CN113240919B - Emergency vehicle priority passing method based on Internet of vehicles - Google Patents
Emergency vehicle priority passing method based on Internet of vehicles Download PDFInfo
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- CN113240919B CN113240919B CN202110424976.1A CN202110424976A CN113240919B CN 113240919 B CN113240919 B CN 113240919B CN 202110424976 A CN202110424976 A CN 202110424976A CN 113240919 B CN113240919 B CN 113240919B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The embodiment of the invention provides an emergency vehicle priority passing method based on an internet of vehicles, which is executed by a server in the internet of vehicles, and comprises the following steps: in response to receiving destination information, preset running route information and first real-time running information sent by an emergency vehicle accessed to the Internet of vehicles, determining traffic signal lamp setting information in the preset running route, and acquiring real-time road condition information of the preset running route and second real-time running information of a non-emergency vehicle through a road side unit in the Internet of vehicles; and generating priority traffic indication information according to at least two of the first real-time driving information, the traffic signal lamp setting information, the real-time road condition information and the second real-time driving information, and sending the priority traffic indication information to at least one of the emergency vehicle, the non-emergency vehicle and the traffic signal lamp controller, so that the emergency vehicle preferentially passes to reach the destination. The embodiment of the invention can realize rapid and safe prior passing of the emergency vehicle.
Description
Technical Field
The disclosure relates to the technical field of intelligent transportation, in particular to an emergency vehicle priority passing method based on Internet of vehicles.
Background
Road traffic, as part of the lifeline in modern life, plays a vital role in the rapid, efficient and safe passage of emergency vehicles such as ambulances, fire trucks and the like.
At present, an intersection emergency vehicle priority passing system constructed by a wireless communication technology in the prior art can effectively improve the passing efficiency of emergency vehicles, but the priority passing of the emergency vehicles cannot be solved and the safety of the emergency vehicles cannot be ensured because the system is not combined with real-time road conditions of road sections and congested road sections without traffic lights are not considered.
Disclosure of Invention
In view of the above, the present disclosure is directed to an emergency vehicle priority passing method based on an internet of vehicles.
In view of the above, the present disclosure provides an emergency vehicle priority passing method based on a vehicle networking, which is executed by a server in the vehicle networking, and the method includes:
an emergency vehicle priority passage method based on a vehicle networking, which is executed by a server in the vehicle networking, and comprises the following steps:
in response to receiving destination information, preset running route information and first real-time running information sent by an emergency vehicle accessing the internet of vehicles, determining traffic signal lamp setting information in the preset running route based on a prestored digital map, and acquiring real-time road condition information of the preset running route and second real-time running information of a non-emergency vehicle running in the preset running route through a road side unit in the internet of vehicles, wherein the non-emergency vehicle has access to the internet of vehicles;
and generating priority traffic indication information according to at least two of the first real-time driving information, the traffic signal lamp setting information, the real-time road condition information and the second real-time driving information, and sending the priority traffic indication information to at least one of the emergency vehicle, the non-emergency vehicle and a traffic signal lamp controller, so that the emergency vehicle can pass preferentially to reach the destination.
Further, generating and sending the priority traffic indication information includes:
in response to determining that the real-time traffic information indicates no congested road segments in the predetermined driving route and the traffic signal lamp setting information indicates that the predetermined driving route has no traffic signal lamps, generating first priority traffic indication information and sending the first priority traffic indication information to the emergency vehicle and the non-emergency vehicle, so that the emergency vehicle broadcasts the first real-time driving information to the non-emergency vehicle, so that the non-emergency vehicle gives way to the emergency vehicle in advance.
Further, generating and sending the priority traffic indication information includes:
in response to determining that the real-time traffic information indicates that a congested road section exists in the predetermined travel route and no traffic accident exists in the congested road section, and the traffic signal setting information indicates that no traffic signal exists in the congested road section, calculating a first arrival time of the emergency vehicle at the congested road section based on the first real-time travel information, and determining a lane with the smallest number of congested vehicles among lanes of the congested road section as a candidate lane based on the second real-time travel information;
calculating first lane changing time required by non-emergency vehicles in the candidate lane to change lanes and give way according to the number of congested vehicles in the candidate lane and the average lane changing time in congestion counted in advance;
in response to determining that the first arrival time is greater than or equal to the first lane change time, generating and sending second priority traffic indication information to the emergency vehicle and non-emergency vehicles in the candidate lanes to indicate the emergency vehicle to go in the candidate lanes and to notify non-emergency vehicles in the candidate lanes to change to other lanes.
Further, generating and sending the priority traffic indication information further includes:
calculating a first detour time required for the emergency vehicle detour candidate route to reach the destination based on the destination information and the first real-time travel information in response to determining that the first arrival time is less than the first lane change time;
in response to determining that the first detour time is less than the first lane change time, generating and sending third priority traffic indication information to the emergency vehicle to indicate the emergency vehicle to detour the candidate route;
in response to determining that the first detour time is greater than or equal to the first lane change time, generating and sending the second priority traffic indication information to the emergency vehicle and a non-emergency vehicle in the candidate lane to indicate the emergency vehicle to go the candidate lane and to notify the non-emergency vehicle in the candidate lane to change to another lane.
Further, generating and sending the priority traffic indication information includes:
in response to determining that the real-time traffic information indicates that a congested road segment exists in the predetermined travel route and that a traffic accident exists in the congested road segment and the traffic signal setting information indicates that the congested road segment has no traffic signal, determining the number of occupied lanes based on positioning information of a vehicle in which the traffic accident occurs, calculating a second arrival time of the emergency vehicle to the congested road segment based on the first real-time travel information, and determining a lane with the smallest number of congested vehicles among lanes of the congested road segment as a candidate lane based on the second real-time travel information;
calculating second lane changing time required by non-emergency vehicle lane changing and traffic passing in the candidate lane according to the number of congested vehicles in the candidate lane, the pre-counted average lane changing time in congestion, the total number of congested roads and the number of occupied lanes;
in response to determining that the second arrival time is greater than or equal to the second lane change time, generating and sending fourth priority traffic indication information to the emergency vehicle and non-emergency vehicles in the candidate lanes to indicate the emergency vehicle to go in the candidate lanes and to notify non-emergency vehicles in the candidate lanes to change to other lanes.
Further, generating and sending the priority traffic indication information further includes:
calculating a second detour time required for the emergency vehicle detour candidate route to reach the destination based on the destination information and the first real-time travel information in response to determining that the second arrival time is less than the second lane change time;
in response to determining that the second detour time is less than the second lane change time, generating and sending fifth priority traffic indication information to the emergency vehicle to indicate the emergency vehicle to detour the candidate route;
in response to determining that the second detour time is greater than or equal to the second lane change time, generating and sending the fourth priority traffic indication information to the emergency vehicle and a non-emergency vehicle in the candidate lane to indicate the emergency vehicle to go the candidate lane and to notify the non-emergency vehicle in the candidate lane to change to another lane.
Further, generating and sending the priority traffic indication information includes:
in response to determining that the real-time traffic information indicates that a congested road segment exists in the predetermined travel route and that no traffic accident exists in the congested road segment, and the traffic signal setting information indicates that a traffic signal exists in the congested road segment, calculating a third arrival time at which the emergency vehicle arrives at the congested road segment based on the first real-time travel information, and calculating a total number of congested vehicles in the congested road segment based on the second real-time travel information;
calculating first passing time of the jammed vehicles passing through the jammed road section according to the total number of the jammed vehicles and the average number of the vehicles passing through the jammed road section in a unit green light time length counted in advance;
in response to determining that the third arrival time is greater than or equal to the first passing time, generating sixth priority passing indication information after a first time period elapses and sending the sixth priority passing indication information to the traffic light controller to indicate the traffic light controller to control a traffic light in the congested road section to keep a green light state until the emergency vehicle passes through the congested road section, wherein the length of the first time period is equal to the difference between the third arrival time and the first passing time.
Further, generating and sending the priority traffic indication information further includes:
calculating a third detour time required for the emergency vehicle detour candidate route to reach the destination based on the destination information and the first real-time travel information in response to determining that the third arrival time is less than the first transit time;
in response to determining that the third detour time is less than the first transit time, generating and sending seventh priority transit indication information to the emergency vehicle to indicate the emergency vehicle to detour the candidate route;
in response to determining that the third detour time is greater than or equal to the first passing time, generating and sending sixth priority passing indication information to the traffic light controller to indicate the traffic light controller to control traffic lights in the congested road section to keep a green light state until the emergency vehicle passes through the congested road section.
Further, generating and sending the priority traffic indication information includes:
in response to determining that the real-time traffic information indicates that a congested road segment exists in the predetermined travel route and that a traffic accident exists in the congested road segment and the traffic signal setting information indicates that a traffic signal exists in the congested road segment, determining a number of occupied lanes based on positioning information of a vehicle in which the traffic accident occurs, calculating a fourth arrival time of the emergency vehicle at the congested road segment based on the first real-time travel information, and calculating a total number of congested vehicles in the congested road segment based on the second real-time travel information;
calculating second passing time of the jammed vehicles passing through the jammed road section according to the total number of the jammed vehicles, the average number of the vehicles passing through the jammed road section within a unit green light time length counted in advance, the total number of the lanes of the jammed road section and the number of the occupied lanes;
in response to determining that the fourth arrival time is greater than or equal to the second passing time, generating eighth priority passing indication information after a second time period elapses and sending the eighth priority passing indication information to the traffic light controller to indicate the traffic light controller to control a traffic light in the congested road section to keep a green light state until the emergency vehicle passes through the congested road section, wherein the length of the second time period is equal to the difference between the fourth arrival time and the second passing time.
Further, generating and sending the priority traffic indication information further includes:
calculating a fourth detour time required for the emergency vehicle detour candidate route to reach the destination based on the destination information and the first real-time travel information in response to determining that the fourth arrival time is less than the second transit time;
in response to determining that the fourth detour time is less than the second transit time, generating and sending ninth priority transit indication information to the emergency vehicle to indicate the emergency vehicle to detour the candidate route;
in response to determining that the fourth detour time is greater than or equal to the second passing time, generating and sending the eighth priority passing indication information to the traffic light controller to instruct the traffic light controller to control traffic lights in the congested road section to keep a green light state until the emergency vehicle passes through the congested road section.
As can be seen from the foregoing, the emergency vehicle priority passing method based on the internet of vehicles provided by the present disclosure enables a server in the internet of vehicles to combine each vehicle information with a congestion situation and an emergency situation of a travel path by acquiring destination information, predetermined travel route information, first real-time travel information and second real-time travel information, and generates different priority passing indication information in consideration of whether a traffic light exists in a section of the travel route, so that an emergency vehicle can quickly reach a destination while ensuring safety.
Compared with the prior art, the embodiment of the invention has the following specific beneficial effects:
the method has the advantages that the related risks of the information safety of the automobile parts are comprehensively and perfectly identified, the information safety risk level of the automobile parts is objectively and faithfully reflected by utilizing a method of combining qualitative analysis and quantitative analysis, the integral safety risk state is effectively provided for automobile manufacturer developers, and the information safety level of automobile products is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic system structure diagram of an emergency vehicle priority passing method based on internet of vehicles according to an embodiment of the present disclosure;
FIG. 2 is a flowchart of an emergency vehicle priority passing method based on Internet of vehicles according to an embodiment of the disclosure;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic system structure diagram of an emergency vehicle priority passing method based on the internet of vehicles according to the embodiment of the disclosure. As shown in fig. 1, includes a roadside unit, a non-emergency vehicle, an emergency vehicle, and a server. The main body of the car networking is a car, and two networks to be connected are provided: one is a network formed by sensors and intelligent control systems in the automobile; the other is a network of all vehicles connected to enable a vehicle to be connected to a large network, exchanging important information such as location, speed, route.
Hereinafter, the technical means of the present disclosure will be described in further detail with reference to specific examples.
Referring to fig. 1, the emergency vehicle priority passing method based on the internet of vehicles according to one embodiment of the present invention is executed by a server in the internet of vehicles, and includes the following steps:
step S101: in response to receiving destination information, preset running route information and first real-time running information sent by an emergency vehicle accessing the internet of vehicles, traffic light setting information in the preset running route is determined based on a prestored digital map, and real-time road condition information of the preset running route and second real-time running information of a non-emergency vehicle running in the preset running route are acquired through a road side unit in the internet of vehicles, wherein the non-emergency vehicle has access to the internet of vehicles.
In this step, the emergency vehicle may include an ambulance, a fire truck, a police car, a tanker truck, an engineering rescue vehicle, a military surveillance vehicle, a rescue vehicle, and a social vehicle on which the application is made.
The first real-time driving information comprises the speed, the real-time position, the driving track and the driving lane of the emergency vehicle.
The second real-time driving information includes a speed, a real-time position, and a driving lane of the non-emergency vehicle.
Step S102: and generating priority traffic indication information according to at least two of the first real-time driving information, the traffic signal lamp setting information, the real-time road condition information and the second real-time driving information, and sending the priority traffic indication information to at least one of the emergency vehicle, the non-emergency vehicle and a traffic signal lamp controller, so that the emergency vehicle can pass preferentially to reach the destination.
In this step, it is easy to understand that there are road sections without traffic signal lamps and road sections with traffic signal lamps in actual driving road conditions, and traffic jams and traffic accidents occur. Therefore, in order to realize rapid and efficient prior passage of emergency vehicles, a passage strategy of a traffic signal lamp-free section and a traffic signal lamp-provided section needs to be established by combining congestion conditions and emergency conditions of traffic accidents, so that the emergency vehicles can smoothly pass through the whole traveling path to reach a destination.
In some embodiments, generating and transmitting the priority traffic indication information comprises:
in response to determining that the real-time traffic information indicates no congested road segments in the predetermined driving route and the traffic signal lamp setting information indicates that the predetermined driving route has no traffic signal lamps, generating first priority traffic indication information and sending the first priority traffic indication information to the emergency vehicle and the non-emergency vehicle, so that the emergency vehicle broadcasts the first real-time driving information to the non-emergency vehicle, so that the non-emergency vehicle gives way to the emergency vehicle in advance.
In some embodiments, the generating and sending the priority traffic indication information includes:
in response to determining that the real-time traffic information indicates that a congested road section exists in the predetermined travel route and no traffic accident exists in the congested road section, and the traffic signal setting information indicates that no traffic signal exists in the congested road section, calculating a first arrival time of the emergency vehicle to the congested road section based on the first real-time travel information, and determining a lane with the smallest number of congested vehicles in each lane of the congested road section as a candidate lane based on the second real-time travel information.
The server counts the number n of vehicles in each lane of the congested road section and average lane change time according to preset congestion time
And obtaining a first lane changing time T required by the non-emergency vehicle in the candidate lane to change the lane and give way.
For example, the congested road section has 4 lanes for the emergency vehicles to pass through, and the number of congested vehicles in each lane is n1、n2、n3And n4. Assuming that lane 2 vehicles are the fewest, the emergency vehicle is recommended to select lane 2 for driving, and the first lane change time T may be calculated according to the following formula:
obtaining a first arrival time t of the emergency vehicle to the congested road section according to the speed V of the emergency vehicle and the distance L between the emergency vehicle and the congested road section, wherein an expression of the first arrival time t is as follows:
in response to determining that the first arrival time is greater than or equal to the first lane change time, the server generating and sending second priority traffic indication information to the emergency vehicle and non-emergency vehicles in the candidate lanes to indicate the emergency vehicle to go in the candidate lanes and to notify non-emergency vehicles in the candidate lanes to change to other lanes; otherwise
Obtaining a first detour time required by the emergency vehicle to detour the candidate route to the destination based on the preset running route and the speed of the emergency vehicle, and generating and sending third priority traffic indication information to the emergency vehicle to indicate the emergency vehicle to detour the candidate route when the first detour time is less than the first lane change time; when the first detour time is greater than or equal to the first lane change time, generating second priority traffic indication information and sending the second priority traffic indication information to the emergency vehicle and the non-emergency vehicles in the candidate lanes to indicate the emergency vehicle to go to the candidate lanes and inform the non-emergency vehicles in the candidate lanes to change to other lanes.
In particular, e.g. time T for detour to route 11Time T for detour to route 22Time T for detour to route 33If T is1、T2、T3If any one of the routes is less than T, the server informs the emergency vehicle of selecting the route which is least in detour time to detour; if T1，T2，T3And if the number of the emergency vehicles is more than or equal to T, the server prompts the emergency vehicle to run according to an initial route and informs the vehicles on the lanes with the least number of the vehicles to change to other lanes as soon as possible.
In some embodiments, the generating and sending the priority traffic indication information includes:
in response to determining that the real-time traffic information indicates that a congested road segment exists in the predetermined travel route and that a traffic accident exists in the congested road segment and the traffic signal setting information indicates that the congested road segment has no traffic signal, determining the number of occupied lanes based on positioning information of a vehicle in which the traffic accident occurs, calculating a second arrival time at which the emergency vehicle arrives at the congested road segment based on a vehicle speed of the emergency vehicle, and determining a lane with the smallest number of congested vehicles among lanes of the congested road segment as a candidate lane based on the second real-time travel information.
And calculating second lane changing time required by non-emergency vehicle lane changing and traffic passing in the candidate lane according to the number of congested vehicles in the candidate lane, the average lane changing time in congested time, the total number of congested roads and the number of occupied lanes, which are counted in advance.
In response to determining that the second arrival time is greater than or equal to the second lane change time, generating and sending fourth priority traffic indication information to the emergency vehicle and non-emergency vehicles in the candidate lanes to indicate the emergency vehicle to go in the candidate lanes and to notify non-emergency vehicles in the candidate lanes to change to other lanes.
For example, the server determines the number of lanes N ' occupied by the accident vehicle, reduces one or more of the number of lanes N ' occupied by the accident vehicle from the total number of lanes N on which the emergency vehicle can travel as the candidate lanes, and passes the number of vehicles N ' of the lane 2 with the smallest number of congested vehicles among the candidate lanes2The pre-counted average lane change time during congestion
Obtaining a second lane changing time T ', wherein the expression of the second lane changing time T' is as follows:
in response to determining that the second arrival time is greater than or equal to the second lane change time, generating and sending fourth priority traffic indication information to the emergency vehicle and non-emergency vehicles in the candidate lanes to indicate the emergency vehicle to go in the candidate lanes and to notify non-emergency vehicles in the candidate lanes to change to other lanes; otherwise
Calculating a second detour time required for the emergency vehicle to detour the candidate route to the destination based on the destination information and the first real-time travel information.
In response to determining that the second detour time is less than the second lane change time, generating and sending fifth priority traffic indication information to the emergency vehicle to indicate the emergency vehicle to detour the candidate route.
In response to determining that the second detour time is greater than or equal to the second lane change time, the server generates and sends the fourth priority pass indication information to the emergency vehicle and non-emergency vehicles in the candidate lanes to indicate the emergency vehicle to go through the candidate lanes and to notify the non-emergency vehicles in the candidate lanes to change to other lanes.
In some embodiments, generating and transmitting the priority traffic indication information comprises:
in response to determining that the real-time traffic information indicates a congested road segment in the predetermined travel route and no traffic accident is present in the congested road segment, and the traffic signal setting information indicates a traffic signal is present in the congested road segment, calculating a third arrival time at which the emergency vehicle arrives at the congested road segment based on a vehicle speed of the emergency vehicle, and calculating a total number N of congested vehicles in the congested road segment based on the second real-time travel informationcar。
According to the total number N of the congested vehiclescarAnd the average number n of vehicles passing through the congested road section in the unit green light time length counted in advancecarCalculating a first passing time T of the congested vehicle passing through the congested road sectioncrossThe first passing time TcrossThe expression of (a) is:
in response to determining that the third arrival time is greater than or equal to the first passing time, generating sixth priority passing indication information after a first time period elapses and sending the sixth priority passing indication information to the traffic light controller to indicate the traffic light controller to control a traffic light in the congested road section to keep a green light state until the emergency vehicle passes through the congested road section, wherein the length of the first time period is equal to the difference between the third arrival time and the first passing time.
In response to determining that the third arrival time is less than the first transit time, calculating a third detour time required for the emergency vehicle detour candidate route to reach the destination based on the destination information and the first real-time travel information.
In response to determining that the third detour time is less than the first transit time, generating and sending seventh priority transit indication information to the emergency vehicle to indicate the emergency vehicle to detour the candidate route.
In response to determining that the third detour time is greater than or equal to the first passing time, generating and sending sixth priority passing indication information to the traffic light controller to indicate the traffic light controller to control traffic lights in the congested road section to keep a green light state until the emergency vehicle passes through the congested road section.
In some implementations, generating and sending the priority traffic indication information includes:
in response to determining that the real-time traffic information indicates that a congested road segment exists in the predetermined travel route and that a traffic accident exists in the congested road segment and the traffic signal setting information indicates that a traffic signal exists in the congested road segment, determining a number of occupied lanes based on positioning information of a vehicle in which the traffic accident occurs, calculating a fourth arrival time of the emergency vehicle at the congested road segment based on a vehicle speed of the emergency vehicle, and calculating a total number of congested vehicles in the congested road segment based on the second real-time travel information;
according to the total number N of the congested vehiclescarAnd the average number n of vehicles passing through the congested road section in the unit green light time length counted in advancecarCalculating a second passing time T 'of the congested vehicle passing through the congested road section according to the total number N' of the congested road section and the number N 'of the occupied roads'crossAnd the second passage time T'crossThe expression of (a) is:
in response to determining that the fourth arrival time is greater than or equal to the second passing time, generating eighth priority passing indication information after a second time period elapses and sending the eighth priority passing indication information to the traffic light controller to indicate the traffic light controller to control a traffic light in the congested road section to keep a green light state until the emergency vehicle passes through the congested road section, wherein the length of the second time period is equal to the difference between the fourth arrival time and the second passing time.
In response to determining that the fourth arrival time is less than the second transit time, calculating a fourth detour time required for the emergency vehicle detour candidate route to reach the destination based on the destination information and the first real-time travel information.
In response to determining that the fourth detour time is less than the second transit time, generating and sending ninth priority transit indication information to the emergency vehicle to indicate the emergency vehicle to detour the candidate route.
In response to determining that the fourth detour time is greater than or equal to the second passing time, generating and sending the eighth priority passing indication information to the traffic light controller to instruct the traffic light controller to control traffic lights in the congested road section to keep a green light state until the emergency vehicle passes through the congested road section.
In some embodiments, generating and transmitting the priority traffic indication information comprises:
in response to determining that the real-time traffic information indicates no congested road segments in the predetermined driving route and the traffic signal light setting information indicates that there is a controlled intersection with a traffic signal light in the predetermined driving route, calculating and updating a fifth arrival time at which the emergency vehicle arrives at the controlled intersection in real time based on a vehicle speed of the emergency vehicle.
And acquiring the indication state of the traffic signal lamp of the controlled intersection in response to determining that the fifth arrival time is equal to the sum of the preset green light time and the preset red light time of the traffic signal lamp of the controlled intersection.
And generating tenth priority traffic indication information at least based on the indication state, the real-time updated fifth arrival time and the preset green light duration, and sending the tenth priority traffic indication information to the traffic signal lamp controller to indicate the traffic signal lamp controller to control the indication state of the traffic signal lamp of the controlled intersection, so that the traffic signal lamp of the controlled intersection is in a green light state when the emergency vehicle arrives at the controlled intersection.
Therefore, the method provided by the disclosure divides the preset driving route information into the conditions of traffic lights and no traffic lights, and provides corresponding traffic strategies based on the road sections with traffic lights and the road sections without traffic lights in combination with congestion conditions and emergency conditions, so that the emergency vehicles can be guaranteed to be safe to pass preferentially, and meanwhile, different preferential passing indication information is provided according to the servers of the vehicle networks with different road conditions, and the destination can be reached rapidly in the shortest time.
It should be noted that the method of the embodiments of the present disclosure may be executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the devices may only perform one or more steps of the method of the embodiments of the present disclosure, and the devices may interact with each other to complete the method.
It should be noted that the above describes some embodiments of the disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Based on the same inventive concept, corresponding to the method of any embodiment, the disclosure further provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and running on the processor, and when the processor executes the program, the emergency vehicle priority passing method based on the internet of vehicles according to any embodiment is implemented.
Fig. 3 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called to be executed by the processor 1010.
The input/output interface 1030 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present apparatus and other apparatuses. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).
It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.
The electronic device of the above embodiment is used for implementing the corresponding emergency vehicle priority passing method based on the internet of vehicles in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Based on the same inventive concept, corresponding to any of the above-described embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the emergency vehicle priority passage method based on internet of vehicles according to any of the above-described embodiments.
Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the emergency vehicle priority passing method based on the internet of vehicles according to any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, and will not be described herein again.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the present disclosure, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures for simplicity of illustration and discussion, and so as not to obscure the embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring embodiments of the present disclosure, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the present disclosure are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that the embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
The disclosed embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalents, improvements, and the like that may be made within the spirit and principles of the embodiments of the disclosure are intended to be included within the scope of the disclosure.
Claims (9)
1. An emergency vehicle priority passage method based on a vehicle networking, which is executed by a server in the vehicle networking, and comprises the following steps:
in response to receiving destination information, preset running route information and first real-time running information sent by an emergency vehicle accessing the internet of vehicles, determining traffic signal lamp setting information in the preset running route based on a prestored digital map, and acquiring real-time road condition information of the preset running route and second real-time running information of a non-emergency vehicle running in the preset running route through a road side unit in the internet of vehicles, wherein the non-emergency vehicle has access to the internet of vehicles;
generating priority traffic indication information according to at least two of the first real-time driving information, the traffic signal lamp setting information, the real-time road condition information and the second real-time driving information, and sending the priority traffic indication information to at least one of the emergency vehicle, the non-emergency vehicle and a traffic signal lamp controller, so that the emergency vehicle can pass preferentially to reach the destination;
the generating and sending of the priority traffic indication information comprises:
in response to determining that the real-time traffic information indicates that a congested road section exists in the predetermined travel route and no traffic accident exists in the congested road section, and the traffic signal setting information indicates that no traffic signal exists in the congested road section, calculating a first arrival time of the emergency vehicle at the congested road section based on the first real-time travel information, and determining a lane with the smallest number of congested vehicles among lanes of the congested road section as a candidate lane based on the second real-time travel information;
calculating first lane changing time required by non-emergency vehicles in the candidate lane to change lanes and give way according to the number of congested vehicles in the candidate lane and the average lane changing time in congestion counted in advance;
in response to determining that the first arrival time is greater than or equal to the first lane change time, generating and sending second priority traffic indication information to the emergency vehicle and non-emergency vehicles in the candidate lanes to indicate the emergency vehicle to go in the candidate lanes and to notify non-emergency vehicles in the candidate lanes to change to other lanes.
2. The method of claim 1, wherein generating and transmitting the priority traffic indication information comprises:
in response to determining that the real-time traffic information indicates no congested road segments in the predetermined driving route and the traffic signal lamp setting information indicates that the predetermined driving route has no traffic signal lamps, generating first priority traffic indication information and sending the first priority traffic indication information to the emergency vehicle and the non-emergency vehicle, so that the emergency vehicle broadcasts the first real-time driving information to the non-emergency vehicle, so that the non-emergency vehicle gives way to the emergency vehicle in advance.
3. The method of claim 1, wherein generating and transmitting the priority traffic indication information further comprises:
calculating a first detour time required for the emergency vehicle detour candidate route to reach the destination based on the destination information and the first real-time travel information in response to determining that the first arrival time is less than the first lane change time;
in response to determining that the first detour time is less than the first lane change time, generating and sending third priority traffic indication information to the emergency vehicle to indicate the emergency vehicle to detour the candidate route;
in response to determining that the first detour time is greater than or equal to the first lane change time, generating and sending the second priority traffic indication information to the emergency vehicle and a non-emergency vehicle in the candidate lane to indicate the emergency vehicle to go the candidate lane and to notify the non-emergency vehicle in the candidate lane to change to another lane.
4. The method of claim 1, wherein generating and transmitting the priority traffic indication information comprises:
in response to determining that the real-time traffic information indicates that a congested road segment exists in the predetermined travel route and that a traffic accident exists in the congested road segment and the traffic signal setting information indicates that the congested road segment has no traffic signal, determining the number of occupied lanes based on positioning information of a vehicle in which the traffic accident occurs, calculating a second arrival time of the emergency vehicle to the congested road segment based on the first real-time travel information, and determining a lane with the smallest number of congested vehicles among lanes of the congested road segment as a candidate lane based on the second real-time travel information;
calculating second lane changing time required by non-emergency vehicle lane changing and traffic passing in the candidate lane according to the number of congested vehicles in the candidate lane, the pre-counted average lane changing time in congestion, the total number of congested roads and the number of occupied lanes;
in response to determining that the second arrival time is greater than or equal to the second lane change time, generating and sending fourth priority traffic indication information to the emergency vehicle and non-emergency vehicles in the candidate lanes to indicate the emergency vehicle to go in the candidate lanes and to notify non-emergency vehicles in the candidate lanes to change to other lanes.
5. The method of claim 4, wherein generating and transmitting the priority traffic indication information further comprises:
calculating a second detour time required for the emergency vehicle detour candidate route to reach the destination based on the destination information and the first real-time travel information in response to determining that the second arrival time is less than the second lane change time;
in response to determining that the second detour time is less than the second lane change time, generating and sending fifth priority traffic indication information to the emergency vehicle to indicate the emergency vehicle to detour the candidate route;
in response to determining that the second detour time is greater than or equal to the second lane change time, generating and sending the fourth priority traffic indication information to the emergency vehicle and a non-emergency vehicle in the candidate lane to indicate the emergency vehicle to go the candidate lane and to notify the non-emergency vehicle in the candidate lane to change to another lane.
6. The method of claim 1, wherein generating and transmitting the priority traffic indication information comprises:
in response to determining that the real-time traffic information indicates that a congested road segment exists in the predetermined travel route and that no traffic accident exists in the congested road segment, and the traffic signal setting information indicates that a traffic signal exists in the congested road segment, calculating a third arrival time at which the emergency vehicle arrives at the congested road segment based on the first real-time travel information, and calculating a total number of congested vehicles in the congested road segment based on the second real-time travel information;
calculating first passing time of the jammed vehicles passing through the jammed road section according to the total number of the jammed vehicles and the average number of the vehicles passing through the jammed road section in a unit green light time length counted in advance;
in response to determining that the third arrival time is greater than or equal to the first passing time, generating sixth priority passing indication information after a first time period elapses and sending the sixth priority passing indication information to the traffic light controller to indicate the traffic light controller to control a traffic light in the congested road section to keep a green light state until the emergency vehicle passes through the congested road section, wherein the length of the first time period is equal to the difference between the third arrival time and the first passing time.
7. The method of claim 6, wherein generating and transmitting the priority traffic indication information further comprises:
calculating a third detour time required for the emergency vehicle detour candidate route to reach the destination based on the destination information and the first real-time travel information in response to determining that the third arrival time is less than the first transit time;
in response to determining that the third detour time is less than the first transit time, generating and sending seventh priority transit indication information to the emergency vehicle to indicate the emergency vehicle to detour the candidate route;
in response to determining that the third detour time is greater than or equal to the first passing time, generating and sending sixth priority passing indication information to the traffic light controller to indicate the traffic light controller to control traffic lights in the congested road section to keep a green light state until the emergency vehicle passes through the congested road section.
8. The method of claim 1, wherein generating and transmitting the priority traffic indication information comprises:
in response to determining that the real-time traffic information indicates that a congested road segment exists in the predetermined travel route and that a traffic accident exists in the congested road segment and the traffic signal setting information indicates that a traffic signal exists in the congested road segment, determining a number of occupied lanes based on positioning information of a vehicle in which the traffic accident occurs, calculating a fourth arrival time of the emergency vehicle at the congested road segment based on the first real-time travel information, and calculating a total number of congested vehicles in the congested road segment based on the second real-time travel information;
calculating second passing time of the jammed vehicles passing through the jammed road section according to the total number of the jammed vehicles, the average number of the vehicles passing through the jammed road section within a unit green light time length counted in advance, the total number of the lanes of the jammed road section and the number of the occupied lanes;
in response to determining that the fourth arrival time is greater than or equal to the second passing time, generating eighth priority passing indication information after a second time period elapses and sending the eighth priority passing indication information to the traffic light controller to indicate the traffic light controller to control a traffic light in the congested road section to keep a green light state until the emergency vehicle passes through the congested road section, wherein the length of the second time period is equal to the difference between the fourth arrival time and the second passing time.
9. The method of claim 8, wherein generating and transmitting the priority traffic indication information further comprises:
calculating a fourth detour time required for the emergency vehicle detour candidate route to reach the destination based on the destination information and the first real-time travel information in response to determining that the fourth arrival time is less than the second transit time;
in response to determining that the fourth detour time is less than the second transit time, generating and sending ninth priority transit indication information to the emergency vehicle to indicate the emergency vehicle to detour the candidate route;
in response to determining that the fourth detour time is greater than or equal to the second passing time, generating and sending the eighth priority passing indication information to the traffic light controller to instruct the traffic light controller to control traffic lights in the congested road section to keep a green light state until the emergency vehicle passes through the congested road section.
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| CN114241795A (en) * | 2021-11-18 | 2022-03-25 | 浙江大华技术股份有限公司 | Signal lamp adjusting method and device and computer readable storage medium |
| CN114913697A (en) * | 2022-04-07 | 2022-08-16 | 南京市德赛西威汽车电子有限公司 | Cross-region emergency traffic guiding method and system based on V2X-MEC technology |
| CN114582115B (en) * | 2022-04-11 | 2022-08-19 | 北京车晓科技有限公司 | V2X-based fleet traffic scheduling system and scheduling method |
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