CN111260945A - Emergency vehicle avoiding method and system based on intelligent lamp pole - Google Patents

Emergency vehicle avoiding method and system based on intelligent lamp pole Download PDF

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Publication number
CN111260945A
CN111260945A CN202010056537.5A CN202010056537A CN111260945A CN 111260945 A CN111260945 A CN 111260945A CN 202010056537 A CN202010056537 A CN 202010056537A CN 111260945 A CN111260945 A CN 111260945A
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vehicle
lane
base station
information
emergency
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CN111260945B (en
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严军荣
卢玉龙
江雅芬
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Hangzhou Houbo Technology Co Ltd
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Hangzhou Houbo Technology Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/02—Access restriction performed under specific conditions
    • H04W48/04—Access restriction performed under specific conditions based on user or terminal location or mobility data, e.g. moving direction, speed

Abstract

The invention discloses a method and a system for avoiding emergency vehicles based on a smart lamp post. The method comprises the following steps: acquiring a driving route and a driving speed of a vehicle and selecting a lamp post base station to be accessed and controlled on the driving route; the method comprises the following steps that a vehicle is about to access a front light pole base station to be accessed and controlled to obtain environmental parameters in the coverage range of the front light pole base station and adjacent light pole base stations; judging whether emergency vehicles needing to be avoided appear according to the environmental parameters; calculating the avoidance running speed of the vehicle according to the information of the emergency vehicle and planning an avoidance lane of the vehicle; and controlling the vehicle to run to the avoidance lane according to the avoidance running speed. The method and the system solve the technical problem that the vehicle cannot effectively avoid the emergency vehicle.

Description

Emergency vehicle avoiding method and system based on intelligent lamp pole
Technical Field
The invention belongs to the technical field of intelligent lamp poles, and particularly relates to an emergency vehicle avoidance method and system based on an intelligent lamp pole.
Background
Currently, 5G communication technology is in a commercial exploration stage, and various 5G applications such as automatic driving and remote mechanical arm control become a hot spot of current research based on the ultra-low delay characteristic of 5G communication. Domestic and foreign automobile enterprises use an automatic driving technology as a future automobile development direction, and provide various automatic driving related technologies, for example, a Chinese patent with publication number CN110412595A provides a roadbed sensing method, a system, a vehicle, equipment and a storage medium, and a terminal generates global sensing information by acquiring sensing data sent by a plurality of sensing base stations and according to the sensing data, and further broadcasts the global sensing information. Chinese patent publication No. CN109208995A proposes an intelligent traffic bar and an intelligent road system, where the intelligent traffic bar is provided with a control circuit board, a high-definition camera and a communication device, which are installed with a central control system, and the central control system performs bus priority policy operation based on information obtained through the dedicated short-range communication module and sends an operation result as a bus control signal to a corresponding vehicle through the dedicated short-range communication module. Chinese patent publication No. CN110428619A proposes an intelligent driving method based on a vehicle-road coordination system, where the vehicle-road coordination system includes a vehicle-mounted end installed on a target vehicle and a plurality of road-surface transmitting ends arranged beside the target road at intervals, and the intelligent vehicle adjusts a driving route in real time by the road-surface transmitting end, an adjacent vehicle-mounted end and a traffic signal control system, and by combining with its own information.
When emergency vehicles needing to be avoided appear on the road, the automatic driving technology needs the remote server to receive and analyze data detected by the vehicle sensors and generate control commands to control the vehicles, and the higher control command generation time delay and the signal transmission time delay can cause insensitive response of the vehicles when the vehicles are emergently avoided, and the emergency vehicles behind cannot be identified, so that the emergency vehicles can be blocked, and the traffic efficiency is reduced.
At present, an automatic driving technical scheme for emergently avoiding the front and rear emergency vehicles of the vehicle based on the intelligent lamp post is not provided. Therefore, the method and the system for avoiding the emergency vehicle based on the intelligent lamp post are provided.
Disclosure of Invention
In order to solve the problems, the invention provides an emergency vehicle avoidance method and system based on a smart lamp post.
The invention relies on a base station system (intelligent lamp pole) and a vehicle control system which are erected on the lamp pole, and the base station of the nearby lamp pole controls the vehicle to avoid.
The invention discloses an emergency vehicle avoidance method based on a smart lamp post, which comprises the following steps:
acquiring a driving route and a driving speed of a vehicle;
selecting a lamp post base station to be accessed and controlled according to the running speed of the vehicle;
judging whether the distance between the current position of the vehicle and the front lamp post base station to be accessed and controlled is smaller than an access distance threshold value or not, and if so, judging that the vehicle is to be accessed to the front lamp post base station to be accessed and controlled;
acquiring environmental parameters of a front lamp post base station to be accessed and controlled and the coverage range of an adjacent lamp post base station;
judging whether emergency vehicles needing to be avoided appear in the coverage range of the front lamp post base station to be accessed and controlled and the adjacent lamp post base stations according to the environmental parameters;
planning an avoidance lane of the vehicle according to the traffic flow information and the information of the emergency vehicle in the current area;
calculating the avoidance running speed of the vehicle according to the information of the emergency vehicle;
and controlling the vehicle to run to the avoidance lane according to the avoidance running speed.
Preferably, the acquiring the driving route and the driving speed of the vehicle includes:
planning a navigation path according to the current position and the destination position of the vehicle;
comprehensively selecting a navigation path according to the distance, the time and/or the traffic flow, and taking the selected navigation path as a driving route of the vehicle;
and calculating the running speed according to the traffic jam condition of the running route.
Preferably, the selecting a lamp post base station to be controlled according to the driving speed of the vehicle includes:
recording the running speed of the vehicle as v;
calculating a base station switching distance s according to the vehicle running speed v, wherein k is a preset calculation coefficient, and T is a preset automatic driving signal transmission time delay threshold value;
acquiring all lamp post base station information related to a vehicle driving route;
and selecting one lamp post base station to be accessed and controlled at each spacing distance s.
Preferably, the acquiring environmental parameters within the coverage range of the front light pole base station to be controlled by access and the adjacent light pole base stations thereof includes:
acquiring information of N lamp post base stations at the front, the back and/or the left and the right of a lamp post base station to be accessed and controlled in front, wherein the N value is set in advance;
each lamp post base station acquires environmental parameters in the area, wherein the environmental parameters comprise vehicle information, traffic information, road information, sound, light and/or image information.
Preferably, the method for judging whether emergency vehicles needing to be avoided appear in the coverage areas of the lamp post base station to be accessed and controlled in front and the adjacent lamp post base stations thereof according to the environmental parameters includes:
judging whether the emergency vehicles have the sound and/or light and/or images according to the sound and/or light and/or image information in the area, and if so, judging that the emergency vehicles needing to be avoided appear in the coverage area;
judging whether traffic flow is abnormally gathered according to vehicle information and road information in the area, and if so, judging that emergency vehicles needing to be avoided appear in the coverage area;
and judging whether traffic control exists in the area according to the traffic information in the area, and if so, judging that emergency vehicles needing to be avoided appear in the coverage area.
Preferably, the planning of an avoidance lane of the vehicle according to the traffic information in the current area and the information of the emergency vehicle comprises:
acquiring information of a current driving lane of an emergency vehicle needing to be avoided;
acquiring traffic flow information in the current area, including vehicle information and traffic flow speed m of each lanejWherein j represents the number of lanes in the current region;
counting current driving lane of emergency vehicleThe remaining jam distance n of the other lanesjThe remaining jam distance of the lane refers to the distance interval between the front vehicle and the rear vehicle in the lane;
according to the traffic speed mjCalculating the plugging coefficient x of each lane according to the residual plugging distance of the lanej，xj＝g·mj·njWherein g is a calculation coefficient set in advance;
and selecting an avoidance lane of the vehicle according to the congestion coefficient of each lane in the road.
Further preferably, the selecting of the avoidance lane of the vehicle according to the congestion coefficient of each lane in the road is any one or a combination of a plurality of lanes in the road with the largest congestion coefficient as the avoidance lane of the vehicle, or a lane with a congestion coefficient larger than a preset threshold value and closest to the vehicle as the avoidance lane, or a lane selected according to the distribution of the vehicles in the area and the congestion coefficient of the lane.
Preferably, the calculating of the avoidance travel speed of the vehicle according to the information of the emergency vehicle includes:
acquiring the running speed of the emergency vehicle as w according to the characteristics of the emergency vehicle needing to be avoided;
acquiring the current running speed of the vehicle as v;
calculating the avoiding running speed y of the vehicle according to the running speed v of the vehicle and the running speed w of the emergency vehicle needing to be avoided,
Figure BDA0002373075940000041
where f is a calculation coefficient set according to the relative position of the emergency vehicle and the vehicle.
A computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform the above method.
The utility model provides an dodge urgent vehicle system based on wisdom lamp pole which characterized in that includes:
a lamp post;
a vehicle;
a base station controller;
a processor;
a memory;
and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the programs causing the computer to perform the above-described method.
The method and the system have the advantages that:
(1) by predicting the vehicle running route and judging the lamp post base station of the vehicle, the function of controlling the vehicle to avoid the emergency vehicle is transferred from the remote server to the nearby lamp post base station, so that the control time delay can be effectively reduced, and the control efficiency is improved.
(2) The method comprises the steps of obtaining environmental parameters in the coverage areas of the lamp post base stations to be controlled in an access mode in front of the vehicle and the adjacent lamp post base stations, and adjusting the running speed and the running lane of the vehicle according to the emergency vehicle needing to be avoided in front of or behind the vehicle, so that the influence of the normal running vehicle on the emergency vehicle can be effectively reduced, and the passing efficiency of the emergency vehicle is improved.
Drawings
Fig. 1 is a flowchart of a method for avoiding an emergency vehicle based on a smart light pole according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating the detailed steps of step S01 in FIG. 1;
FIG. 3 is a flowchart illustrating the detailed steps of step S02 in FIG. 1;
FIG. 4 is a flowchart illustrating the detailed steps of step S04 in FIG. 1;
FIG. 5 is a flowchart illustrating the detailed steps of step S05 in FIG. 1;
FIG. 6 is a flowchart illustrating the detailed steps of step S06 in FIG. 1;
FIG. 7 is a flowchart illustrating the detailed steps of step S07 in FIG. 1;
fig. 8 is a schematic structural diagram of an emergency avoidance vehicle system based on a smart light pole according to a third embodiment of the present invention.
Detailed Description
The following describes in detail preferred embodiments of the present invention.
The embodiment of the invention relies on a base station system (intelligent lamp pole) and an automatic driving vehicle system which are erected on the lamp pole, and the nearby lamp pole identifies the emergency avoidance vehicle (sound, light, vibration, camera shooting and the like) and controls the automatic driving vehicle connected with the nearby lamp pole to respond.
The emergency vehicle avoidance method based on the intelligent lamp post disclosed by the embodiment of the invention is realized as shown in fig. 1 according to the following steps:
step S01, acquiring a running route and a running speed of the vehicle;
s02, selecting a lamp post base station to be accessed and controlled according to the vehicle running speed;
step S03, judging whether the distance between the current position of the vehicle and the front lamp post base station to be accessed and controlled is smaller than an access distance threshold value, if so, judging that the vehicle is to be accessed to the front lamp post base station to be accessed and controlled;
s04, acquiring environmental parameters of a front lamp post base station to be accessed and controlled and the coverage range of the adjacent lamp post base stations;
step S05, judging whether emergency vehicles needing to be avoided appear in the coverage area of the front lamp post base station to be accessed and controlled and the adjacent lamp post base stations thereof according to the environmental parameters;
step S06, planning an avoidance lane of the vehicle according to the traffic information in the current area and the information of the emergency vehicle;
step S07, calculating the avoidance travel speed of the vehicle according to the information of the emergency vehicle;
and step S08, controlling the vehicle to travel to an avoidance lane according to the avoidance travel speed.
In a preferred mode as shown in fig. 2, the step S01 of obtaining the driving route and the driving speed of the vehicle includes:
step S011, planning a navigation path according to the current position and the destination position of the vehicle;
step S012, comprehensively selecting a navigation path according to the distance, the time and/or the traffic flow, and taking the selected navigation path as a driving route of the vehicle;
and step S013, calculating the running speed according to the traffic jam condition of the running route.
In this embodiment, a destination position of a vehicle is obtained, a navigation path is planned according to the current position of the vehicle and the destination position, a short-distance and short-time navigation path is selected as a current driving route of the vehicle, and average speed data of traffic flows in a nearest week of the driving route is obtained as 60 km/h (reflecting congestion conditions), so that a driving speed v of the vehicle is calculated as 60 km/h.
In a preferred mode as shown in fig. 3, the step S02 of selecting the lamppost base station to be controlled according to the driving speed of the vehicle includes:
step S021, recording the running speed of the vehicle as v;
step S022, calculating a base station switching distance S according to the vehicle running speed v, wherein k is a preset calculation coefficient, and T is a preset automatic driving signal transmission time delay threshold value;
s023, obtaining all lamp post base station information related to a vehicle driving route;
and S024, selecting one lamp post base station to be accessed and controlled for each spacing distance S.
In this embodiment, the vehicle speed v is 60 km/h, the preset automatic driving signal transmission delay threshold T is 0.1 sec, the preset calculation coefficient k is 20, the base station switching distance interval s is k · v · T is 20 × 16.7 × 0.1 is 33.4 m, all the lamppost base station information near each road of the vehicle driving route is acquired, and one lamppost base station to be controlled by the vehicle is selected near each interval distance s.
In a preferred embodiment shown in fig. 4, the step S04 of obtaining the environmental parameters within the coverage area of the light pole base station to be controlled by the front access and the adjacent light pole base stations includes:
s041, obtaining information of N lamp post base stations at the front, the back and/or the left and the right of the lamp post base station to be accessed and controlled, wherein the N value is set in advance;
and S042, acquiring environmental parameters in the area by each lamp post base station, wherein the environmental parameters comprise vehicle information, traffic information, road information, sound, light and/or image information.
In this embodiment, preset N is 3, information of 3 lamp post base stations around a lamp post base station to be currently accessed and controlled by a vehicle is acquired, the lamp post base station to be accessed and controlled and the 3 lamp post base stations in front of the lamp post base station are recorded as a vehicle front area, the 3 lamp post base stations in back of the lamp post base station to be accessed and controlled are recorded as a vehicle back area, the lamp post base stations in the vehicle front area and the vehicle back area acquire environmental parameters in the areas, and the environmental parameters include vehicle information, traffic information, road information, sound, light and image information.
In a preferred mode as shown in fig. 5, the step S05 of determining whether there is an emergency vehicle needing to be avoided in the coverage area of the light pole base station to be controlled by the front access and the adjacent light pole base stations thereof according to the environmental parameters includes:
step S051, judging whether the emergency vehicles which are required to be avoided appear in the coverage area or not according to the sound and/or light and/or image information in the area;
step 052, judging whether traffic flow is abnormally gathered according to vehicle information and road information in the area, and if so, judging that emergency vehicles needing to be avoided appear in the coverage area;
and S053, judging whether traffic control exists in the area according to the traffic information in the area, and if so, judging that emergency vehicles needing to be avoided appear in the coverage area.
In the embodiment, the sound characteristic which accords with the calling of the ambulance in the area is judged according to the sound and image information in the area, and the emergency ambulance needing to be avoided in the coverage range of a lamp post base station in the area behind the vehicle is judged.
In a preferred embodiment shown in fig. 6, the step S06 of planning an avoidance lane of a vehicle according to the traffic information in the current area and the information of the emergency vehicle includes:
step S061, obtaining information of a current driving lane of the emergency vehicle needing to be avoided;
step S062, obtaining the traffic flow information in the current area, including the vehicle information and the traffic flow speed m of each lanejWhere j denotes the number of lanes in the current area；
Step S063, counting the remaining jam distance n of the other lanes except the current driving lane of the emergency vehiclejThe remaining jam distance of the lane refers to the distance interval between the front vehicle and the rear vehicle in the lane;
step S064, according to the traffic flow speed mjCalculating the plugging coefficient x of each lane according to the residual plugging distance of the lanej，xj＝g·mj·njWherein g is a calculation coefficient set in advance;
and S065, selecting an avoidance lane of the vehicle according to the congestion coefficient of each lane in the road.
In a preferred embodiment, the selecting of the avoidance lane of the vehicle according to the congestion coefficient of each lane in the road is any one or a combination of a plurality of lanes in the road, in which the lane with the largest congestion coefficient in the road is selected as the avoidance lane of the vehicle, or the lane with the congestion coefficient larger than a preset threshold value and closest to the vehicle is selected as the avoidance lane, or the avoidance lane is selected according to the distribution of the vehicles in the area and the congestion coefficient of the lane.
In this embodiment, the current driving lane of the emergency ambulance to be avoided is the rightmost lane of the road, the vehicle information and the traffic flow speed of each lane in the current area of the vehicle are obtained, 4 lanes are total, the number of the lanes is 1, 2, 3 and 4 in sequence from left to right, and the traffic flow speed m of each lane is1＝80，m2＝70，m3＝60，m460; counting the remaining jam distance n of the rest lanes (lanes numbered 1, 2 and 3) except the current driving lane of the emergency ambulance115 m, n210 m, n3The calculation coefficient g is set to 0.01 in advance according to the traffic flow speed m, and is 5 mjCalculating the plugging coefficient x of each lane according to the residual plugging distance of the lane1＝g·m1·n1＝0.01×80×15＝12，x2＝g·m2·n2＝0.01×70×10＝7，x5＝g·m5·n50.01 × 60 × 5 ═ 3. In the embodiment, the lane with the congestion coefficient larger than the preset threshold value and closest to the vehicle is selected as the avoidance lane, the preset congestion threshold value is 5,and the lanes with the congestion coefficient larger than 5 are the lanes with the number 1 and the lanes with the number 2, and the lanes closest to the vehicle are selected as avoidance lanes.
In a preferred embodiment shown in fig. 7, the step S07 of calculating the avoidance travel speed of the vehicle based on the information of the emergency vehicle includes:
step S071, acquiring the running speed of the emergency vehicle according to the characteristics of the emergency vehicle needing to be avoided, and marking as w;
step S072, acquiring the current running speed of the vehicle, and recording the current running speed as v;
step S073, calculating the avoidance running speed y of the vehicle according to the running speed v of the vehicle and the running speed w of the emergency vehicle needing to be avoided,
Figure BDA0002373075940000101
where f is a calculation coefficient set according to the relative position of the emergency vehicle and the vehicle.
In the embodiment, the current running speed v of the vehicle is 60, the running speed w of the emergency ambulance needing to be avoided is 80, and the vehicle is in front of the emergency ambulance, so the calculation coefficient f is set to be 12, and the avoidance running speed of the vehicle is calculated according to the running speed v of the vehicle and the running speed w of the emergency ambulance
Figure BDA0002373075940000102
Figure BDA0002373075940000103
And step S08, controlling the vehicle to travel to an avoidance lane according to the avoidance travel speed. In this embodiment, the vehicle is controlled to avoid the lane closest to the vehicle in the lanes numbered 1 and 2 at a speed of 64 km/h.
The method for avoiding the emergency vehicle based on the intelligent lamp post in the embodiment of the invention is realized according to the following steps:
step S01, acquiring a running route and a running speed of the vehicle;
s02, selecting a lamp post base station to be accessed and controlled according to the vehicle running speed;
step S03, judging whether the distance between the current position of the vehicle and the front lamp post base station to be accessed and controlled is smaller than an access distance threshold value, if so, judging that the vehicle is to be accessed to the front lamp post base station to be accessed and controlled;
s04, acquiring environmental parameters of a front lamp post base station to be accessed and controlled and the coverage range of the adjacent lamp post base stations;
step S05, judging whether emergency vehicles needing to be avoided appear in the coverage area of the front lamp post base station to be accessed and controlled and the adjacent lamp post base stations thereof according to the environmental parameters;
step S06, planning an avoidance lane of the vehicle according to the traffic information in the current area and the information of the emergency vehicle;
step S07, calculating the avoidance travel speed of the vehicle according to the information of the emergency vehicle;
and step S08, controlling the vehicle to travel to an avoidance lane according to the avoidance travel speed.
In a preferable mode, the step S01 of obtaining the driving route and the driving speed of the vehicle includes:
step S011, planning a navigation path according to the current position and the destination position of the vehicle;
step S012, comprehensively selecting a navigation path according to the distance, the time and/or the traffic flow, and taking the selected navigation path as a driving route of the vehicle;
and step S013, calculating the running speed according to the traffic jam condition of the running route.
In this embodiment, a destination position of a vehicle is obtained, a navigation path is planned according to the current position of the vehicle and the destination position, a short-distance and short-time navigation path is selected as a current driving route of the vehicle, and average speed data of traffic flows in a nearest week of the driving route is obtained as 60 km/h (reflecting congestion conditions), so that a driving speed v of the vehicle is calculated as 60 km/h.
In a preferable mode, the step S02 of selecting the light pole base station to be controlled according to the driving speed of the vehicle includes:
step S021, recording the running speed of the vehicle as v;
step S022, calculating a base station switching distance S according to the vehicle running speed v, wherein k is a preset calculation coefficient, and T is a preset automatic driving signal transmission time delay threshold value;
s023, obtaining all lamp post base station information related to a vehicle driving route;
and S024, selecting one lamp post base station to be accessed and controlled for each spacing distance S.
In this embodiment, the vehicle speed v is 60 km/h, the preset automatic driving signal transmission delay threshold T is 0.1 sec, the preset calculation coefficient k is 20, the base station switching distance interval s is k · v · T is 20 × 16.7 × 0.1 is 33.4 m, all the lamppost base station information near each road of the vehicle driving route is acquired, and one lamppost base station to be controlled by the vehicle is selected near each interval distance s.
In a preferable mode, the step S04 of obtaining the environmental parameters within the coverage areas of the front lamppost base station to be controlled by access and the adjacent lamppost base stations includes:
s041, obtaining information of N lamp post base stations at the front, the back and/or the left and the right of the lamp post base station to be accessed and controlled, wherein the N value is set in advance;
and S042, acquiring environmental parameters in the area by each lamp post base station, wherein the environmental parameters comprise vehicle information, traffic information, road information, sound, light and/or image information.
In this embodiment, preset N is 3, information of 3 lamp post base stations around a lamp post base station to be currently accessed and controlled by a vehicle is acquired, the lamp post base station to be accessed and controlled and the 3 lamp post base stations in front of the lamp post base station are recorded as a vehicle front area, the 3 lamp post base stations in back of the lamp post base station to be accessed and controlled are recorded as a vehicle back area, the lamp post base stations in the vehicle front area and the vehicle back area acquire environmental parameters in the areas, and the environmental parameters include vehicle information, traffic information, road information, sound, light and image information.
In a preferable mode, the step S05 of determining whether an emergency vehicle needing to be avoided appears in the coverage area of the light pole base station to be controlled by accessing the front and the adjacent light pole base stations according to the environmental parameters includes:
step S051, judging whether the emergency vehicles which are required to be avoided appear in the coverage area or not according to the sound and/or light and/or image information in the area;
step 052, judging whether traffic flow is abnormally gathered according to vehicle information and road information in the area, and if so, judging that emergency vehicles needing to be avoided appear in the coverage area;
and S053, judging whether traffic control exists in the area according to the traffic information in the area, and if so, judging that emergency vehicles needing to be avoided appear in the coverage area.
In this embodiment, it is determined according to traffic control information in an area ahead of the vehicle that an emergency vehicle that needs to be avoided appears within a coverage area of a lamp post base station in the area ahead of the vehicle.
In a preferred embodiment, the step S06 of planning an avoidance lane of the vehicle according to the traffic information in the current area and the information of the emergency vehicle includes:
step S061, obtaining information of a current driving lane of the emergency vehicle needing to be avoided;
step S062, obtaining the traffic flow information in the current area, including the vehicle information and the traffic flow speed m of each lanejWherein j represents the number of lanes in the current region;
step S063, counting the remaining jam distance n of the other lanes except the current driving lane of the emergency vehiclejThe remaining jam distance of the lane refers to the distance interval between the front vehicle and the rear vehicle in the lane;
step S064, according to the traffic flow speed mjCalculating the plugging coefficient x of each lane according to the residual plugging distance of the lanej，xj＝g·mj·njWherein g is a calculation coefficient set in advance;
and S065, selecting an avoidance lane of the vehicle according to the congestion coefficient of each lane in the road.
In a preferred embodiment, the selecting of the avoidance lane of the vehicle according to the congestion coefficient of each lane in the road is any one or a combination of a plurality of lanes in the road, in which the lane with the largest congestion coefficient in the road is selected as the avoidance lane of the vehicle, or the lane with the congestion coefficient larger than a preset threshold value and closest to the vehicle is selected as the avoidance lane, or the avoidance lane is selected according to the distribution of the vehicles in the area and the congestion coefficient of the lane.
In this embodiment, the current driving lane of the emergency vehicle to be avoided is the rightmost lane of the road, the vehicle information and the traffic flow speed of each lane in the current area of the vehicle are obtained, 4 lanes are total, the number of the lanes is 1, 2, 3 and 4 in sequence from left to right, and the traffic flow speed m of each lane is1＝80，m2＝70，m3＝60，m460; counting the remaining congestion distances n of the lanes (the lanes numbered 1, 2 and 3) except the current driving lane of the emergency vehicle115 m, n210 m, n3The calculation coefficient g is set to 0.01 in advance according to the traffic flow speed m, and is 5 mjCalculating the plugging coefficient x of each lane according to the residual plugging distance of the lane1＝g·m1·n1＝0.01×80×15＝12，x2＝g·m2·n2＝0.01×70×10＝7，x5＝g·m5·n50.01 × 60 × 5 ═ 3. In the embodiment, the lane with the largest congestion coefficient in the road is selected as the avoidance lane of the vehicle, the lane with the largest congestion coefficient is the lane with the number 1, and the lane with the number 1 is selected as the avoidance lane.
In one preferable embodiment, the step S07 of calculating the avoidance travel speed of the vehicle based on the information of the emergency vehicle includes:
step S071, acquiring the running speed of the emergency vehicle according to the characteristics of the emergency vehicle needing to be avoided, and marking as w;
step S072, acquiring the current running speed of the vehicle, and recording the current running speed as v;
step S073, calculating the avoidance running speed y of the vehicle according to the running speed v of the vehicle and the running speed w of the emergency vehicle needing to be avoided,
Figure BDA0002373075940000141
where f is a calculation coefficient set according to the relative position of the emergency vehicle and the vehicle.
In the present embodiment, since the vehicle traveling speed v is 60 and the traveling speed w of the emergency vehicle to be avoided is 40, and the vehicle is behind the emergency vehicle to be avoided, the calculation coefficient f is 30, and the avoidance traveling speed of the vehicle is calculated from the vehicle traveling speed v and the traveling speed w of the emergency vehicle to be avoided
Figure BDA0002373075940000142
Figure BDA0002373075940000143
And step S08, controlling the vehicle to travel to an avoidance lane according to the avoidance travel speed. In this embodiment, the vehicle is controlled to avoid the lane of number 1 at a speed of 50 km/h.
A computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform the method of any of the above embodiments.
An emergency vehicle avoidance system based on a smart lamp post according to a third embodiment of the present invention is shown in fig. 8, and is characterized by including:
a lamp post;
a vehicle;
a base station controller;
a processor;
a memory;
and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the programs causing the computer to perform the method of any of the embodiments described above.
The method and system of the present invention are not limited to control of autonomous vehicles, but may be used to assist in any of driving a vehicle, a ship, a bicycle, a train, an airplane, or a pedestrian.
Of course, those skilled in the art should realize that the above embodiments are only used for illustrating the present invention, and not as a limitation to the present invention, and that the changes and modifications of the above embodiments will fall within the protection scope of the present invention as long as they are within the scope of the present invention.

Claims (10)

1. An emergency vehicle avoiding method based on a smart lamp post is characterized by comprising the following steps:
acquiring a driving route and a driving speed of a vehicle;
selecting a lamp post base station to be accessed and controlled according to the running speed of the vehicle;
judging whether the distance between the current position of the vehicle and the front lamp post base station to be accessed and controlled is smaller than an access distance threshold value or not, and if so, judging that the vehicle is to be accessed to the front lamp post base station to be accessed and controlled;
acquiring environmental parameters of a front lamp post base station to be accessed and controlled and the coverage range of an adjacent lamp post base station;
judging whether emergency vehicles needing to be avoided appear in the coverage range of the front lamp post base station to be accessed and controlled and the adjacent lamp post base stations according to the environmental parameters;
planning an avoidance lane of the vehicle according to the traffic flow information and the information of the emergency vehicle in the current area;
calculating the avoidance running speed of the vehicle according to the information of the emergency vehicle;
and controlling the vehicle to run to the avoidance lane according to the avoidance running speed.
2. The intelligent lamp pole-based emergency vehicle avoidance method according to claim 1, wherein the obtaining of the driving route and the driving speed of the vehicle comprises:
planning a navigation path according to the current position and the destination position of the vehicle;
comprehensively selecting a navigation path according to the distance, the time and/or the traffic flow, and taking the selected navigation path as a driving route of the vehicle;
and calculating the running speed according to the traffic jam condition of the running route.
3. The intelligent lamp-post-based emergency vehicle avoidance method according to claim 1, wherein the selecting of the lamp-post base station to be controlled in an access mode according to the vehicle running speed comprises:
recording the running speed of the vehicle as v;
calculating a base station switching distance s according to the vehicle running speed v, wherein k is a preset calculation coefficient, and T is a preset automatic driving signal transmission time delay threshold value;
acquiring all lamp post base station information related to a vehicle driving route;
and selecting one lamp post base station to be accessed and controlled at each spacing distance s.
4. The intelligent lamp pole-based emergency vehicle avoidance method according to claim 1, wherein the obtaining of the environmental parameters within the coverage area of the front lamp pole base station to be controlled by access and the adjacent lamp pole base stations comprises:
acquiring information of N lamp post base stations at the front, the back and/or the left and the right of a lamp post base station to be accessed and controlled in front, wherein the N value is set in advance;
each lamp post base station acquires environmental parameters in the area, wherein the environmental parameters comprise vehicle information, traffic information, road information, sound, light and/or image information.
5. The method for avoiding the emergency vehicle based on the intelligent lamp post as claimed in claim 1, wherein the step of judging whether the emergency vehicle needing to be avoided appears in the coverage area of the lamp post base station to be controlled in the front and the adjacent lamp post base stations according to the environmental parameters comprises the following steps:
judging whether the emergency vehicles have the sound and/or light and/or images according to the sound and/or light and/or image information in the area, and if so, judging that the emergency vehicles needing to be avoided appear in the coverage area;
judging whether traffic flow is abnormally gathered according to vehicle information and road information in the area, and if so, judging that emergency vehicles needing to be avoided appear in the coverage area;
and judging whether traffic control exists in the area according to the traffic information in the area, and if so, judging that emergency vehicles needing to be avoided appear in the coverage area.
6. The intelligent lamp pole-based emergency vehicle avoidance method according to claim 1, wherein the planning of an avoidance lane of the vehicle according to the traffic information in the current area and the information of the emergency vehicle comprises:
acquiring information of a current driving lane of an emergency vehicle needing to be avoided;
acquiring traffic flow information in the current area, including vehicle information and traffic flow speed m of each lanejWherein j represents the number of lanes in the current region;
counting the remaining jam distance n of the lanes except the current driving lane of the emergency vehiclejThe remaining jam distance of the lane refers to the distance interval between the front vehicle and the rear vehicle in the lane;
according to the traffic speed mjCalculating the plugging coefficient x of each lane according to the residual plugging distance of the lanej，xj＝g·mj·njWherein g is a calculation coefficient set in advance;
and selecting an avoidance lane of the vehicle according to the congestion coefficient of each lane in the road.
7. The intelligent lamp pole-based emergency vehicle avoidance method according to claim 6, wherein the selection of the avoidance lane of the vehicle according to the congestion coefficients of the lanes in the road is any one or more of the selection of the lane with the largest congestion coefficient in the road as the avoidance lane of the vehicle, the selection of the lane with the congestion coefficient larger than a preset threshold and the closest distance to the vehicle as the avoidance lane, or the comprehensive selection of the avoidance lane according to the distribution of the vehicles in the area and the congestion coefficients of the lanes.
8. The intelligent lamp pole-based emergency vehicle avoidance method according to claim 1, wherein the calculating of the avoidance travel speed of the vehicle according to the information of the emergency vehicle comprises:
acquiring the running speed of the emergency vehicle according to the characteristics of the emergency vehicle needing to be avoided, and recording the running speed as w;
acquiring the current running speed of the vehicle, and recording as v;
calculating the avoiding running speed y of the vehicle according to the running speed v of the vehicle and the running speed w of the emergency vehicle needing to be avoided,
Figure FDA0002373075930000031
where f is a calculation coefficient set according to the relative position of the emergency vehicle and the vehicle.
9. A computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform the method of claims 1-8.
10. The utility model provides an dodge urgent vehicle system based on wisdom lamp pole which characterized in that includes:
a lamp post;
a vehicle;
a base station controller;
a processor;
a memory;
and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the programs causing the computer to perform the method of claims 1-8.
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