a);
and determining the installation positions of the RFID readers on the north entrance way, the east entrance way and the west entrance way in the same way.
2. The traffic control method based on the RFID technology for the red light running at the emergency vehicle intersection is characterized by comprising the following steps: in the first step, when the emergency vehicle enters the intersection and wants to run the red light to pass, the specific process of determining the route which conflicts with the emergency vehicle is as follows:
when the urgent vehicle enters the intersection from the south entrance, four conflict routes are obtained:
(1) the emergency vehicle runs straight, and the east import vehicle runs straight;
(2) the emergency vehicle runs straight, and the vehicle at east of import turns left;
(3) turning the emergency vehicle to the left, and enabling the vehicle at the west entrance to move straight;
(4) the emergency vehicle moves straight, and the vehicle at the west import moves straight;
when the urgent vehicle enters the intersection from the north entrance, four conflict routes are obtained:
(1) the emergency vehicle moves straight, and the vehicle at the west import moves straight;
(2) the emergency vehicle runs straight, and the vehicle at the west inlet turns left;
(3) the emergency vehicle turns left, and the vehicle at east of import moves straight;
(4) the emergency vehicle runs straight, and the east import vehicle runs straight;
when the urgent vehicle enters the intersection from the east entrance, four conflict routes are obtained:
(1) the emergency vehicle runs straight, and the north-entry vehicle runs straight;
(2) the emergency vehicle runs straight, and the north-entry vehicle turns left;
(3) turning the emergency vehicle to the left, and enabling the vehicle at the south inlet to run straight;
(4) the emergency vehicle moves straight, and the vehicle at the south inlet moves straight;
when the urgent vehicle enters the intersection from the west entrance, four conflict routes are obtained:
(1) the emergency vehicle moves straight, and the vehicle at the south inlet moves straight;
(2) the emergency vehicle runs straight, and the vehicle at the south inlet turns left;
(3) turning the emergency vehicle to the left, and enabling the vehicle at the north entrance to move straight;
(4) the emergency vehicle runs straight, and the north-entry vehicle runs straight.
3. The traffic control method based on the RFID technology for the red light running at the emergency vehicle intersection is characterized by comprising the following steps: and in the third step, according to the route which is determined in the first step and conflicts with the emergency vehicle, the specific process of determining the installation positions of the warning lamps on the four entrance roads of the intersection is as follows:
when the emergency vehicle enters the intersection from the south entrance, the emergency vehicle moves straight, and when the vehicle at the east entrance moves straight:
S11+R0+L/2＝S0+S1
namely: s11＝S0+S1-R0-L/2
Wherein S11When the emergency vehicle runs straight, the distance between the warning lamp and the stop line is increased;
obtaining the distance S between the RFID reader and the stop line when the emergency vehicle runs straight and the east import vehicle turns left12(ii) a Obtaining the distance S between the RFID reader and the stop line when the emergency vehicle turns left and the vehicle at the west entrance moves straight13(ii) a Obtain the direct-running western import of the emergency vehicleWhen the vehicle moves straight, the distance S between the RFID reader and the stop line14；
Wherein S11＞S12，S11＞S13，S11＞S14(ii) a Mounting warning lamp at distance from parking line S11On the central median strip of the road at the location of (a);
similarly, the installation positions of the warning lamps on the north entrance way, the east entrance way and the west entrance way are determined;
the installation height of the warning lamp is 2m to 2.5 m.
4. The traffic control method based on the RFID technology for the red light running at the emergency vehicle intersection is characterized in that: the step four for determining the installation positions of the LED color-changeable lane indication boards on the four entrance lanes of the intersection specifically comprises the following steps:
the LED color-changeable lane indicator board is arranged above a stop line at an intersection, and the installation height is 5.5m to 7 m.
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