CN110907966A - Emergency vehicle navigation system and method based on real-time traffic flow in time of Internet of things - Google Patents
Emergency vehicle navigation system and method based on real-time traffic flow in time of Internet of things Download PDFInfo
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- CN110907966A CN110907966A CN201911151880.1A CN201911151880A CN110907966A CN 110907966 A CN110907966 A CN 110907966A CN 201911151880 A CN201911151880 A CN 201911151880A CN 110907966 A CN110907966 A CN 110907966A
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
Abstract
The invention discloses an emergency vehicle navigation system and method based on real-time traffic flow in the era of the Internet of things, and relates to the technical field of intelligent traffic management of the Internet of things. The invention comprises an emergency vehicle navigation system based on real-time traffic flow in the construction networking era, and the system consists of an Internet of things cloud platform, a road information acquisition module, a vehicle driving parameter acquisition module, a vehicle-mounted GNSS, a traffic signal lamp information acquisition module, an LED display screen scheduling module and a video linkage module. According to the invention, the driving path of the emergency vehicle is continuously corrected through the acquisition of the driving parameters of the emergency vehicle and the acquisition and analysis of the real-time information of the urban road, so that the emergency vehicle can go to an accident site at the fastest speed in the shortest time, and the interference of the road condition and the traffic signal lamp on the emergency vehicle in the driving process is reduced to the greatest extent through the calculation of the driving time and the arrangement of the LED display screen and the traffic signal lamp, so that the rescue efficiency of the emergency vehicle is improved.
Description
Technical Field
The invention belongs to the technical field of intelligent traffic management of the Internet of things, and particularly relates to an emergency vehicle navigation system and method based on real-time traffic flow in the era of the Internet of things.
Background
In recent years, the planning and construction speed of urban roads is far lower than the increase speed of the reserves of various motor vehicles, traffic jam becomes a common phenomenon on urban main roads, and the construction of urban roads and urban rail traffic is only relied on, although the road traffic pressure can be relieved to a certain extent, the urban emergency vehicles are still influenced by ground traffic in the process of going to target places, and the emergency vehicles cannot be guaranteed to go to the target places in the shortest time. Under the background, the urban traffic is more intelligent due to the appearance of intelligent traffic, but the original intention of the intelligent traffic is to perform the most intelligent route planning for vehicles, and the emergency vehicles cannot be guaranteed not to be interfered by social vehicles on the designed route. The invention designs a navigation system and a navigation method for an urban emergency vehicle by integrating all the problems and the problems to be solved.
The emergency vehicle navigation system can efficiently manage the driving route of the emergency vehicle, and utilizes the technology of the Internet of things when the vehicle is hot to ignite, and integrates high-technology technologies such as a wireless communication technology, a data transmission technology, cloud computing and the like to manage the traffic system of the urban emergency vehicle. The method aims to plan an optimal path which is shortest in time consumption and free of blockage for the urban emergency vehicle. The urban road information and the vehicle driving parameters are processed by utilizing the analysis capability of the cloud computing on the big data and are sent to the Internet of things cloud platform, the cloud platform combines the data processing result and the real-time traffic information to plan the driving line of the emergency vehicle in real time and sends the driving line to the application layer, and the real-time path planning of the emergency vehicle is achieved.
Disclosure of Invention
The invention aims to provide an emergency vehicle navigation system and method based on real-time traffic flow in the era of the Internet of things, wherein the driving path of an emergency vehicle is continuously corrected through the acquisition of driving parameters of the emergency vehicle and the acquisition and analysis of real-time information of urban roads, so that the emergency vehicle can go to an accident site at the fastest speed in the shortest time, and the influence caused by road conditions and traffic signals on the emergency vehicle in the driving process is reduced to the greatest extent by calculating the driving time and arranging an LED display screen and the traffic signals, thereby avoiding the influence caused by midway parking and traffic jam and improving the rescue efficiency of the emergency vehicle.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to an emergency vehicle navigation system based on real-time traffic flow in the era of Internet of things, which comprises an emergency vehicle navigation system based on real-time traffic flow in the era of building networking, wherein the emergency vehicle navigation system consists of an Internet of things cloud platform, a road information acquisition module, a vehicle driving parameter acquisition module, a vehicle-mounted GNSS, a traffic signal lamp information acquisition module, an LED display screen scheduling module and a video linkage module;
the emergency vehicle navigation system runs on an Internet of things cloud platform and is divided into an application layer, a platform layer, a network layer and a sensing layer, wherein the sensing layer comprises a road information acquisition module, a vehicle driving parameter acquisition module, a traffic signal lamp information acquisition module and a vehicle-mounted GNSS (global navigation satellite system), the network layer connects the sensing layer with the platform layer through a mobile communication network, and the platform layer is the core of the Internet of things cloud platform and mainly has the functions of storage and retrieval;
the Internet of things cloud platform comprises an Internet of things middleware, an Internet of things application and a cloud computing center, wherein an Internet of things application layer refers to an LED display screen and emergency vehicle navigation, the Internet of things middleware is located between a sensing layer and an application layer, data collected by sensing equipment are corrected, collected and the like through a wireless communication protocol, the cloud computing center analyzes, filters and the like mass data collected by the sensing layer and sends results to the platform layer, and the platform layer makes corresponding decisions according to data processing reports sent by the cloud computing center and directs the application layer to execute;
the road information acquisition module and the vehicle running parameter acquisition module run on the basis of a vehicle-mounted GNSS, the road information acquisition module mainly acquires road maintenance information and road congestion information, the road maintenance information is ascertained through a map service function built in the GNSS, the vehicle real-time position is acquired through the vehicle-mounted GNSS, so that urban road vehicle traffic information is acquired, and the road congestion condition is judged;
the traffic signal lamp information acquisition module runs on a traffic department server, the real-time state of a traffic signal lamp is determined through real-time updating of traffic department information, the Internet of things platform determines the specific position of an emergency vehicle in driving, an instruction is sent to the traffic signal lamp information acquisition module to request a traffic department door to set the traffic signal lamp of a traffic intersection through which the emergency vehicle is about to pass as a red light, all vehicles are forbidden to pass, and normal traffic order can be recovered until the emergency vehicle passes;
the video linkage module runs on a video monitoring server of a traffic command department, monitors real-time information of traffic accidents on a main road of a city through the video linkage module, manually marks accident information on an Internet of things cloud platform, mainly comprises time points of the traffic accidents and time points of road traffic smoothness restoration, and an emergency vehicle navigation system can avoid road sections where the accidents happen when planning an optimal path for emergency vehicles.
Furthermore, the vehicle-mounted GNSS is internally provided with a GNSS positioning chip, and is used for positioning the running vehicle by continuously and uninterruptedly receiving satellite signals.
Further, the LED display screen scheduling module controls the LED display screens of all intersections, after the real-time position, the speed, the optimal path and the road congestion condition of the emergency vehicle are determined, the Internet of things cloud platform can calculate the time T and the arrival time T required by the emergency vehicle to arrive at the next traffic section, assuming that the time required by the vehicle to change the lane during driving is k and the traffic flow of the lane is x, the time delta T required by all vehicles in the lane is kx, if the delta T is less than T, the Internet of things platform sends a traffic control instruction to the LED display screen scheduling module, the LED display screen of the intersection displays that the emergency vehicle is about to pass, the social vehicle is requested to pass as soon as possible, if the delta T is more than T, the Internet of things platform sends a command of 'planning a route for the emergency vehicle again' to the GNSS module until the emergency vehicle passes through the section, and the traffic control of the LED display screen and the road section is recovered to be normal.
The emergency vehicle navigation method based on real-time traffic flow in the era of Internet of things comprises the following steps:
the method comprises the following steps that after an SS01 emergency command center receives an alarm call, corresponding emergency vehicles are arranged to go to an accident site immediately, an emergency vehicle navigation system is started rapidly, an Internet of things cloud platform in the navigation system immediately calls a series of information acquisition modules to acquire traffic information on all paths from the command center to the accident site, and an initial optimal path is planned for the emergency vehicles;
after an SS02 emergency vehicle exits from an emergency command center according to an initial optimal path, a series of information acquisition modules in an emergency vehicle navigation system acquire real-time traffic information of each road section in the optimal path, and a cloud computing center in an Internet of things cloud platform processes the traffic information acquired by a sensing layer in real time and sends the traffic information to a platform layer;
SS03 in step SS02, immediately operating the video linkage module after the emergency vehicle exits the command center, monitoring real-time traffic conditions of all road sections, and if a traffic accident occurs, sending the accident road section and the starting time and the ending time of the accident to the Internet of things cloud platform in a manual intervention mode;
the method comprises the steps that GNSS on an SS04 emergency vehicle positions the vehicle in real time through satellite signals, the position information of the vehicle is sent to a road information acquisition module and a vehicle driving parameter acquisition module, the road information acquisition module acquires information of road maintenance and road closure on an optimal path through a map service function and sends the information to an Internet of things cloud platform, meanwhile, the vehicle-mounted GNSS positioning function is used for determining that traffic flow information of the emergency vehicle passing through a road section is sent to the Internet of things cloud platform, the vehicle driving parameter acquisition module sends the time required by the vehicle to drive from a point A to a point B and coordinate information of the two points to the Internet of things cloud platform through the acquisition function, and a cloud computing center of the platform calculates the vehicle driving;
the SS05 cloud computing center calculates the time t required by the vehicle to reach the next road section according to the running speed of the emergency vehicle and the real-time position of the emergency vehicle;
the SS06 assumes that the traffic flow of the next road section to be passed by the emergency vehicle is x, and the time for each vehicle to change lanes is k, the time required for emptying a certain lane of the road section is delta t-kx, wherein the principle of selecting the lane is that the least one lane of the vehicles on all lanes of the road section can be determined according to the positioning function of the vehicle-mounted GNSS, and the lane can be temporarily used as the driving lane of the emergency vehicle;
the method comprises the steps that a cloud computing center of an SS07 Internet of things cloud platform judges the size relation between the time required by an emergency vehicle to reach the next intersection and the time required for emptying a certain lane of a road section;
SS08 in steps SS05 and SS06, if it is detected that Δ t is less than t, it is indicated that the emergency vehicle can continue to run according to the route planned by the emergency vehicle navigation system, the LED display screen scheduling module controls the LED display screen mountain of the traffic intersection of the next road section to display that "the emergency vehicle is about to pass and please give way to the social vehicle in n lanes as soon as possible" (wherein the n lane selection principle is that the road information acquisition module acquires which lane vehicle is relatively few and temporarily determines as the emergency lane), if it is detected that Δ t is more than t, it is indicated that the emergency lane is not cleared when the emergency vehicle arrives at the road section, and the system needs to plan a new running route for the emergency vehicle again;
if the SS09 detects that a traffic accident occurs on a road section on which the emergency vehicle is going to travel and only the time of the accident is marked in the system, the system replans the optimal path without the accident road section for the emergency vehicle immediately, if the system detects that the accident treatment is finished before the emergency vehicle reaches the accident road section, the road section can continue to pass, and at the moment, the system replans the optimal path for the emergency vehicle again;
the SS010 obtains the real-time position of the vehicle by the vehicle-mounted GNSS when the emergency vehicle in driving meets a traffic signal lamp in front in the driving process, the traffic signal lamp information acquisition module immediately sends a request for regulating the display state of the traffic signal to a traffic department, and the traffic department sets all traffic signal lamps of the next traffic intersection through which the emergency vehicle is about to pass as red lamps according to the position of the emergency vehicle and the planning driving path until the contents of the traffic signal lamp and the LED display screen are recovered to be normal after the emergency vehicle passes;
and the SS011 repeatedly executes SS02-SS010 to realize the real-time navigation and the optimal path planning of the emergency vehicle.
The invention has the following beneficial effects:
according to the invention, the driving path of the emergency vehicle is continuously corrected through the acquisition of the driving parameters of the emergency vehicle and the acquisition and analysis of the real-time information of the urban road, so that the emergency vehicle can go to an accident site at the fastest speed in the shortest time, and the interference of road conditions and traffic lights on the emergency vehicle in the driving process is reduced to the greatest extent by calculating the driving time and setting the LED display screen and the traffic lights, so that the influence caused by midway parking and traffic jam is avoided, and the rescue efficiency of the emergency vehicle is improved.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a real-time traffic flow based emergency vehicle navigation system according to the present invention;
FIG. 2 is a flow chart of a method for real-time traffic flow based emergency vehicle navigation according to the present invention;
FIG. 3 is a schematic diagram of the main idea of the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the invention relates to an emergency vehicle navigation system based on real-time traffic flow in the era of internet of things, which comprises an emergency vehicle navigation system based on real-time traffic flow in the era of building networking, wherein the system comprises an internet of things cloud platform, a road information acquisition module, a vehicle driving parameter acquisition module, a vehicle-mounted GNSS, a traffic signal lamp information acquisition module, an LED display screen scheduling module and a video linkage module;
the emergency vehicle navigation system runs on an Internet of things cloud platform and is divided into an application layer, a platform layer, a network layer and a sensing layer, wherein the sensing layer comprises a road information acquisition module, a vehicle driving parameter acquisition module, a traffic signal lamp information acquisition module and a vehicle-mounted GNSS (global navigation satellite system), the network layer connects the sensing layer with the platform layer through a mobile communication network, and the platform layer is the core of the Internet of things cloud platform and mainly has storage and retrieval functions;
the Internet of things cloud platform comprises an Internet of things middleware, an Internet of things application and a cloud computing center, wherein an Internet of things application layer refers to an LED display screen and emergency vehicle navigation, the Internet of things middleware is located between a sensing layer and the application layer, data collected by sensing equipment are subjected to proofreading, aggregation and other processing through a wireless communication protocol, the cloud computing center performs analysis, filtering and other processing on mass data collected by the sensing layer and sends results to the platform layer, and the platform layer makes corresponding decisions according to data processing reports sent by the cloud computing center and directs the application layer to execute;
the method comprises the steps that a road information acquisition module and a vehicle running parameter acquisition module run on the basis of a vehicle-mounted GNSS, the road information acquisition module mainly acquires road maintenance information and road congestion information, the road maintenance information is ascertained through a map service function built in the GNSS, the real-time position of a vehicle is acquired through the vehicle-mounted GNSS, so that urban road vehicle traffic information is acquired, the road congestion condition is judged, the vehicle running parameter acquisition module acquires the running speed of the vehicle and the real-time position of the running vehicle, the vehicle-mounted GNSS receives carrier signals sent by satellites twice continuously, the longitude and latitude of the vehicle at two time points can be determined, and the vehicle running speed can be measured according to the time difference and the distance difference of the two times of positioning;
the traffic signal lamp information acquisition module runs on a traffic department server, the real-time state of a traffic signal lamp is determined through real-time updating of traffic department information, the Internet of things platform determines the specific position of an emergency vehicle in driving, an instruction is sent to the traffic signal lamp information acquisition module to request a traffic department door to set the traffic signal lamp of a traffic intersection through which the emergency vehicle is about to pass as a red light, all vehicles are forbidden to pass, and normal traffic order can be recovered until the emergency vehicle passes;
the video linkage module runs on a video monitoring server of a traffic command department, monitors real-time information of traffic accidents on a main road of a city through the video linkage module, manually marks accident information on an Internet of things cloud platform, mainly comprises time points of the traffic accidents and time points of road traffic smoothness restoration, and an emergency vehicle navigation system can avoid road sections where the accidents happen when planning an optimal path for emergency vehicles.
The vehicle-mounted GNSS is internally provided with a GNSS positioning chip, and is used for positioning a running vehicle by continuously receiving satellite signals.
Wherein, the LED display screen scheduling module controls the LED display screens at each intersection, after the real-time position, the speed, the optimal path and the road congestion condition of the emergency vehicle are determined, the cloud platform of the internet of things can calculate the time T and the arrival time T required by the emergency vehicle to arrive at the next traffic section, supposing that the time required by the vehicle to change the lane in driving is k, the traffic flow of the lane is x, the time delta t needed for emptying all vehicles in the lane is kx, if the delta t is less than t, the Internet of things platform sends a traffic control instruction to the LED display screen dispatching module, the LED display screen at the intersection displays that 'emergency vehicles are about to pass and please the social vehicles to give way as soon as possible', if delta t is more than t, the Internet of things platform sends a command of planning a route for the emergency vehicle again to the vehicle-mounted GNSS module until the traffic control of the LED display screen and the road section is recovered to be normal after the emergency vehicle passes through the road section.
The emergency vehicle navigation method based on real-time traffic flow in the era of Internet of things comprises the following steps:
the method comprises the following steps that after an SS01 emergency command center receives an alarm call, corresponding emergency vehicles are arranged to go to an accident site immediately, an emergency vehicle navigation system is started rapidly, an Internet of things cloud platform in the navigation system immediately calls a series of information acquisition modules to acquire traffic information on all paths from the command center to the accident site, and an initial optimal path is planned for the emergency vehicles;
after an SS02 emergency vehicle exits from an emergency command center according to an initial optimal path, a series of information acquisition modules in an emergency vehicle navigation system acquire real-time traffic information of each road section in the optimal path, and a cloud computing center in an Internet of things cloud platform processes the traffic information acquired by a sensing layer in real time and sends the traffic information to a platform layer;
SS03 in step SS02, immediately operating the video linkage module after the emergency vehicle exits the command center, monitoring real-time traffic conditions of all road sections, and if a traffic accident occurs, sending the accident road section and the starting time and the ending time of the accident to the Internet of things cloud platform in a manual intervention mode;
the method comprises the steps that GNSS on an SS04 emergency vehicle positions the vehicle in real time through satellite signals, the position information of the vehicle is sent to a road information acquisition module and a vehicle driving parameter acquisition module, the road information acquisition module acquires information of road maintenance and road closure on an optimal path through a map service function and sends the information to an Internet of things cloud platform, meanwhile, the vehicle-mounted GNSS positioning function is used for determining that traffic flow information of the emergency vehicle passing through a road section is sent to the Internet of things cloud platform, the vehicle driving parameter acquisition module sends the time required by the vehicle to drive from a point A to a point B and coordinate information of the two points to the Internet of things cloud platform through the acquisition function, and a cloud computing center of the platform calculates the vehicle driving;
the SS05 cloud computing center calculates the time t required by the vehicle to reach the next road section according to the running speed of the emergency vehicle and the real-time position of the emergency vehicle;
the SS06 assumes that the traffic flow of the next road section to be passed by the emergency vehicle is x, and the time for each vehicle to change lanes is k, the time required for emptying a certain lane of the road section is delta t-kx, wherein the principle of selecting the lane is that the least one lane of the vehicles on all lanes of the road section can be determined according to the positioning function of the vehicle-mounted GNSS, and the lane can be temporarily used as the driving lane of the emergency vehicle;
the method comprises the steps that a cloud computing center of an SS07 Internet of things cloud platform judges the size relation between the time required by an emergency vehicle to reach the next intersection and the time required for emptying a certain lane of a road section;
SS08 in steps SS05 and SS06, if it is detected that Δ t is less than t, it is indicated that the emergency vehicle can continue to run according to the route planned by the emergency vehicle navigation system, the LED display screen scheduling module controls the LED display screen mountain of the traffic intersection of the next road section to display that "the emergency vehicle is about to pass and please give way to the social vehicle in n lanes as soon as possible" (wherein the n lane selection principle is that the road information acquisition module acquires which lane vehicle is relatively few and temporarily determines as the emergency lane), if it is detected that Δ t is more than t, it is indicated that the emergency lane is not cleared when the emergency vehicle arrives at the road section, and the system needs to plan a new running route for the emergency vehicle again;
if the SS09 detects that a traffic accident occurs on a road section on which the emergency vehicle is going to travel and only the time of the accident is marked in the system, the system replans the optimal path without the accident road section for the emergency vehicle immediately, if the system detects that the accident treatment is finished before the emergency vehicle reaches the accident road section, the road section can continue to pass, and at the moment, the system replans the optimal path for the emergency vehicle again;
the SS010 obtains the real-time position of the vehicle by the vehicle-mounted GNSS when the emergency vehicle in driving meets a traffic signal lamp in front in the driving process, the traffic signal lamp information acquisition module immediately sends a request for regulating the display state of the traffic signal to a traffic department, and the traffic department sets all traffic signal lamps of the next traffic intersection through which the emergency vehicle is about to pass as red lamps according to the position of the emergency vehicle and the planning driving path until the contents of the traffic signal lamp and the LED display screen are recovered to be normal after the emergency vehicle passes;
and the SS011 repeatedly executes SS02-SS010 to realize the real-time navigation and the optimal path planning of the emergency vehicle.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (4)
1. Emergent vehicle navigation based on real-time traffic flow under the thing networking era, its characterized in that: the emergency vehicle navigation system based on real-time traffic flow in the construction networking era comprises an Internet of things cloud platform, a road information acquisition module, a vehicle driving parameter acquisition module, a vehicle-mounted GNSS, a traffic signal lamp information acquisition module, an LED display screen scheduling module and a video linkage module;
the emergency vehicle navigation system runs on an Internet of things cloud platform and is divided into an application layer, a platform layer, a network layer and a sensing layer, wherein the sensing layer comprises a road information acquisition module, a vehicle driving parameter acquisition module, a traffic signal lamp information acquisition module and a vehicle-mounted GNSS (global navigation satellite system), the network layer connects the sensing layer with the platform layer through a mobile communication network, and the platform layer is the core of the Internet of things cloud platform and mainly has the functions of storage and retrieval;
the Internet of things cloud platform comprises an Internet of things middleware, an Internet of things application and a cloud computing center, wherein an Internet of things application layer refers to an LED display screen and emergency vehicle navigation, the Internet of things middleware is located between a sensing layer and an application layer, data collected by sensing equipment are corrected, collected and the like through a wireless communication protocol, the cloud computing center analyzes, filters and the like mass data collected by the sensing layer and sends results to the platform layer, and the platform layer makes corresponding decisions according to data processing reports sent by the cloud computing center and directs the application layer to execute;
the road information acquisition module and the vehicle running parameter acquisition module run on the basis of a vehicle-mounted GNSS, the road information acquisition module mainly acquires road maintenance information and road congestion information, the road maintenance information is ascertained through a map service function built in the GNSS, the vehicle real-time position is acquired through the vehicle-mounted GNSS, so that urban road vehicle traffic information is acquired, and the road congestion condition is judged;
the traffic signal lamp information acquisition module runs on a traffic department server, the real-time state of a traffic signal lamp is determined through real-time updating of traffic department information, the Internet of things platform determines the specific position of an emergency vehicle in driving, an instruction is sent to the traffic signal lamp information acquisition module to request a traffic department door to set the traffic signal lamp of a traffic intersection through which the emergency vehicle is about to pass as a red light, all vehicles are forbidden to pass, and normal traffic order can be recovered until the emergency vehicle passes;
the video linkage module runs on a video monitoring server of a traffic command department, monitors real-time information of traffic accidents on a main road of a city through the video linkage module, manually marks accident information on an Internet of things cloud platform, mainly comprises time points of the traffic accidents and time points of road traffic smoothness restoration, and an emergency vehicle navigation system can avoid road sections where the accidents happen when planning an optimal path for emergency vehicles.
2. The emergency vehicle navigation system based on real-time traffic flow in the era of internet of things according to claim 1, wherein the vehicle-mounted GNSS is internally provided with a GNSS positioning chip for positioning a running vehicle by continuously and uninterruptedly receiving satellite signals.
3. The emergency vehicle navigation system based on real-time traffic flow in the era of internet of things according to claim 1, wherein the LED display screen scheduling module controls LED display screens at various intersections, after determining real-time position, speed, optimal path and road congestion of an emergency vehicle, the internet of things cloud platform can calculate time T and arrival time T required by the emergency vehicle to arrive at a next traffic section, assuming that time required by the vehicle to change lanes during driving is k and traffic flow of the lanes is x, time Δ T required for emptying all vehicles in the lanes is kx, if Δ T is less than T, the internet of things platform sends a traffic control instruction to the LED display screen scheduling module, and if Δ T is greater than T, the internet of things platform sends an instruction of "replanning a route for the emergency vehicle" to pass through the emergency vehicle and please get the social vehicle as soon as possible on the LED display screen of the intersection, and the LED display screen and the traffic control of the road section are recovered to be normal until the emergency vehicle passes through the road section.
4. The emergency vehicle navigation method based on real-time traffic flow in the era of the internet of things according to any one of claims 1 to 3, characterized by comprising the following steps:
the method comprises the following steps that after an SS01 emergency command center receives an alarm call, corresponding emergency vehicles are arranged to go to an accident site immediately, an emergency vehicle navigation system is started rapidly, an Internet of things cloud platform in the navigation system immediately calls a series of information acquisition modules to acquire traffic information on all paths from the command center to the accident site, and an initial optimal path is planned for the emergency vehicles;
after an SS02 emergency vehicle exits from an emergency command center according to an initial optimal path, a series of information acquisition modules in an emergency vehicle navigation system acquire real-time traffic information of each road section in the optimal path, and a cloud computing center in an Internet of things cloud platform processes the traffic information acquired by a sensing layer in real time and sends the traffic information to a platform layer;
SS03 in step SS02, immediately operating the video linkage module after the emergency vehicle exits the command center, monitoring real-time traffic conditions of all road sections, and if a traffic accident occurs, sending the accident road section and the starting time and the ending time of the accident to the Internet of things cloud platform in a manual intervention mode;
the method comprises the steps that GNSS on an SS04 emergency vehicle positions the vehicle in real time through satellite signals, the position information of the vehicle is sent to a road information acquisition module and a vehicle driving parameter acquisition module, the road information acquisition module acquires information of road maintenance and road closure on an optimal path through a map service function and sends the information to an Internet of things cloud platform, meanwhile, the vehicle-mounted GNSS positioning function is used for determining that traffic flow information of the emergency vehicle passing through a road section is sent to the Internet of things cloud platform, the vehicle driving parameter acquisition module sends the time required by the vehicle to drive from a point A to a point B and coordinate information of the two points to the Internet of things cloud platform through the acquisition function, and a cloud computing center of the platform calculates the vehicle driving;
the SS05 cloud computing center calculates the time t required by the vehicle to reach the next road section according to the running speed of the emergency vehicle and the real-time position of the emergency vehicle;
the SS06 assumes that the traffic flow of the next road section to be passed by the emergency vehicle is x, and the time for each vehicle to change lanes is k, the time required for emptying a certain lane of the road section is delta t-kx, wherein the principle of selecting the lane is that the least one lane of the vehicles on all lanes of the road section can be determined according to the positioning function of the vehicle-mounted GNSS, and the lane can be temporarily used as the driving lane of the emergency vehicle;
the method comprises the steps that a cloud computing center of an SS07 Internet of things cloud platform judges the size relation between the time required by an emergency vehicle to reach the next intersection and the time required for emptying a certain lane of a road section;
SS08 in steps SS05 and SS06, if it is detected that Δ t is less than t, it is indicated that the emergency vehicle can continue to run according to the route planned by the emergency vehicle navigation system, the LED display screen scheduling module controls the LED display screen mountain of the traffic intersection of the next road section to display that "the emergency vehicle is about to pass and please give way to the social vehicle in n lanes as soon as possible" (wherein the n lane selection principle is that the road information acquisition module acquires which lane vehicle is relatively few and temporarily determines as the emergency lane), if it is detected that Δ t is more than t, it is indicated that the emergency lane is not cleared when the emergency vehicle arrives at the road section, and the system needs to plan a new running route for the emergency vehicle again;
if the SS09 detects that a traffic accident occurs on a road section on which the emergency vehicle is going to travel and only the time of the accident is marked in the system, the system replans the optimal path without the accident road section for the emergency vehicle immediately, if the system detects that the accident treatment is finished before the emergency vehicle reaches the accident road section, the road section can continue to pass, and at the moment, the system replans the optimal path for the emergency vehicle again;
the SS010 obtains the real-time position of the vehicle by the vehicle-mounted GNSS when the emergency vehicle in driving meets a traffic signal lamp in front in the driving process, the traffic signal lamp information acquisition module immediately sends a request for regulating the display state of the traffic signal to a traffic department, and the traffic department sets all traffic signal lamps of the next traffic intersection through which the emergency vehicle is about to pass as red lamps according to the position of the emergency vehicle and the planning driving path until the contents of the traffic signal lamp and the LED display screen are recovered to be normal after the emergency vehicle passes;
and the SS011 repeatedly executes SS02-SS010 to realize the real-time navigation and the optimal path planning of the emergency vehicle.
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| CN201911151880.1A CN110907966A (en) | 2019-11-22 | 2019-11-22 | Emergency vehicle navigation system and method based on real-time traffic flow in time of Internet of things |
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| CN111556113A (en) * | 2020-04-22 | 2020-08-18 | 西安电子科技大学 | Traffic information management system for intelligent road |
| CN111640315A (en) * | 2020-06-08 | 2020-09-08 | 武汉理工大学 | Emergency lane management method and system based on intelligent well lid |
| CN111913967A (en) * | 2020-08-07 | 2020-11-10 | 公安部道路交通安全研究中心 | Road emergency disposal site planning and resource scheduling system |
| CN111932916A (en) * | 2020-07-31 | 2020-11-13 | 长沙理工大学 | Control method and control system for dynamic emergency lane of urban road |
| CN112037509A (en) * | 2020-08-21 | 2020-12-04 | 淮北市盛世昊明科技服务有限公司 | Urban traffic situation perception method and early warning system based on big data |
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