CN111223314A

CN111223314A - Control system and method for priority passage of emergency vehicle

Info

Publication number: CN111223314A
Application number: CN201811403072.5A
Authority: CN
Inventors: 苏晓峰
Original assignee: Shenzhen Yijie Smart Transportation Technology Co ltd
Current assignee: Shenzhen Yijie Smart Transportation Technology Co ltd
Priority date: 2018-11-23
Filing date: 2018-11-23
Publication date: 2020-06-02

Abstract

The embodiment of the application discloses a control system and a method for priority passage of emergency vehicles, wherein the system comprises: the traffic signal lamp array is arranged on the ground of an entrance lane xi of the plane intersection at intervals and used for sending an indicating signal to the social vehicle running on the entrance lane xi; the vehicle identification recognition device is used for recognizing the vehicle identification of the emergency vehicle and sending the recognized vehicle identification to the signal control machine; and the signal control machine is used for receiving the vehicle identification sent by the vehicle identification recognition device and adjusting a first indicating device of a traffic signal lamp in the traffic signal lamp array to send out a warning traffic light signal or a traffic prohibition light signal according to the vehicle identification so as to prohibit the social vehicle from entering the entrance lane xi. According to the technical scheme, the traffic signal lamp on the common lane is controlled through the vehicle identification of the automatic monitoring emergency vehicle, and switching from the common lane to the emergency lane can be achieved, so that the emergency vehicle can pass smoothly.

Description

Control system and method for priority passage of emergency vehicle

Technical Field

The application relates to the technical field of traffic electronics, in particular to a control system and method for priority passing of emergency vehicles.

Background

The emergency lane can also be called as a 'life passage', is mainly constructed on two sides of an urban loop, an express way and an expressway, is specially used for emergency vehicles for processing emergency affairs, such as engineering rescue, fire rescue, medical rescue or civil police performing emergency official business, and the like, and prohibits the social vehicles from driving in. In practice, the urban traffic demand is high, vehicles are more and the like, special emergency lanes are rarely arranged on some urban roads, and when emergency affairs such as fire rescue or medical aid happen, the social vehicles running are usually actively avoided after hearing the whistle of the emergency vehicles to make room for the emergency vehicles to pass through. However, sometimes, the situation that the social vehicles can be given everywhere due to serious traffic jam occurs, or the front social vehicles cannot determine whether the emergency vehicles should avoid the emergency vehicles without knowing the lane where the emergency vehicles are located, so that the rescue time is delayed because the emergency vehicles do not avoid in time, and even an irreparable tragedy is caused. Therefore, how to regulate social vehicles to realize smooth passing of emergency vehicles is a technical subject which is worthy of research.

Disclosure of Invention

The embodiment of the application provides a control system and a control method for emergency vehicles to pass preferentially, which can control traffic lights on a common lane by automatically monitoring vehicle marks of the emergency vehicles so as to realize the switching from the common lane to the emergency lane and facilitate the smooth passing of the emergency vehicles.

The first aspect of the embodiments of the present application provides a control system for priority passage of emergency vehicles, including:

the traffic signal lamp array comprises Nxi traffic signal lamps, wherein the Nxi traffic signal lamps are arranged on the ground of an entrance lane xi of the plane intersection at intervals along the driving direction of the entrance lane xi and are used for sending indication signals to the social vehicles driving on the entrance lane xi; the traffic signal lamp i comprises a main shell, a main control circuit board and a first indicating device, wherein the first indicating device is arranged on a first side face of the main shell, the first indicating device is connected with the main control circuit board and controlled by the main control circuit board, and when the traffic signal lamp i is arranged on the ground, the first indicating device faces a vehicle coming along the driving direction of the entrance lane xi; the Nxi is a positive integer greater than 1, and the traffic signal lamp i is one or any one of the traffic signal lamps in the traffic signal lamp array;

the vehicle identification recognition device is used for recognizing the vehicle identification of the emergency vehicle and sending the recognized vehicle identification to the signal control machine;

the signal controller is respectively connected with the traffic signal lamp array and the vehicle identification recognition device and is used for receiving the vehicle identification sent by the vehicle identification recognition device and adjusting a first indicating device of a traffic signal lamp in the traffic signal lamp array to send out a warning traffic light signal or a traffic prohibition light signal according to the vehicle identification so as to prohibit social vehicles from entering the entrance lane xi.

As an optional implementation manner, in the first aspect of the embodiment of the present application, the signal controller is specifically configured to receive a vehicle identifier sent by the vehicle identifier recognition device, acquire a distance between the emergency vehicle and an entrance of the entrance lane xi, and when the distance is less than or equal to a preset distance, adjust the first indicating device of the traffic signal in the traffic signal array to send a warning traffic light signal or a traffic prohibition light signal, so as to prohibit a social vehicle from entering the entrance lane xi.

As an optional implementation manner, in the first aspect of the embodiment of the present application, the signal controller is specifically configured to receive the vehicle identifier sent by the vehicle identifier recognition device, obtain a time length required by the emergency vehicle to reach the entrance of the entrance lane xi, and adjust the first indicator of the traffic signal lights in the traffic signal light array to send the warning traffic light signal or the traffic prohibition light signal when the required time length is less than or equal to the passing period of the entrance lane xi at the level intersection, so as to prohibit the social vehicle from entering the entrance lane xi.

As an optional implementation manner, in the first aspect of the embodiment of the present application, the signal controller is further configured to, when the emergency vehicle enters the entry lane xi, obtain position information of the emergency vehicle, and adjust, according to the position information of the emergency vehicle, a first indicating device of a traffic signal lamp located behind the emergency vehicle on the entry lane xi to send a signal of light allowing passage, so as to allow the social vehicle to enter the entry lane xi.

As an optional implementation manner, in the first aspect of this embodiment of the present application, the traffic signal lamp i further includes a second indicating device, where the second indicating device is disposed on a second side surface of the main housing, the second indicating device is connected to the main control circuit board, and the first indicating device and the second indicating device are respectively and independently controlled by the main control circuit board, where the first side surface and the second side surface are two opposite side surfaces on the main housing;

the signal controller is specifically configured to adjust the first indicator device and the second indicator device of the traffic signal lamp in the traffic signal lamp array according to the vehicle identifier to both send warning traffic light signals, or adjust the first indicator device and the second indicator device of the traffic signal lamp in the traffic signal lamp array according to the vehicle identifier to both send traffic light prohibition signals, so as to prohibit the social vehicle from entering the entrance lane xi.

A second aspect of the embodiments of the present application provides a method for controlling preferential passage of an emergency vehicle, including:

identifying a vehicle identification of the emergency vehicle by using a vehicle identification device; the traffic signal lamp array is formed by Nxi traffic signal lamps which are arranged on the ground of an entrance lane xi of the plane intersection at intervals along the driving direction of the entrance lane xi, and is used for sending an indicating signal to a social vehicle driving on the entrance lane xi, wherein Nxi is a positive integer larger than 1;

and adjusting the traffic signal lamps in the traffic signal lamp array to send out warning traffic light signals or traffic prohibition light signals according to the vehicle identifications identified by the vehicle identification device so as to prohibit the social vehicles from entering the entrance lane xi.

As an optional implementation manner, in the second aspect of this embodiment of this application, the method further includes:

acquiring the distance between the emergency vehicle and the entrance of the entrance lane xi;

wherein, according to the vehicle identifier identified by the vehicle identifier identifying device, adjusting the traffic signal lights in the traffic signal light array to emit a warning traffic light signal or a traffic prohibition light signal to prohibit the social vehicle from entering the entrance lane xi, includes:

when the fact that the distance between the emergency vehicle and the entrance of the entrance lane xi is smaller than or equal to the preset distance is detected, the traffic signal lamps in the traffic signal lamp array are adjusted to send out warning traffic light signals or traffic prohibition light signals according to the vehicle marks identified by the vehicle mark identification device, and therefore the social vehicles are prohibited from entering the entrance lane xi.

acquiring the time required for the emergency vehicle to reach the entrance of the entrance lane xi;

and when the required time is less than or equal to the passing period of the entrance lane xi at the plane intersection, adjusting the traffic signal lamps in the traffic signal lamp array to send out warning passing light signals or passing prohibition light signals according to the vehicle marks identified by the vehicle mark identification device so as to prohibit social vehicles from entering the entrance lane xi.

when the emergency vehicle is detected to enter the entrance lane xi, the position information of the emergency vehicle is obtained, and a traffic signal lamp positioned at the rear position of the emergency vehicle on the entrance lane xi is adjusted to send a traffic permission light signal according to the position information of the emergency vehicle, so that the social vehicle is allowed to enter the entrance lane xi.

when the emergency vehicle is detected to exit the entrance lane xi, all traffic signal lamps on the entrance lane xi are adjusted to send out a traffic permission light signal so as to allow the social vehicle to enter the entrance lane xi.

According to the embodiment of the application, a traffic signal lamp array consisting of Nxi traffic signal lamps is paved on the road surface of an entrance lane xi of a plane intersection, the traffic signal lamp array is used for sending an indicating signal to social vehicles running on the entrance lane xi, a control system for the prior passing of emergency vehicles utilizes a vehicle identification recognition device to recognize vehicle identifications of the emergency vehicles, and part or all traffic signal lamps in the traffic signal lamp array are adjusted to send out warning passing light signals or passing prohibition light signals according to the recognized vehicle identifications so as to prohibit the social vehicles from entering the entrance lane xi. Therefore, when the vehicle mark is recognized, an emergency vehicle can be indicated to pass through, the vehicle entering the entrance lane xi can be changed to another entrance lane to run by adjusting the traffic signal lamp on the entrance lane xi, or the vehicle can run through the entrance lane xi when the green light of the intersection is turned on, and other vehicles are forbidden to enter the entrance lane xi, so that the entrance lane xi is emptied in advance, and the entrance lane xi is switched from a common lane to an emergency lane so as to facilitate the rapid passing of the emergency vehicle.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a control system for priority passage of an emergency vehicle according to an embodiment of the present disclosure;

fig. 2 is a schematic layout diagram of a planar intersection according to an embodiment of the present application;

fig. 3 is a schematic top view of a traffic signal lamp according to an embodiment of the present disclosure;

FIG. 4 is a schematic top view of the main housing of the traffic signal lamp illustrated in FIG. 3 according to an embodiment of the present disclosure;

fig. 5 is a schematic front view of the traffic signal lamp illustrated in fig. 3 according to an embodiment of the present disclosure;

FIG. 6 is a schematic top view of another traffic signal lamp according to an embodiment of the present disclosure;

FIG. 7 is a schematic top view of the main housing of the traffic signal lamp illustrated in FIG. 6 according to an embodiment of the present disclosure;

FIG. 8 is a schematic distribution diagram of a traffic signal array according to an embodiment of the present disclosure;

FIG. 9 is a schematic layout of a road with an emergency vehicle passage control function according to an embodiment of the present application;

fig. 10 is a flowchart illustrating a method for controlling priority passage of an emergency vehicle according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

It should be noted that the terms "comprises" and "comprising," and any variations thereof, as used in the specification, claims, and drawings herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Furthermore, the terms "first" and "second", etc., are used to distinguish between different objects and are not used to describe a particular order.

The embodiment of the application provides a control system and a control method for emergency vehicles to pass preferentially, which can control traffic lights on a common lane by automatically monitoring vehicle marks of the emergency vehicles so as to realize the switching from the common lane to the emergency lane and facilitate the smooth passing of the emergency vehicles. The following detailed description is made with reference to the accompanying drawings.

Referring to fig. 1, an embodiment of the present application provides a control system for priority passage of an emergency vehicle. The control system for priority passage of the emergency vehicle can comprise: the traffic light array 10 includes Nxi traffic lights (such as traffic light 1, traffic light 2, … …, traffic light Nxi, wherein Nxi is a positive integer greater than 1), the Nxi traffic lights are arranged on the ground of an entrance lane xi at intervals along the driving direction of the entrance lane xi of the plane intersection, and are used for sending indication signals to the social vehicles driving on the entrance lane xi; the traffic signal lamp i can comprise a main shell, a main control circuit board and a first indicating device, the first indicating device is arranged on a first side face of the main shell, the first indicating device is connected with the main control circuit board and controlled by the main control circuit board, and when the traffic signal lamp i is arranged on the ground, the first indicating device faces to vehicles coming along the driving direction of the entrance lane xi; the traffic signal lamp i may be one or any one of the traffic signal lamp arrays 10;

a vehicle identification recognition device 20 for recognizing the vehicle identification of the emergency vehicle and transmitting the recognized vehicle identification to the signal controller 30;

and the signal controller 30 is respectively connected with the traffic light array 10 and the vehicle identifier recognition device 20, and is configured to receive the vehicle identifier sent by the vehicle identifier recognition device 20, and adjust a first indicator of a traffic light in the traffic light array 10 according to the vehicle identifier to send a warning traffic light signal or a traffic prohibition light signal, so as to prohibit the social vehicle from entering the entrance lane xi.

The traffic signal lamp array 10 is laid on the ground of the entrance lane xi, and specifically, may include at least one traffic signal lamp laid at the entrance of the entrance lane xi, may further include at least one traffic signal lamp laid at the exit of the entrance lane xi, and may include several traffic signal lamps laid between the entrance and the exit of the entrance lane xi. The entrance lane xi may be one or any one of the entrance lanes of the planar intersection. Furthermore, the entrance lane xi may also be one or any one of the entrance lanes on the expressway, or viaduct, which is not limited herein.

The distribution of the inlet/outlet channels of the plane crossing to which the embodiments of the present application relate may be as shown in fig. 2 by way of example. In the example shown in fig. 2, crosswalks are disposed between some of the entrance/exit lanes of the plane intersection and the intersection, and crosswalks are not disposed between other entrance/exit lanes and the intersection. In practical application, pedestrian crosswalks can be arranged between part or all of the inlet/outlet lanes of some plane intersections and intersections, and pedestrian crosswalks can not be arranged between part or all of the inlet/outlet lanes of some plane intersections and intersections. In fig. 2, a cross-shaped planar intersection is taken as an example, however, the planar intersection may also be a T-shaped planar intersection or a planar intersection with another shape, and the embodiment of the present invention is not limited thereto.

Wherein all the inlet channels and outlet channels of the plane intersection are converged in the intersection area. The entrance lane of a level crossing may also be referred to as an entrance lane. An entry lane of a level crossing may include one or more entry lanes, which may also be referred to as entry lanes. The exit lane of the level crossing may also be referred to as a downstream lane. An exit lane of a level crossing may include one or more exit lanes, which may also be referred to as downstream lanes. In the drawings related to the embodiments of the present application, the inlet lane is mainly located on the right side of the corresponding outlet lane, and the inlet lane of some countries may also be located on the left side of the corresponding outlet lane, and so on. It is to be understood that the definition of the entrance lane and the exit lane is relative to the intersection, and the entrance lane of one level intersection may be the exit lane of the next level intersection, and the exit lane of one level intersection may be the entrance lane of the next level intersection. The traffic signal light array 10 according to the embodiment of the present invention may be disposed in one or several entrance/exit lanes, and specifically, may be disposed in the whole entrance/exit lane, or may be disposed in a partial area of the entrance/exit lane, which is not limited herein.

Referring to fig. 3 to 5, one or any one of the traffic signal lights i in the traffic signal array 10 may be configured as the traffic signal light 100 illustrated in fig. 3 to 5. Specifically, the traffic signal lamp 100 may include a main housing 110, a main control circuit board (not shown), a first indicating device 111, and a first protective cover 112;

a first accommodating cavity 113 for accommodating the first indicating device 111 is formed in the first side surface of the main housing 110, the first protective cover 112 covers an opening surface of the first accommodating cavity 113 for accommodating the first indicating device 111, and a sealing and waterproof structure is formed between the opening surface of the first accommodating cavity 113 and the first protective cover 112 in a matching manner; the first indicating device 111 is connected with the main control circuit board, the first indicating device 111 is controlled by the main control circuit board, and the optical signal emitted by the first indicating device 111 can partially or completely penetrate through the first protective cover 112;

the main housing 110 may further be provided with a third receiving cavity (not shown) for receiving the main control circuit board. Optionally, the third accommodating cavity may be disposed on the bottom surface of the main housing 110, and the traffic signal lamp 100 may further include a bottom plate, wherein the bottom plate covers an opening surface of the third accommodating cavity accommodating the main control circuit board, and a sealing waterproof structure is formed between the opening surface of the third accommodating cavity and the bottom plate. Optionally, a waterproof wire routing hole for external routing may be further disposed on the bottom plate. Optionally, a third accommodating cavity accommodating the main control circuit board may be filled with waterproof sealing mastic.

Optionally, the first protective cover 112 may be a protective cover made of a tempered glass material (such as a tempered ground glass material or a tempered non-ground glass material), or may be a protective cover made of other transparent or translucent materials with higher hardness.

Alternatively, the bottom surface of the main housing 110 may be rectangular or square, or other regular/irregular shapes, etc. The area of the bottom surface of the main housing 110 may be greater than or equal to the area of the top surface of the main housing 110.

Optionally, the first indicating device 111 may be formed by combining a plurality of LED lamp beads, LED lamp strips, or graphene lamps, and the expression form of the first indicating device 111 may be the situation shown in fig. 3, certainly, the expression form of the first indicating device 111 is not limited thereto, and the expression form of the first indicating device 111 may be adjusted accordingly according to actual needs and scenes, for example, the number of the lamp beads or the number of the lamp strips in the first indicating device 111 may be reduced or increased, or the arrangement shape of the lamp beads or the lamp strips may be changed (for example, the lamp beads are arranged in "stop" or "row" and the like), and the like. It is understood that the first indicating device 111 may also be disposed on the top surface of the main housing 110, which is not limited herein.

In this embodiment of the application, the first indicating device 111 can emit an optical signal for allowing the passage of light (for example, the first indicating device 111 is turned on to emit green light) under the control of the main control circuit board, and the first indicating device 111 can also emit an optical signal for prohibiting the passage of light (for example, the first indicating device 111 is turned on to emit red light) under the control of the main control circuit board; alternatively, the first indicating device 111 can send out the light signal for allowing the passage of light under the control of the main control circuit board, the first indicating device 111 can also send out the light signal for prohibiting the passage of light under the control of the main control circuit board, and the first indicating device 111 can also send out the light signal for warning the passage of light under the control of the main control circuit board (for example, the first indicating device 111 lights up to send out yellow light).

In the embodiment of the present application, the vehicle identifier recognition device 20 may be configured to obtain the vehicle identifier of each vehicle, and recognize the vehicle identifier of an emergency vehicle (e.g., a fire rescue 119 vehicle, a medical rescue 120 vehicle, a civil police officer emergency service vehicle, etc.) from the vehicle identifier. The vehicle identification of the emergency vehicle may include, but is not limited to, at least one of an electronic license plate, a Vehicle Identification Number (VIN), some special patterns and words on the vehicle (e.g., 120, 110, 119, first aid, ambulance, resume, red cross pattern, police badge, etc.), special sounds made by the vehicle (e.g., 120, 110, 119 whistle sounds, etc.), and the like. The vehicle identification recognition device 20 may be more than one, and may be disposed at a position that is a fixed distance (e.g., 1000 meters, 800 meters, 500 meters, or other values) from the entrance of the entrance lane xi, i.e., the emergency vehicle passes through the vehicle identification recognition device 20 and enters the entrance lane xi. When there are a plurality of vehicle identification recognizing devices 20, one vehicle identification recognizing device 20 may be provided at regular intervals (e.g., 20 meters, 50 meters, 100 meters, or other values). The vehicle identification recognition device 20 may include, but is not limited to, at least one of a camera, a voice recognition device, an electronic license plate recognition device, and the like. When the vehicle identification recognition device 20 recognizes the vehicle identification belonging to the emergency vehicle from the collected vehicle identifications of the respective vehicles, the vehicle identification recognition device 20 transmits the vehicle identification to the signal controller 30 to inform the signal controller 30 that the emergency vehicle is about to pass. The signal controller 30 may control all or a portion of the traffic lights (e.g., a plurality of traffic lights near the entrance of the entrance lane xi) on the entrance lane xi to emit the warning traffic light signal/the no traffic light signal according to the received vehicle identification. The traffic signal lamp on a certain entry lane is controlled by automatically monitoring the vehicle identification of the emergency vehicle so as to empty the entry lane in advance, and the identity of the entry lane is temporarily switched to the emergency lane, so that the emergency vehicle can pass through quickly and smoothly when arriving.

In a possible embodiment, the signal controller 30 may be specifically configured to receive the vehicle identifier sent by the vehicle identifier recognition device 20, obtain a distance between the emergency vehicle and an entrance of the entrance lane xi, and adjust the first indicator of the traffic light in the traffic light array 10 to send a warning light signal or a traffic light prohibition signal when the distance is smaller than or equal to a preset distance, so as to prohibit the social vehicle from entering the entrance lane xi.

Specifically, a Positioning device, such as a Global Positioning System (GPS), may be installed on the emergency vehicle, and the signal controller 30 may directly obtain a real-time position broadcast by the Positioning device of the emergency vehicle; alternatively, a plurality of vehicle identification recognition devices 20 arranged at intervals monitor the vehicle identification of the emergency vehicle to determine the real-time position of the emergency vehicle and feed the real-time position back to the signal controller 30. The signal controller 30 may estimate a distance between the emergency vehicle and the entrance of the entrance lane xi according to the real-time position of the emergency vehicle, and may control the traffic signal lamp on the entrance lane xi to emit a warning traffic light signal or a traffic prohibition light signal when the distance is within a preset distance range, so as to empty the entrance lane xi in advance. The signal controller 30 may store a preset distance in advance, where the preset distance may be 1000 meters, 800 meters, 500 meters, or other values. The entry lane xi is emptied when the emergency vehicle reaches a certain distance range, so that the waste of lane resources caused by premature emptying of the entry lane xi can be avoided.

In a possible embodiment, the signal controller 30 may be specifically configured to receive the vehicle identifier sent by the vehicle identifier recognition device 20, obtain a time length required for the emergency vehicle to reach the entrance of the entrance lane xi, and adjust the first indicator of the traffic signal in the traffic signal array 10 to send the warning traffic light signal or the traffic prohibition light signal to prohibit the social vehicle from entering the entrance lane xi when the required time length is less than or equal to the passing period of the entrance lane xi at the level intersection.

Specifically, the signal controller 30 may directly or indirectly obtain the real-time position of the emergency vehicle, and may obtain the driving speed of the emergency vehicle. The running speed may be reported by the emergency vehicle itself, or may be measured by a speed detector arranged on the roadside and reported to the signal controller 30, or may be a running speed calculated by monitoring the time difference of the vehicle identifier of the emergency vehicle and the distance between adjacent vehicle identifier recognition devices 20 by the vehicle identifier recognition devices 20 arranged at intervals and fed back to the signal controller 30, or the like. The distance between the emergency vehicle and the entrance of the entrance lane xi is estimated by the real-time position of the emergency vehicle, and the time required for the emergency vehicle to reach the entrance of the entrance lane xi can be estimated according to the distance and the driving speed of the emergency vehicle. When the required time is within a certain preset time range, the traffic signal lamp on the entrance lane xi can be controlled to send out a warning traffic light signal or a traffic prohibition light signal so as to empty the entrance lane xi in advance. The preset time duration may be a certain fixed time duration set in advance, such as 3 minutes, 2 minutes, 90 seconds, or other values; the preset time duration may also be a release period of the entrance lane xi at the intersection, where the release period may include a green light time duration, a green flashing time duration, a yellow light time duration, and a red light time duration, for example, the green light time duration is 30 seconds, the green flashing time duration is 2 seconds, the yellow light time duration is 3 seconds, and the red light time duration is 25 seconds, and then the release period is 60 seconds. The entrance lane xi is emptied within a certain time range before the emergency vehicle arrives, so that the waste of lane resources caused by premature emptying of the entrance lane xi can be avoided, and the release period of each lane at the level intersection cannot be influenced.

In a possible embodiment, the signal controller 30 may be further configured to obtain the location information of the emergency vehicle when the emergency vehicle enters the entrance lane xi, and adjust the first indicating device of the traffic signal lamp located behind the emergency vehicle on the entrance lane xi to send the permission light signal according to the location information of the emergency vehicle, so as to allow the social vehicle to enter the entrance lane xi.

Specifically, the signal controller 30 may directly obtain the real-time position of the emergency vehicle sent by the positioning device on the emergency vehicle, or the vehicle monitoring node on the entrance lane xi monitors the emergency vehicle and feeds back the position information to the signal controller 30. The vehicle monitoring node may include, but is not limited to, at least one of a camera, a geomagnetic sensor, a piezoelectric sensor (e.g., a gravity sensor), a photoelectric sensor (e.g., a laser sensor, an infrared sensor, etc.), an ultrasonic sensor, and a capacitive sensor. The signal controller 30 may control the traffic signal lights on the entrance lane xi located at a position behind the emergency vehicle (i.e., an area that the emergency vehicle has traveled through) to emit a traffic permission light signal according to the traveling position of the emergency vehicle on the entrance lane xi, so as to allow the social vehicle to enter the entrance lane xi and travel behind the emergency vehicle. The traffic signal lamp on the entry lane xi is regulated and controlled through the change of the position of the automatic monitoring emergency vehicle, manual control is not needed, the resource utilization rate of the entry lane xi can be increased, and the passing efficiency of social vehicles can be improved while the requirement for quick passing of the emergency vehicle is met. It can be understood that, after it is detected that the emergency vehicle completely exits the entrance lane xi, the signal controller 30 may automatically control all the traffic signal lamps on the entrance lane xi to send out the signal of allowing the traffic light, so as to allow the social vehicle to enter the entrance lane xi.

In a possible embodiment, the traffic signal lamp i may further include a second indicating device, the second indicating device is disposed on the second side surface of the main housing, the second indicating device is connected to the main control circuit board, and the first indicating device and the second indicating device are respectively and independently controlled by the main control circuit board, where the first side surface and the second side surface are two opposite side surfaces on the main housing;

accordingly, the signal controller 30 may be specifically configured to send out warning traffic light signals according to the first indicator and the second indicator of the traffic signal in the vehicle identification adjustment traffic signal array 10, or send out traffic prohibition light signals according to the first indicator and the second indicator of the traffic signal in the vehicle identification adjustment traffic signal array 10, so as to prohibit the social vehicle from entering the entrance lane xi.

The traffic signal lamp with the bidirectional indication function can be applied to driveways with variable driving directions, such as tidal driveways. When the entrance lane xi is a tide lane, if the emergency vehicle is monitored to pass through the tide lane, the indicating devices in two directions of the traffic signal lamp on the tide lane can be controlled to send out warning traffic light signals or send out traffic prohibition light signals so as to prohibit the social vehicles in two directions from entering the tide lane. When the emergency vehicle smoothly passes through the tidal lane, the indicating device in one direction can be controlled to send out the light signal for allowing the traffic according to the running rule of the tidal lane, and the indicating device in the other direction keeps sending out the light signal for forbidding the traffic unchanged.

Specifically, referring to fig. 6 and 7 together, another traffic signal lamp 100 is provided in the embodiment of the present application. The traffic signal lamp 100 may further include a second indicator 121 and a second protective cover 122 besides the structures described in fig. 3 to 5, wherein a second receiving cavity 123 for receiving the second indicator 121 is disposed on a second side surface of the main housing 110, the second protective cover 122 covers an opening surface of the second receiving cavity 123 for receiving the second indicator 121, a sealed and waterproof structure is formed between the opening surface of the second receiving cavity 123 and the second protective cover 122 in a matching manner, the second indicator 121 is connected to the main control circuit board, the first indicator 111 and the second indicator 121 are respectively and independently controlled by the main control circuit board, and an optical signal emitted by the second indicator 121 can partially or completely penetrate through the second protective cover 122; the first side and the second side of the main housing 110 are two opposite sides of the main housing 110, that is, the first indicating device 111 and the second indicating device 121 are disposed opposite to each other.

Optionally, the second protective cover 122 may be a protective cover made of a tempered glass material (such as a tempered ground glass material or a tempered non-ground glass material), or may be a protective cover made of other transparent or translucent materials with higher hardness. The second protective cover 122 may be made of the same or similar material as the first protective cover 112.

The second indicating device 121 can send out an optical signal for allowing the passage of light (for example, the second indicating device 121 is turned on to send out green light) under the control of the main control circuit board, and the second indicating device 121 can also send out an optical signal for prohibiting the passage of light (for example, the second indicating device 121 is turned on to send out red light) under the control of the main control circuit board; alternatively, the second indicating device 121 can send out an optical signal for allowing the passage of light under the control of the main control circuit board, the second indicating device 121 can also send out an optical signal for prohibiting the passage of light under the control of the main control circuit board, and the second indicating device 121 can also send out an optical signal for warning the passage of light under the control of the main control circuit board (for example, the second indicating device 121 lights up to send out yellow light).

Optionally, the traffic signal lamp 100 may have at least one wireless and/or wired power input interface, and the at least one wireless and/or wired power input interface is coupled to the main control circuit board, the first indicating device 111, and the second indicating device 121, respectively, and is connected to an external power supply circuit through the at least one wireless and/or wired power input interface, so as to provide power for normal operation of each module in the traffic signal lamp 100. Specifically, the traffic signal lamp 100 may be connected to an external power supply circuit in a wireless manner and/or a wired manner, and obtain power from the external power supply circuit to maintain power required for normal operation of each functional module, where the external power supply circuit may be a power grid, a power station, a power box, a storage battery, or the like.

Optionally, the traffic signal lamp 100 may also have a power supply circuit, for example, a power supply block (e.g., a storage battery or other battery with high endurance) is disposed in the traffic signal lamp 100, and the power supply block can supply power to each functional module in the traffic signal lamp 100.

Optionally, the traffic signal lamp 100 may also adopt a new energy power supply module, such as a common solar power supply module. Specifically, a solar cell panel may be disposed on the top surface of the traffic signal lamp 100, and the solar cell panel is connected to each functional module of the traffic signal lamp 100, respectively, so as to provide electric energy for each functional module. In addition, adopt solar cell panel to supply power and traditional adoption built-in battery to supply power and compare, the benefit lies in can directly utilizing environmental resource, and inexhaustible, and can solve traffic signal lamp 100 because of the limited problem that needs often to change the battery of battery electric power storage.

The above embodiments are illustrative examples of the shape, size, etc. of the traffic signal 100, and in practical applications, the shape, size, etc. of the traffic signal 100 may be adjusted schematically.

It is understood that the traffic signal included in the traffic signal array 10 may have other display structures besides the structures shown in fig. 3 to 7, for example, the first indicating device and/or the second indicating device of the traffic signal are/is a display screen, and the display screen may output indication information such as text, patterns and/or animation.

In practical application, the first indicating device and the second indicating device of the traffic signal lamp can be set to be devices capable of emitting light, which has the advantages that the indicating information can be still clearly seen by a driver at night, and the scientific feeling and the aesthetic feeling of a road can be increased.

One possible way of arranging the traffic light array 10 on the entrance lane xi is as shown in fig. 8 by way of example. In fig. 8, it is assumed that a certain entrance lane includes an entrance lane 1, an entrance lane 2, and an entrance lane xi located in the middle, and adjacent lanes are distinguished by lane separation lines, wherein a traffic light array 10 composed of Nxi traffic lights is arranged on the entrance lane xi at intervals along the vehicle driving direction. When the traffic signal lamp is installed on the entrance lane xi, the first side surface of the traffic signal lamp faces the vehicles coming along the driving direction, namely the first indicating device of the traffic signal lamp faces the vehicles coming along the driving direction, so that the vehicles running along the driving direction can visually see the indicating signals sent by the first indicating device, and the second side surface of the traffic signal lamp is arranged opposite to the first side surface, namely the second indicating device of the traffic signal lamp is arranged opposite to the first indicating device. When an emergency vehicle is known to pass through the entrance lane xi in advance, two side faces of a traffic signal lamp on the entrance lane xi are controlled to send out traffic prohibition light signals or traffic warning light signals in advance to prevent the social vehicle from entering the entrance lane xi again, the social vehicle which has previously entered the entrance lane xi can change the lane to an adjacent lane (such as the entrance lane 1 or the entrance lane 2) to run after seeing the indication of the traffic signal lamp, and can also timely run out of the entrance lane xi when a discharge lamp (such as a green lamp) at a front intersection is turned on, so that the entrance lane xi is emptied before the emergency vehicle arrives. It is understood that the entrance lane xi may be located in the middle lane as shown in fig. 8, or may be located in the two lanes, which is not limited herein.

In the embodiment of the present application, the intervals between any two adjacent traffic lights in the traffic light array 10 on the entrance lane xi may be equal or partially equal or different from each other. For example, the spacing between any two adjacent traffic signals in the array of traffic signals 10 may be 3 meters, 5 meters, 7.5 meters, 10 meters, 12 meters, or other values. As another example, in the traveling direction of the entrance lane xi, the spacing between two adjacent traffic lights in the traffic light array 10 gradually decreases; alternatively, the interval between two adjacent traffic lights in the traffic light array 10 gradually increases in the traveling direction of the entrance lane xi. Of course, the spacing between two adjacent traffic lights in the traffic light array 10 may also be varied randomly or in other ways, and does not necessarily exhibit the above-mentioned exemplary gradually decreasing or gradually increasing variation in a certain direction. Further, when the traffic signal is installed on the ground of the entrance lane xi, the main housing of the traffic signal may be partially buried under the ground of the entrance lane xi, or the main housing of the traffic signal may be attached to the road surface of the entrance lane xi.

In practical applications, the traffic signal light array may be disposed on part or all of the entrance lanes of the planar intersection, wherein the manner of disposing the traffic signal light array on part or all of the entrance lanes may be the same or similar. That is, some or all of the entrance lanes of the planar intersection may deploy the traffic light array in an arrangement that is equivalent or similar to the entrance lane xi. In addition, the traffic light arrays disposed on part or all of the entrance lanes of the planar intersection may be controlled in a manner identical or similar to the control of the traffic light arrays 10 on the entrance lane xi.

The signal control machine 30 mentioned in the embodiment of the present application may also be referred to as a traffic signal, a program controlled switch, a traffic control signal, a traffic signal, an intersection traffic signal, or an intersection traffic control signal, and the like. Specifically, the signal controller 30 transmits a control signal to the control signal input interface of the traffic signal lamp through the control signal output interface, and drives and controls the first indicating device and/or the second indicating device to operate through the main control circuit board of the traffic signal lamp. One signal controller 30 may control the traffic light array on one entrance lane, may simultaneously control the traffic light arrays on a plurality of entrance lanes, and may simultaneously control the traffic light arrays on one entrance lane by a plurality of signal controllers 30, which is not limited herein.

Therefore, the control system for emergency vehicle priority traffic provided by the embodiment of the application identifies the vehicle identifier of the emergency vehicle by using the vehicle identifier identification device, and adjusts some or all traffic signal lamps in the traffic signal lamp array to send out the warning traffic light signal or the traffic prohibition light signal according to the identified vehicle identifier so as to prohibit the social vehicle from entering the entrance lane xi. Therefore, when the vehicle mark is recognized, an emergency vehicle can be indicated to pass through, the vehicle entering the entrance lane xi can be changed to another entrance lane to run by adjusting the traffic signal lamp on the entrance lane xi, or the vehicle can run through the entrance lane xi when the green light of the intersection is turned on, and other vehicles are forbidden to enter the entrance lane xi, so that the entrance lane xi is emptied in advance, and the entrance lane xi is switched from a common lane to an emergency lane so as to facilitate the rapid passing of the emergency vehicle.

The embodiment of the present application further provides a road with an emergency vehicle passing control function, please refer to fig. 9. The road may include a roadbed (not shown in the figure) and a road surface provided on the roadbed, and an entrance lane xi is provided on the road surface, and any one of the traffic lights described in the above embodiments is disposed on the entrance lane xi.

Specifically, the road mainly comprises a roadbed and a pavement, and the road may be an urban road, a suburban road, an expressway, or the like. The roadbed may be regarded as the foundation of a road, which is located below the road surface, and the road surface is laid above the roadbed for vehicles to travel. A plurality of grooves may be formed on the road surface of the entrance lane xi, and a traffic signal lamp is embedded in each groove, thereby forming a traffic signal lamp array 10 for sending an indication signal to the social vehicle traveling on the entrance lane xi. The shape and the size of the groove are matched with those of the main shell of the traffic signal lamp, so that the main shell of the traffic signal lamp is partially embedded in the groove. In addition, a signal controller 30 may be disposed at the roadside of the entrance lane xi, and the signal controller 30 establishes a wired and/or wireless connection with each traffic signal lamp disposed on the entrance lane xi, respectively, so as to implement communication interaction between the signal controller 30 and any traffic signal lamp. At least one vehicle identification recognition device 20 may be disposed at a position having a fixed distance from the entrance of the entrance lane xi, and is configured to recognize a vehicle identification of the emergency vehicle to be passed and feed the vehicle identification back to the signal controller 30, wherein the vehicle identification recognition device 20 may be in communication connection with the signal controller 30 in a wireless and/or wired manner.

The specific functions and structures of the traffic lights included in the traffic light array 10 may refer to all or part of the contents described in the foregoing embodiments, and the specific functions of the vehicle identifier recognition device 20 and the signal controller 30 may also refer to all or part of the contents described in the foregoing embodiments, which will not be described again here.

It can be understood that, when the traffic signal lamp is disposed on the entrance lane xi in a mounting manner, the traffic signal lamp only needs to be directly mounted on the road surface of the entrance lane xi without forming a groove on the ground.

The road with the emergency vehicle passing control function provided by the embodiment of the application is provided with the plurality of grooves on the road surface of the entrance lane, the traffic signal lamps are respectively deployed to form a traffic signal lamp array, the vehicle identification of the emergency vehicle to be passed is identified through the vehicle identification recognition device and fed back to the signal control machine, so that the signal control machine regulates and controls the traffic signal lamp array according to the vehicle identification, the entrance lane can be emptied in advance, the entrance lane is switched from a common lane to an emergency lane at the moment, and the emergency vehicle can pass quickly.

The embodiment of the application also provides a control method for the prior passage of the emergency vehicle, wherein the method can be applied to the control system for the prior passage of the emergency vehicle provided by the embodiment. Referring to fig. 10, the method may include the following steps:

1001. the vehicle identification of the emergency vehicle is identified by the vehicle identification identifying device 20.

The traffic signal lamp array 10 is formed by Nxi traffic signal lamps arranged on the ground of the entrance lane xi at intervals along the driving direction of the entrance lane xi of the plane intersection, the traffic signal lamp array 10 can be used for sending an indication signal to social vehicles driving on the entrance lane xi, wherein Nxi is a positive integer larger than 1. Specifically, the housing of one or any one of the traffic signal lights in the traffic signal light array 10 may be partially buried under the road surface of the entrance lane xi, or the housing of one or any one of the traffic signal lights in the traffic signal light array 10 may be attached to the road surface of the entrance lane xi. One or any one of the traffic signal lamps in the traffic signal lamp array 10 may be the traffic signal lamp 100 described in the foregoing embodiments, and the specific structure and function thereof may refer to part or all of the traffic signal lamp 100 described in the foregoing embodiments, which is not described herein again. The entrance lane xi may be one or any one of the entrance lanes of the planar intersection. Furthermore, the entrance lane xi may also be one or any one of the entrance lanes on the expressway, or viaduct, which is not limited herein.

1002. According to the vehicle identification identified by the vehicle identification identifying device 20, the traffic signal lights in the traffic signal light array 10 are adjusted to emit a warning traffic light signal or a traffic prohibition light signal so as to prohibit the social vehicle from entering the entrance lane xi.

In the embodiment of the present application, the vehicle identifier recognition device 20 may be configured to obtain the vehicle identifier of each vehicle, and recognize the vehicle identifier of the emergency vehicle from the vehicle identifier. The vehicle identification of the emergency vehicle may include, but is not limited to, at least one of an electronic license plate, a vehicle identification number VIN, some special patterns and words on the vehicle, a special sound made by the vehicle, and the like. The vehicle identification recognition device 20 may be more than one, and may be disposed at a position that is a fixed distance (e.g., 1000 meters, 800 meters, 500 meters, or other values) from the entrance of the entrance lane xi, i.e., the emergency vehicle passes through the vehicle identification recognition device 20 and enters the entrance lane xi. When there are a plurality of vehicle identification recognizing devices 20, one vehicle identification recognizing device 20 may be provided at regular intervals (e.g., 20 meters, 50 meters, 100 meters, or other values). The vehicle identification recognition device 20 may include, but is not limited to, at least one of a camera, a voice recognition device, an electronic license plate recognition device, and the like. When the vehicle identifier of the emergency vehicle is identified from the collected vehicle identifiers of the vehicles by the vehicle identifier identification device 20, the control system may control all or a part of the traffic lights on the entrance lane xi to emit the warning traffic light signal/the traffic prohibition light signal according to the vehicle identifier. Therefore, vehicles entering the entrance lane xi can change lanes to other entrance lanes to run, or the vehicles enter the entrance lane xi when green lights at the intersection are turned on, and other vehicles are forbidden to enter the entrance lane xi, so that the entrance lane xi is emptied in advance, and the entrance lane xi is switched from a common lane to an emergency lane, so that emergency vehicles can rapidly pass when arriving conveniently.

Optionally, the method described in fig. 10 may further include the following steps:

s1, acquiring the distance between the emergency vehicle and the entrance of the entrance lane xi;

accordingly, the step 1002 may adjust the traffic lights in the traffic light array 10 to emit the warning traffic light signal or the traffic prohibition light signal according to the vehicle identifier identified by the vehicle identifier identifying device 20, so as to prohibit the social vehicle from entering the entrance lane xi according to the following steps:

and S2, when the distance between the emergency vehicle and the entrance of the entrance lane xi is detected to be less than or equal to the preset distance, adjusting the traffic lights in the traffic light array 10 to emit a warning traffic light signal or a traffic prohibition light signal according to the vehicle identification identified by the vehicle identification identifying device 20 so as to prohibit the social vehicle from entering the entrance lane xi.

Specifically, the control system may directly obtain the real-time position of the emergency vehicle, or a plurality of vehicle identifier recognition devices 20 arranged at intervals may monitor the vehicle identifier of the emergency vehicle to determine the real-time position of the emergency vehicle and feed back the real-time position to the control system. The control system can estimate the distance between the emergency vehicle and the entrance of the entrance lane xi according to the real-time position of the emergency vehicle, and when the distance is within a preset distance range, the control system can control the traffic signal lamp on the entrance lane xi to send out a warning traffic light signal or a traffic prohibition light signal so as to empty the entrance lane xi in advance. The entry lane xi is emptied when the emergency vehicle reaches a certain distance range, so that the waste of lane resources caused by premature emptying of the entry lane xi can be avoided.

s3, acquiring the time length required by the emergency vehicle to reach the entrance of the entrance lane xi;

and S4, when the required time is less than or equal to the passing period of the entrance lane xi at the plane intersection, adjusting the traffic lights in the traffic light array 10 to send out warning passing light signals or passing prohibition light signals according to the vehicle marks identified by the vehicle mark identification device 20 so as to prohibit the social vehicles from entering the entrance lane xi.

Specifically, the control system may directly or indirectly obtain the real-time position of the emergency vehicle, and may obtain the driving speed of the emergency vehicle. The distance between the emergency vehicle and the entrance of the entrance lane xi is estimated by the real-time position of the emergency vehicle, and the time required for the emergency vehicle to reach the entrance of the entrance lane xi can be estimated according to the distance and the driving speed of the emergency vehicle. When the required time is within a certain preset time range, the traffic signal lamp on the entrance lane xi can be controlled to send out a warning traffic light signal or a traffic prohibition light signal so as to empty the entrance lane xi in advance. The preset time duration may be a certain fixed time duration set in advance, or may be a passing period of the entrance lane xi at the planar intersection. The entrance lane xi is emptied within a certain time range before the emergency vehicle arrives, so that the waste of lane resources caused by premature emptying of the entrance lane xi can be avoided, and the release period of each lane at the level intersection cannot be influenced.

s5, when the emergency vehicle is detected to enter the entrance lane xi, the position information of the emergency vehicle is obtained, and the traffic signal lamp positioned at the rear position of the emergency vehicle on the entrance lane xi is adjusted to send out a traffic permission light signal according to the position information of the emergency vehicle, so that the social vehicle is allowed to enter the entrance lane xi.

Specifically, the control system may control a traffic signal lamp located at a position behind the emergency vehicle (i.e., an area that the emergency vehicle has traveled) on the entrance lane xi to emit a traffic-permission light signal according to a traveling position of the emergency vehicle on the entrance lane xi, so as to allow the social vehicle to enter the entrance lane xi and travel behind the emergency vehicle. The traffic signal lamp on the entry lane xi is regulated and controlled through the change of the position of the automatic monitoring emergency vehicle, manual control is not needed, the resource utilization rate of the entry lane xi can be increased, and the passing efficiency of social vehicles can be improved while the requirement for quick passing of the emergency vehicle is met.

and S6, when the emergency vehicle is detected to be driven out of the entrance lane xi, adjusting all traffic signal lamps on the entrance lane xi to send out a traffic permission light signal so as to allow the social vehicle to enter the entrance lane xi.

Specifically, a vehicle monitoring node may be disposed at an exit of the entrance lane xi for monitoring whether the emergency vehicle is driven out of the entrance lane xi, and if the emergency vehicle is driven out, the control system may control all traffic lights on the entrance lane xi to send out a light signal allowing traffic, and at this time, the social vehicle may enter the entrance lane xi to drive.

As can be seen from the above, in the embodiment of the present application, a traffic light array composed of Nxi traffic lights is laid on the road surface of the entrance lane xi of the planar intersection, the traffic light array is used to send an indication signal to the social vehicle traveling on the entrance lane xi, the control system for emergency vehicle priority passage identifies the vehicle identifier of the emergency vehicle by using the vehicle identifier recognition device, and adjusts some or all traffic lights in the traffic light array to send warning passing light signals or passing prohibition light signals according to the identified vehicle identifier, so as to prohibit the social vehicle from entering the entrance lane xi. Therefore, when the vehicle mark is recognized, an emergency vehicle can be indicated to pass through, the vehicle entering the entrance lane xi can be changed to another entrance lane to run by adjusting the traffic signal lamp on the entrance lane xi, or the vehicle can run through the entrance lane xi when the green light of the intersection is turned on, and other vehicles are forbidden to enter the entrance lane xi, so that the entrance lane xi is emptied in advance, and the entrance lane xi is switched from a common lane to an emergency lane so as to facilitate the rapid passing of the emergency vehicle.

It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the order of acts described, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The steps in the method of the embodiment of the application can be sequentially adjusted, combined and deleted according to actual needs.

The composition modules in the system of the embodiment of the application can be combined, divided and deleted according to actual needs.

It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by instructions associated with a program, which may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), compact disc-Read-Only Memory (CD-ROM), or other Memory, magnetic disk, magnetic tape, or magnetic tape, Or any other medium which can be used to carry or store data and which can be read by a computer.

The foregoing detailed description is directed to a control system and method for emergency vehicle priority passing provided by an embodiment of the present application, and a specific example is applied in the detailed description to explain the principle and the implementation manner of the present application, and the description of the foregoing embodiment is only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A control system for priority passage of emergency vehicles, comprising:

2. The control system according to claim 1, wherein the signal controller is specifically configured to receive the vehicle identifier sent by the vehicle identifier recognition device, obtain a distance between the emergency vehicle and an entrance of the entrance lane xi, and adjust the first indicator of the traffic light in the traffic light array to send the warning traffic light signal or the traffic prohibition light signal when the distance is smaller than or equal to a preset distance, so as to prohibit the social vehicle from entering the entrance lane xi.

3. The control system according to claim 1, wherein the signal controller is specifically configured to receive the vehicle identifier sent by the vehicle identifier recognition device, obtain a time duration required by the emergency vehicle to reach the entrance of the entrance lane xi, and adjust the first indicator of the traffic light in the traffic light array to send the warning traffic light signal or the traffic prohibition light signal when the required time duration is less than or equal to a passing period of the entrance lane xi at the level intersection, so as to prohibit the social vehicle from entering the entrance lane xi.

4. The control system according to claim 1, wherein the signal controller is further configured to obtain the position information of the emergency vehicle when the emergency vehicle enters the entrance lane xi, and adjust a first indicating device of a traffic signal lamp located behind the emergency vehicle on the entrance lane xi to send a signal of light allowing traffic according to the position information of the emergency vehicle, so as to allow the social vehicle to enter the entrance lane xi.

5. The control system according to any one of claims 1 to 4, wherein the traffic signal i further comprises a second indicating device, the second indicating device is disposed on a second side surface of the main housing, the second indicating device is connected to the main control circuit board, and the first indicating device and the second indicating device are respectively and independently controlled by the main control circuit board, wherein the first side surface and the second side surface are two opposite side surfaces of the main housing;

6. A method for controlling priority passage of an emergency vehicle, comprising:

7. The method of claim 6, further comprising:

wherein, according to the vehicle identifier identified by the vehicle identifier identifying device, adjusting the traffic signal lights in the traffic signal light array to emit a warning traffic light signal or a traffic prohibition light signal to prohibit the social vehicle from entering the entrance lane xi comprises:

8. The method of claim 6, further comprising:

9. The method according to any one of claims 6-8, further comprising:

10. The method according to any one of claims 6-8, further comprising: