CN115810263A

CN115810263A - Emergency vehicle avoidance method and device

Info

Publication number: CN115810263A
Application number: CN202111069112.9A
Authority: CN
Inventors: 杨涛; 郑民; 吴风炎; 邬延辉; 刘宏举; 孙代耀
Original assignee: Hisense Group Holding Co Ltd
Current assignee: Hisense Group Holding Co Ltd
Priority date: 2021-09-13
Filing date: 2021-09-13
Publication date: 2023-03-17
Anticipated expiration: 2041-09-13
Also published as: CN115810263B

Abstract

The method comprises the steps that when a server detects an avoidance request of an emergency vehicle, a road vehicle distribution diagram in a road area where the emergency vehicle is located is generated through running data of the emergency vehicle and running data of a common vehicle in the road area where the emergency vehicle is located, an emergency running channel is planned on the road vehicle distribution diagram according to the vehicle position and the running direction of the emergency vehicle, a target avoidance position of at least one common vehicle is determined on the road vehicle distribution diagram according to the vehicle type and the vehicle position of at least one common vehicle located on the emergency running channel, and an avoidance instruction is sent to the common vehicle occupying the emergency running channel. Therefore, the scheme ensures that the emergency driving channel is smooth by planning an emergency driving channel in advance and continuously sending the avoidance command to the common vehicle occupying the emergency driving channel, thereby effectively ensuring that the emergency vehicle can execute the emergency task in time.

Description

Emergency vehicle avoiding method and device

Technical Field

The application relates to the technical field of road cooperative management, in particular to an emergency vehicle avoidance method and device.

Background

In current social traffic, emergency vehicles (such as ambulances, engineering emergency vehicles, fire trucks and the like) can only remind a front common vehicle to avoid through a warning lamp and warning sound when running, but the front common vehicle can accurately know a running lane of the emergency vehicle and accurately avoid according to the running lane only when being very close to the emergency vehicle, so that normal running of the emergency vehicle can be delayed, and the emergency vehicle can be influenced to timely execute emergency tasks. Moreover, if traffic peaks occur, vehicles in all lanes are more and travel slowly, when emergency vehicles are avoided, common vehicles in all lanes are not known to be uniformly and coordinately avoided, so that all lanes are occupied by the common vehicles, the emergency vehicles can only be clamped between the ordinary vehicles to travel slowly, especially when red lights appear at traffic intersections in front, all lanes are occupied by the common vehicles, the emergency vehicles can only wait for green lights to be released together with the common vehicles, and therefore the travel of the emergency vehicles can be delayed seriously, and the emergency vehicles cannot execute emergency tasks timely.

In summary, there is a need for an emergency vehicle avoidance method for effectively ensuring that an emergency vehicle can perform an emergency task in time.

Disclosure of Invention

The exemplary embodiment of the application provides an emergency vehicle avoidance method and device, which are used for effectively ensuring that an emergency vehicle can timely execute an emergency task.

In a first aspect, an emergency vehicle avoidance method is provided in an exemplary embodiment of the present application, including:

when a server detects an avoidance request of an emergency vehicle, generating a road vehicle distribution map in a road area where the emergency vehicle is located according to the running data of the emergency vehicle and the running data of a common vehicle in the road area where the emergency vehicle is located; the avoidance request is generated in real time by the emergency vehicle in the process of executing an emergency task; the driving data comprises a vehicle type, a vehicle position and a driving direction;

the service end plans an emergency running channel for assisting the emergency vehicle to normally pass on the road vehicle distribution map according to the vehicle position and the running direction of the emergency vehicle;

the server side determines a target avoidance position of at least one common vehicle on the road vehicle distribution map according to the vehicle type and the vehicle position of the at least one common vehicle on the emergency running channel; the target avoidance position is not located in the emergency driving channel;

aiming at each common vehicle positioned on the emergency driving channel, the server side sends an avoidance instruction to the common vehicle; the avoidance instruction is used for indicating the common vehicle to travel from the emergency travel channel to a target avoidance position of the common vehicle.

In the technical scheme, because the common vehicle positioned in front of the emergency vehicle in the prior art can accurately know the running lane of the emergency vehicle and accurately avoid the emergency vehicle only when the common vehicle is very close to the emergency vehicle, the normal running of the emergency vehicle can be delayed, and the emergency vehicle can be influenced to timely execute an emergency task. Based on this, the technical scheme in the application plans an emergency driving channel in advance by combining the driving data of the emergency vehicle and the driving data of the common vehicle in the road area where the emergency vehicle is located, so that the emergency vehicle can be ensured to pass through in time, delay of time for executing an emergency task aiming at the emergency vehicle is reduced, and the emergency vehicle can be effectively ensured to execute the emergency task in time. Specifically, when the server detects the avoidance request of the emergency vehicle, the server can accurately generate a road vehicle distribution map with the current real driving state of each vehicle in time according to the driving data of the emergency vehicle and the driving data of the ordinary vehicle in the road area where the emergency vehicle is located, so that the emergency driving channel can be accurately planned on the road vehicle distribution map in the following process. According to the vehicle position and the driving direction of the emergency vehicle, an emergency driving channel for assisting the emergency vehicle to normally pass can be accurately planned in advance on the road vehicle distribution diagram, and the target avoidance position of at least one common vehicle is determined on the road vehicle distribution diagram according to the vehicle type and the vehicle position of at least one common vehicle on the emergency driving channel, so that an avoidance instruction can be continuously sent to each common vehicle on the emergency driving channel, the common vehicle can leave the emergency driving channel to drive to the target avoidance position of the common vehicle as soon as possible, the common vehicle occupying the emergency driving channel can be effectively avoided, the emergency driving channel can be ensured to be smooth, and the emergency vehicle can be effectively ensured to pass through the emergency driving channel in time.

In some exemplary embodiments, the generating a road vehicle distribution map in a road area in which the emergency vehicle is located by using the travel data of the emergency vehicle and the travel data of the ordinary vehicle in the road area in which the emergency vehicle is located includes:

and the server side performs fitting processing on the running data of the emergency vehicle, the running data of the common vehicle in the road area of the emergency vehicle and a traffic road map to generate the road vehicle distribution map.

In the technical scheme, in order to conveniently and accurately plan the emergency driving channel, the driving data of the emergency vehicle and the driving data of the common vehicle in the road area where the emergency vehicle is located are fitted on the traffic road map, so that the traffic road map can visually and clearly present the vehicle driving data information, the emergency driving channel is accurately planned on the traffic road map with the vehicle driving data, and then how the common vehicle occupying the emergency driving channel is effectively avoided can be known according to the road vehicle distribution map, so that the common vehicle occupying the emergency driving channel can be effectively avoided in time, and the emergency vehicle can be ensured to pass through the emergency driving channel smoothly in time.

In some exemplary embodiments, the service end plans an emergency driving passage on the road vehicle distribution map for assisting the emergency vehicle to normally pass according to the vehicle position and the driving direction of the emergency vehicle, and the emergency driving passage includes:

if the service end determines that the lane where the emergency vehicle is located is any one of the two lanes in the same driving direction, the vehicle position of the emergency vehicle is taken as a planning starting point, a first emergency driving channel with a set distance range is planned in the middle area of the two lanes along the driving direction of the emergency vehicle on the road vehicle distribution diagram, or a second emergency driving channel with a set distance range is planned on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution diagram;

if the service end determines that the lane where the emergency vehicle is located is any one of at least three lanes in the same driving direction, a third emergency driving channel with a set distance range is planned on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map by taking the vehicle position of the emergency vehicle as a planning starting point.

In the above technical solution, on the road vehicle distribution map, based on the lane type (for example, two lanes or at least three lanes) where the emergency vehicle is located, and taking the current position of the emergency vehicle as a planning starting point, an emergency driving lane with a set range may be effectively planned along the current driving direction of the emergency vehicle, where the emergency driving lane is used to ensure that the emergency vehicle can quickly pass through the road area, so as to avoid that the driving road where the emergency vehicle is located is occupied by a common vehicle and cannot timely pass through, thereby avoiding a certain loss and damage of the emergency vehicle due to missing an optimal time for executing an emergency mission.

In some exemplary embodiments, the determining, by the server, a target avoidance position of at least one general vehicle on the road vehicle distribution map according to a vehicle type and a vehicle position of the at least one general vehicle located on the emergency travel path includes:

for each first common vehicle positioned on the first emergency running channel, the server determines the avoidance direction of the first common vehicle according to the vehicle type and the vehicle position of the first common vehicle, and determines the target avoidance position of the first common vehicle in the avoidance direction of the first common vehicle;

for each second common vehicle positioned on the second emergency driving channel, the server determines the avoidance direction of the second common vehicle according to the vehicle type and the vehicle position of the second common vehicle, and determines the target avoidance position of the second common vehicle in the avoidance direction of the second common vehicle;

for each third common vehicle located on the third emergency driving channel, the service end determines an avoidance direction of the third common vehicle according to the vehicle type and the vehicle position of the third common vehicle, and determines a target avoidance position of the third common vehicle in the avoidance direction of the third common vehicle.

According to the technical scheme, aiming at each emergency driving channel, the avoidance direction of the ordinary vehicle can be accurately determined according to the vehicle type and the vehicle position of each ordinary vehicle on the emergency driving channel and the road vehicle distribution map is combined, the target avoidance position of the ordinary vehicle can be accurately determined in the avoidance direction of the ordinary vehicle, so that the service end can effectively direct the direction to which the ordinary vehicle specifically moves and where the specifically moved avoidance position is, each ordinary vehicle occupying the emergency driving channel can know how to effectively avoid, the emergency driving channel can be effectively ensured to be smooth, and the emergency vehicle can quickly pass through the emergency driving channel.

In some exemplary embodiments, before sending the avoidance instruction to the general vehicle, the method further comprises:

if the lane where the emergency vehicle is located is a left-turn lane of two lanes or at least three lanes and the condition of the emergency vehicle on the left-turn lane meets a priority passing condition, the server side sends a priority passing request to traffic signal control equipment of the traffic intersection; the priority passing request is used for instructing the traffic signal control equipment to adjust the traffic signal period of the left-turn lane according to the traffic phase operation information so that the ordinary vehicles and the emergency vehicles in the left-turn lane pass preferentially.

In some exemplary embodiments, the method further comprises:

if the lane where the emergency vehicle is located is a straight lane in two lanes or at least three lanes and the condition of the emergency vehicle on the straight lane meets a priority passing condition, the server sends a priority passing request to traffic signal control equipment of the traffic intersection; the priority passing request is used for instructing the traffic signal control equipment to adjust the traffic signal period of the straight lane according to the traffic phase operation information so that the normal vehicle and the emergency vehicle in the straight lane pass in priority.

In some exemplary embodiments, the method further comprises:

if the lane where the emergency vehicle is located is a right-turn lane of at least three lanes and the condition of the emergency vehicle on the right-turn lane meets a priority passing condition, the server side sends a priority passing request to traffic signal control equipment of the traffic intersection; the priority passing request is used for instructing the traffic signal control equipment to adjust the traffic signal period of the right-turn lane according to the traffic phase operation information so as to enable the ordinary vehicles and the emergency vehicles in the right-turn lane to pass preferentially.

In some exemplary embodiments, the priority traffic condition is that a distance between a vehicle position of the emergency vehicle and a traffic intersection on a lane where the emergency vehicle is located is less than or equal to a distance threshold and a traffic signal state on the lane where the emergency vehicle is located is no traffic.

In the technical scheme, in the running process of the emergency vehicle, if the traffic signal state of the traffic intersection in front of the lane where the emergency vehicle is located (such as a left-turn lane, a straight-going lane or a right-turn lane) is no-pass, the common vehicle which occupies all the lanes where the emergency vehicle passes and waits to be released cannot be effectively avoided in time, so that the emergency vehicle is delayed in passing due to the waiting for the release signal. Based on this, according to the technical scheme in the application, when the service end determines that the traffic signal state of the lane where the emergency vehicle is located is no-pass, the service end can send the priority pass request to the traffic signal control equipment at the traffic intersection, so that delay of the emergency vehicle caused by waiting for the traffic release signal is reduced, and the maximum pass efficiency of the emergency vehicle is improved. Specifically, when the server determines that the traffic signal state of the traffic intersection ahead on the lane where the emergency vehicle is located is no-go according to the current vehicle position of the emergency vehicle on the road vehicle distribution map, and the distance between the current vehicle position of the emergency vehicle and the traffic intersection on the lane where the emergency vehicle is located is less than or equal to the distance threshold, the server can send a priority-pass request to the traffic signal control equipment of the traffic intersection so as to instruct the traffic signal control equipment to adjust the traffic signal period on the lane where the emergency vehicle is located according to the traffic phase operation information, so that the traffic signal state of the traffic intersection ahead on the lane where the emergency vehicle is located can be changed into a pass state as soon as possible, so that the ordinary vehicles occupying all lanes where the emergency vehicle passes through can be released as soon as possible, and the traffic delay of the emergency vehicle caused by the fact that the ordinary vehicles occupying all lanes and waiting to be released cannot effectively avoid in time can be reduced.

In some exemplary embodiments, for any one traffic road, at least one roadside device is disposed on the traffic road; each road side device is used for being in communication connection with an emergency vehicle or a common vehicle passing through the road side device and is used for being in communication connection with the server;

before the avoidance request of the emergency vehicle is detected, the method further comprises the following steps:

and the server receives the running data uploaded by the emergency vehicle or the common vehicle through roadside equipment.

According to the technical scheme, one road side device is arranged at each interval of the set distance on each traffic road, so that full coverage for the traffic road area is realized, and therefore when an emergency vehicle or a common vehicle passes through at least one road side device in the traffic road area, the running data of the emergency vehicle or the common vehicle can be uploaded to the server side through the at least one road side device in time, the server side can timely know the current running state information of the emergency vehicle or the common vehicle, and support is provided for the server side to effectively plan an emergency running channel according to the running data of the emergency vehicle and the running data of the common vehicle, so that the situation that the emergency vehicle is congested and cannot pass in time due to traffic road congestion is avoided.

In some exemplary embodiments, each roadside apparatus for making a communication connection with an emergency vehicle or a general vehicle passing through the roadside apparatus includes:

for any road side device, the road side device establishes a communication link with an on-board device on the emergency vehicle or the ordinary vehicle when detecting a communication connection request of the emergency vehicle or the ordinary vehicle; the vehicle-mounted equipment on the emergency vehicle is used for uploading the running data of the emergency vehicle to roadside equipment passed by the emergency vehicle; the vehicle-mounted equipment on the ordinary vehicle is used for uploading the running data of the ordinary vehicle to the road side equipment passed by the ordinary vehicle.

In the above technical solution, when an emergency vehicle or a general vehicle equipped with an on-board device passes through a coverage area of any roadside device, a communication connection request may be sent to the roadside device through the on-board device, and then the roadside device establishes a communication link with the on-board device of the emergency vehicle or the general vehicle based on the communication connection request, so that the emergency vehicle or the general vehicle can communicate with the roadside device in time, for example, own driving data may be transmitted to the roadside device through the communication link in time, so that the roadside device may upload driving data of one or more emergency vehicles (or general vehicles) to a service end in time.

In some exemplary embodiments, the sending, by the server, an avoidance instruction to a general vehicle occupying the emergency travel path includes:

and the server periodically sends an avoidance instruction to the ordinary vehicle occupying the emergency running channel through the road side equipment.

In the technical scheme, the server side sends the avoidance instruction to the ordinary vehicles occupying the emergency driving channel periodically (for example, every 10 seconds, 15 seconds or 20 seconds) through the roadside device, so that the ordinary vehicles occupying the emergency driving channel can be effectively instructed to leave the emergency driving channel according to the avoidance instruction requirement (for example, the distribution condition of the ordinary vehicles of all lanes which the emergency vehicles need to pass through can be known based on a road vehicle distribution diagram), and thus how the ordinary vehicles can effectively avoid can be instructed, for example, the ordinary vehicles occupying the emergency driving channel are instructed to get close to the left lane and/or the right lane), but the ordinary vehicles occupying the emergency driving channel do not know how to reasonably avoid and cannot leave the emergency driving channel as soon as possible, so that the emergency driving channel can be ensured to be smooth, and the emergency vehicles can pass through the emergency driving channel as soon as possible.

In a second aspect, an emergency vehicle avoidance apparatus is provided in an exemplary embodiment of the present application, including:

the generating unit is used for generating a road vehicle distribution map in a road area where the emergency vehicle is located according to the running data of the emergency vehicle and the running data of the ordinary vehicle in the road area where the emergency vehicle is located when an avoidance request of the emergency vehicle is detected; the avoidance request is generated in real time by the emergency vehicle in the process of executing an emergency task; the driving data comprises a vehicle type, a vehicle position and a driving direction;

the processing unit is used for planning an emergency running channel for assisting the emergency vehicle to normally pass on the road vehicle distribution map according to the vehicle position and the running direction of the emergency vehicle; determining a target avoidance position of at least one common vehicle on the road vehicle distribution map according to the vehicle type and the vehicle position of the at least one common vehicle on the emergency driving channel; the target avoidance position is not located in the emergency driving channel; sending an avoidance instruction to each common vehicle positioned on the emergency driving channel; the avoidance instruction is used for indicating the common vehicle to travel from the emergency travel channel to the target avoidance position of the common vehicle.

In some exemplary embodiments, the generating unit is specifically configured to:

and fitting the running data of the emergency vehicle, the running data of the ordinary vehicle in the road area of the emergency vehicle and a traffic road map to generate the road vehicle distribution map.

In some exemplary embodiments, the processing unit is specifically configured to:

if the lane where the emergency vehicle is located is determined to be any one of two lanes in the same driving direction, planning a first emergency driving channel with a set distance range in a middle area of the two lanes along the driving direction of the emergency vehicle on the road vehicle distribution map by taking the vehicle position of the emergency vehicle as a planning starting point, or planning a second emergency driving channel with a set distance range on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map;

if the lane where the emergency vehicle is located is determined to be any one of at least three lanes in the same driving direction, a third emergency driving channel with a set distance range is planned on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map by taking the vehicle position of the emergency vehicle as a planning starting point.

for each first common vehicle positioned on the first emergency running channel, determining an avoidance direction of the first common vehicle according to the vehicle type and the vehicle position of the first common vehicle, and determining a target avoidance position of the first common vehicle in the avoidance direction of the first common vehicle;

for each second common vehicle positioned on the second emergency driving channel, determining an avoidance direction of the second common vehicle according to the vehicle type and the vehicle position of the second common vehicle, and determining a target avoidance position of the second common vehicle in the avoidance direction of the second common vehicle;

and for each third common vehicle positioned on the third emergency running channel, determining the avoidance direction of the third common vehicle according to the vehicle type and the vehicle position of the third common vehicle, and determining the target avoidance position of the third common vehicle in the avoidance direction of the third common vehicle.

In some exemplary embodiments, the processing unit is further configured to:

before sending an avoidance instruction to the ordinary vehicle, if the lane where the emergency vehicle is located is a left-turn lane of two lanes or at least three lanes and the condition of the emergency vehicle on the left-turn lane meets a priority passing condition, sending a priority passing request to traffic signal control equipment of the traffic intersection; the priority passing request is used for instructing the traffic signal control equipment to adjust the traffic signal period of the left-turn lane according to the traffic phase operation information so as to enable the ordinary vehicles and the emergency vehicles in the left-turn lane to pass preferentially.

In some exemplary embodiments, the processing unit is further configured to:

before sending an avoidance instruction to the ordinary vehicle, if the lane where the emergency vehicle is located is a straight lane in two lanes or at least three lanes and the condition of the emergency vehicle on the straight lane meets a priority passing condition, sending a priority passing request to traffic signal control equipment of the traffic intersection; the priority passing request is used for instructing the traffic signal control equipment to adjust the traffic signal period of the straight-going lane according to the traffic phase operation information so as to enable the ordinary vehicles and the emergency vehicles in the straight-going lane to pass in priority.

In some exemplary embodiments, the processing unit is further configured to:

before sending an avoidance instruction to the ordinary vehicle, if the lane where the emergency vehicle is located is a right-turn lane of at least three lanes and the condition of the emergency vehicle on the right-turn lane meets a priority passing condition, sending a priority passing request to traffic signal control equipment of the traffic intersection; the priority passing request is used for instructing the traffic signal control equipment to adjust the traffic signal period of the right-turn lane according to the traffic phase operation information so as to enable the ordinary vehicles and the emergency vehicles in the right-turn lane to pass preferentially.

the processing unit is further to:

and before the avoidance request of the emergency vehicle is detected, the road side equipment receives the running data uploaded by the emergency vehicle or the ordinary vehicle.

for any roadside device, when a communication connection request of the emergency vehicle or the ordinary vehicle is detected, establishing a communication link with an on-board device on the emergency vehicle or the ordinary vehicle; the vehicle-mounted equipment on the emergency vehicle is used for uploading the running data of the emergency vehicle to roadside equipment passed by the emergency vehicle; the vehicle-mounted equipment on the ordinary vehicle is used for uploading the running data of the ordinary vehicle to the road side equipment passed by the ordinary vehicle.

and periodically sending an avoidance instruction to the ordinary vehicle occupying the emergency running channel through roadside equipment.

In a third aspect, an embodiment of the present application provides a computing device, including at least one processor and at least one memory, where the memory stores a computer program, and when the program is executed by the processor, the processor is caused to execute the emergency vehicle avoidance method according to any of the first aspect.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program executable by a computing apparatus, the program when executed on the computing apparatus causes the computing apparatus to execute the emergency vehicle avoidance method according to any of the first aspects.

Drawings

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

FIG. 1 is a schematic diagram of a possible system architecture provided by some embodiments of the present application;

fig. 2 is a schematic flow chart of an emergency vehicle avoidance method according to some embodiments of the present disclosure;

FIG. 3 is a schematic diagram of general vehicle avoidance on three lanes in the same driving direction according to some embodiments of the present disclosure;

fig. 4 is a schematic diagram illustrating avoidance of general vehicles on two traffic lanes in the same driving direction according to some embodiments of the present disclosure;

FIG. 5 is a schematic diagram illustrating general vehicle avoidance for congested roads according to some embodiments of the present disclosure;

fig. 6 is a schematic structural diagram of an emergency vehicle avoidance apparatus according to some embodiments of the present disclosure;

fig. 7 is a schematic structural diagram of a computing device according to some embodiments of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

To facilitate understanding of the embodiment of the present application, an emergency vehicle avoidance system architecture suitable for the embodiment of the present application will be described first by taking one possible system structure shown in fig. 1 as an example. The system architecture can be applied to how to effectively avoid the common vehicles in urban traffic when the common vehicles face the emergency vehicles. As shown in fig. 1, the system architecture may include at least one vehicle (such as vehicle 101, vehicle 102, etc.), at least one road side device (such as road side device 201, road side device 202, etc.), and a service control center 300. The vehicle can be a common vehicle or an emergency vehicle, etc.

The vehicle-mounted device and the roadside device on the vehicle may communicate with each other, for example, the vehicle-mounted device and the roadside device may communicate with each other in a microwave manner, or may communicate with each other in an infrared manner, or may communicate with each other through other communication technologies, which is not limited in this embodiment of the application. A certain vehicle runs on a certain road, and one side of the road is provided with a roadside device, for example, one roadside device is arranged at certain intervals (for example, at intervals of 50 meters, 100 meters, 150 meters, 200 meters, 300 meters, or the like). Taking the vehicle 101 and the roadside apparatus 201 as an example, the vehicle 101 is mounted with a vehicle-mounted apparatus, the vehicle 101 runs on a certain road, for example, the vehicle-mounted apparatus may be mounted at a head position, a roof position, a tail position, a body shell, or the like of the vehicle 101, and when the vehicle 101 enters a coverage area of the roadside apparatus 201, the vehicle 101 may send a communication connection request to the roadside apparatus 201 through the vehicle-mounted apparatus, so as to establish a communication link with the roadside apparatus 201. It should be noted that one vehicle-mounted device may communicate with multiple roadside devices, and one roadside device may also communicate with multiple vehicle-mounted devices, for example, when the vehicle 101 enters the coverage area of the roadside device 201, the vehicle-mounted device may establish communication with the roadside device 201; when entering the coverage area of the roadside device 202, the link may establish a communication link with the roadside device 202 through the vehicle-mounted device. Or when both the vehicle 101 and the vehicle 102 enter the coverage area of the roadside apparatus 201, both the vehicle 101 and the vehicle 102 may establish a communication link with the roadside apparatus 102 through their own vehicle-mounted apparatuses.

In general, an on-board unit (OBU), for example, is mounted on a vehicle, a Road Side Unit (RSU) is mounted on a side of a road, and the OBU and the RSU can communicate with each other. When a certain vehicle passes through the RSU, the OBU and the RSU can communicate in a microwave mode, and then the vehicle can upload driving data of the vehicle to the RSU through the OBU. In addition, other terminal devices, such as a sensing device, for example, a camera, a lidar or a sensor, etc., may be mounted on the vehicle, and the driving data of the vehicle may be detected by the sensing device, for example, the driving data may include a vehicle position, a driving speed, a driving direction, etc. A roadside device, for example, an RSU, is a fixed infrastructure entity supporting a vehicle-to-all (V2X) application, and may exchange information with other devices supporting the V2X application, for example, may transmit received traveling data of at least one vehicle (such as an emergency vehicle or at least one general vehicle) to the service control center 300, or may transmit a received avoidance instruction or other information (such as information that there is an emergency vehicle behind the general vehicle) issued by the service control center 300 to at least one general vehicle.

The service control center 300 is configured to receive driving data of a certain vehicle or a plurality of vehicles transmitted by the road side device. One roadside device may receive the driving data uploaded by one vehicle or multiple vehicles through its own vehicle-mounted device, and then upload the received driving data of at least one vehicle to the service control center 300. When receiving an avoidance request of an emergency vehicle, the service control center 300 may generate a road vehicle distribution map by using the traveling data of the emergency vehicle and the traveling data of the ordinary vehicles in the road area where the emergency vehicle is located, and combining with a traffic road map, then plan an emergency traveling lane for assisting the emergency vehicle to normally pass on the road vehicle distribution map, and send an avoidance instruction to at least one ordinary vehicle occupying the emergency traveling lane, so that the at least one ordinary vehicle occupying the emergency traveling lane leaves the emergency traveling lane as soon as possible, thereby ensuring that the emergency vehicle can smoothly pass through the emergency traveling lane.

It should be noted that the system structure shown in fig. 1 is only an example, and the embodiment of the present application is not limited thereto.

Based on the above description, fig. 2 exemplarily shows a flow of an emergency vehicle avoidance method provided by an embodiment of the present application, and the flow may be executed by an emergency vehicle avoidance apparatus. The emergency vehicle avoidance method may be executed by a service control center (such as a server), or may be executed by a chip or an integrated circuit capable of supporting the service control center to implement the functions required by the emergency vehicle avoidance method. The following describes an emergency vehicle avoidance method executed by a server as an example.

As shown in fig. 2, the process specifically includes:

step 201, when a server detects an avoidance request of an emergency vehicle, generating a road vehicle distribution map in a road area where the emergency vehicle is located according to the traveling data of the emergency vehicle and the traveling data of a common vehicle in the road area where the emergency vehicle is located.

In the embodiment of the application, for each traffic road, at least one roadside device is arranged on one side of the traffic road, for example, one roadside device is arranged on one side of the traffic road at a set distance, for example, one roadside device is arranged at a set distance of 100 meters, 150 meters, 200 meters, or 300 meters, and the like, so that coverage of the whole area position of the traffic road can be realized, and thus vehicles or other terminal devices (such as smart phones, V2X terminal devices, and the like) at any position of the traffic road can be detected. Each road side device is used for being in communication connection with an emergency vehicle or a common vehicle passing through the road side device and is used for being in communication connection with a server. When the road side equipment detects the communication connection request of the emergency vehicle or the common vehicle, a communication link is established with the vehicle-mounted equipment on the emergency vehicle or the common vehicle, so that the emergency vehicle or the common vehicle can communicate with the road side equipment in time, for example, the driving data of the emergency vehicle or the common vehicle can be transmitted to the road side equipment in time through the communication link. The emergency vehicle can upload the running data of the emergency vehicle passing through the coverage range of a certain roadside device to the roadside device through the vehicle-mounted device installed by the emergency vehicle; the ordinary vehicle can upload the running data of the ordinary vehicle passing through a certain road side equipment coverage range to the road side equipment through the vehicle-mounted equipment installed by the ordinary vehicle. For example, when any vehicle passes through the traffic road, the driving data generated when the vehicle passes through the traffic road can be transmitted to the server through the roadside device of the traffic road, for example, taking an ordinary vehicle as an example, when a certain ordinary vehicle passes through the traffic road, for example, when the vehicle enters the traffic road and passes through a first roadside device, a communication link is established with the first roadside device, the driving data generated by the ordinary vehicle within the coverage range of the first roadside device is transmitted to the first roadside device, and then the first roadside device transmits the driving data to the server; and when the vehicle passes through a second road side device, establishing a communication link with the second road side device, transmitting the driving data generated by the ordinary vehicle in the coverage range of the second road side device to the second road side device, transmitting the driving data to a service end by the second road side device, and so on until the ordinary vehicle finishes driving on the traffic road. The same is true. The emergency vehicle may also transmit the driving data according to the manner of uploading driving data by the general vehicle, which is not described herein again. Therefore, when the ordinary vehicle or the emergency vehicle passes through each road side device in the traffic road, the running data generated in the coverage range of any road side device passing through can be timely transmitted to the server side through the road side device. The driving data may include, among other things, the type of vehicle, the vehicle position, the driving speed, the driving direction, etc. of the vehicle.

Specifically, in order to accurately plan the emergency driving channel, when the server detects an avoidance request of the emergency vehicle, the server fits the driving data of the emergency vehicle and the driving data of the ordinary vehicles in the road area where the emergency vehicle is located on the traffic road map to generate a road vehicle distribution map, so that the traffic road map can visually and clearly present vehicle driving data information, the emergency driving channel can be accurately planned on the traffic road map with the vehicle driving data, and then how to effectively avoid the ordinary vehicles occupying the emergency driving channel can be known according to the road vehicle distribution map, so that the ordinary vehicles occupying the emergency driving channel can be effectively avoided in time. The avoidance request is generated in real time by the emergency vehicle in the process of executing the emergency task.

The server side can perform fitting processing on a traffic road map according to the running data of the emergency vehicle and the running data of at least one common vehicle on a traffic road where the emergency vehicle passes from the emergency vehicle to the emergency vehicle for executing an emergency task and sending a first avoidance request, so that a road vehicle distribution map is generated in real time. The road vehicle distribution map may reflect the current real driving status of each vehicle, such as the distribution status of each ordinary vehicle and each emergency vehicle on the traffic road where a certain emergency vehicle passes, for example, the distribution status of each ordinary vehicle and each emergency vehicle on the traffic road, what the distance between each ordinary vehicle and each emergency vehicle is, the distribution density of each ordinary vehicle on each lane of the traffic road, how many lanes are on the traffic road, what the traffic signal status of the traffic intersection on the traffic road is, and the like.

For example, when a certain emergency vehicle performs an emergency task, in order to avoid that the destination cannot be reached in time due to traffic congestion on a traffic road, the travel data of the certain emergency vehicle is continuously uploaded to the server through the road side device (such as an RSU), and meanwhile, an avoidance request is continuously sent to the server through the road side device, so that the server can clear a channel for the emergency vehicle in advance, and the emergency vehicle can be ensured to reach the destination in time. Of course, for at least one ordinary vehicle on the traffic road where the emergency vehicle passes, each vehicle may also continuously upload its own driving data to the server through the road side device (such as RSU). It should be noted that each road-side device is a Multi-Access Edge Computing device (MEC) that transmits the received driving data of at least one vehicle (such as an emergency vehicle or a general vehicle) to an outside of the server, and the Multi-Access Edge Computing device calculates a road vehicle distribution map according to the received driving data of the emergency vehicle and the driving data of at least one general vehicle on a traffic road through which the emergency vehicle passes, and in combination with the traffic road map. Wherein, one or more multi-access edge computing devices can be arranged outside the server side. The multi-access edge computing device may perform fitting processing on a traffic road map according to the real-time received driving data of at least one vehicle (including an emergency vehicle and at least one common vehicle), and generate a road vehicle distribution map in real time, that is, the road vehicle distribution map may be updated and changed in real time.

Step 202, the service end plans an emergency running channel for assisting the emergency vehicle to normally pass on the road vehicle distribution map according to the vehicle position and the running direction of the emergency vehicle.

In the embodiment of the application, after the server generates the road vehicle distribution map, if the server determines that the lane where the emergency vehicle is located is any one of the two lanes in the same driving direction, the server may effectively plan a first emergency driving lane having a set distance range in a middle area of the two lanes along the driving direction of the emergency vehicle on the road vehicle distribution map by using the vehicle position of the emergency vehicle as a planning starting point, or may effectively plan a second emergency driving lane having a set distance range in the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map. In addition, if the service end determines that the lane where the emergency vehicle is located is any lane of at least three lanes in the same driving direction, the service end can effectively plan a third emergency driving channel with a set distance range on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map by taking the vehicle position of the emergency vehicle as a planning starting point. The first emergency driving channel, the second emergency driving channel or the third emergency driving channel is used for assisting the emergency vehicle to rapidly pass through the emergency driving channel so as to ensure that the emergency vehicle can arrive at the destination in time and avoid certain loss and harm caused by the fact that the emergency vehicle misses the optimal time for executing the emergency task. The set distance range may be a distance length range of 100 meters, 200 meters, 300 meters, 400 meters, or 500 meters, which is not limited in the embodiment of the present application. For example, if the service end determines that the lane where the emergency vehicle is located is a middle lane on three lanes in the same driving direction, an emergency driving channel with a length of 500 meters can be planned along the middle lane where the emergency vehicle is located by taking the current position of the emergency vehicle as a planning starting point.

Specifically, if three traffic lanes in the same driving direction exist on a traffic road through which the emergency vehicle passes, if the emergency vehicle drives on the middle traffic lane and each traffic lane has a common vehicle, the server will plan an emergency driving channel on the middle traffic lane, that is, according to the distribution of the common vehicles on each lane, for example, the common vehicles on the two traffic lanes are sparsely distributed, the middle traffic lane can be used as an emergency driving channel. Because the common vehicles on the two traffic lanes are distributed sparsely, the common vehicles on the middle traffic lane can be planned on the two traffic lanes, namely the common vehicles on the middle traffic lane can be directed to leave the middle traffic lane to the two traffic lanes, so that a smooth channel can be formed for the emergency vehicles to pass through, and an emergency running channel can be planned on the middle traffic lane. Or, if the emergency vehicle runs on one of the side-by-side traffic lanes and there is a common vehicle in each traffic lane, the server will plan an emergency driving lane on the side-by-side traffic lane, that is, according to the distribution of the common vehicles in each lane, for example, the common vehicles in the middle traffic lane and the common vehicles in the other side-by-side traffic lane are sparsely distributed, the side-by-side traffic lane can be used as an emergency driving lane. Because the common vehicles on the middle traffic lane and the other side traffic lane are distributed sparsely, the common vehicles on the side traffic lane can be planned on the middle traffic lane, if the common vehicles on the side traffic lane are not placed enough on the middle traffic lane, some common vehicles on the middle traffic lane can be driven to the other side traffic lane, so that a smooth passage can be formed for emergency vehicles to pass through, and an emergency driving passage can be planned on the side traffic lane.

Or, if the emergency vehicle runs on the middle traffic lane and each traffic lane has an ordinary vehicle, the server plans an emergency running lane on the middle traffic lane, that is, according to the distribution of the ordinary vehicles on each lane, for example, the ordinary vehicles on the two traffic lanes are densely distributed, it is impossible to plan an emergency running lane by adjusting the ordinary vehicles on the middle traffic lane to the two traffic lanes, and at this time, the problem can be solved by sending a priority traffic request to the traffic signal control device at the traffic intersection of the traffic road, that is, the traffic signal control device adjusts the traffic signal period according to the traffic phase operation information to adjust the traffic signal state at the traffic intersection as soon as possible, so that the ordinary vehicles on the traffic road can pass through the traffic road as soon as possible, and the emergency vehicle can pass through the traffic road in time, thereby improving the passing efficiency of the emergency vehicle to the greatest extent. Or, if the emergency vehicle is traveling on one of the side-by-side lanes, and there is an ordinary vehicle in each lane, the server will plan an emergency traveling lane on the side-by-side lane, that is, according to the distribution of the ordinary vehicles in each lane, for example, the ordinary vehicles in the middle lane and the other side-by-side lane are distributed more densely, it is impossible to plan an emergency traveling lane by adjusting the ordinary vehicles in the side-by-side lane to the middle lane and the other side-by-side lane, and at this time, it is possible to solve the problem by sending a priority passing request to the traffic signal control device at the traffic intersection of the traffic road, that is, the traffic signal control device adjusts the traffic signal cycle according to the traffic phase operation information to adjust the traffic signal state at the traffic intersection as soon as possible, so that each ordinary vehicle on the traffic road passes through the traffic road as soon as possible, and the emergency vehicle can pass through the traffic road in time.

If two traffic lanes in the same driving direction exist on a traffic road where the emergency vehicle passes, if the emergency vehicle drives on one of the traffic lanes and each traffic lane has a common vehicle, the server will plan an emergency driving channel on the traffic lane, that is, according to the distribution of the common vehicles on each lane, for example, the common vehicles on the other traffic lane are sparsely distributed, the traffic lane where the emergency vehicle is located can be used as an emergency driving channel. Because the common vehicles on the other traffic lane are sparsely distributed, the common vehicles on the traffic lane where the emergency vehicles are located can be planned on the other traffic lane, so that a smooth passage can be formed for the emergency vehicles to pass through, and an emergency driving passage can be planned on the traffic lane where the emergency vehicles are located. Or, if an emergency driving lane cannot be planned by planning the ordinary vehicles on the traffic lane where the emergency vehicle is located on the other traffic lane, then the ordinary vehicles on the two traffic lanes need to be instructed to move to the side of the road where the emergency vehicle is located, for example, the ordinary vehicles on the left traffic lane get close to the left side, and the ordinary vehicles on the right traffic lane get close to the right side, so that an emergency driving lane is planned in the middle position area of the two traffic lanes, so that the emergency vehicle can quickly pass through the traffic road according to the emergency driving lane. Or, if the emergency vehicle runs on one of the traffic lanes and there is an ordinary vehicle in each traffic lane, the server plans an emergency running lane on the traffic lane, that is, according to the distribution of the ordinary vehicles in each lane, for example, if the ordinary vehicles in the other traffic lane are densely distributed, it is impossible to plan an emergency running lane by adjusting the ordinary vehicles in the two traffic lanes to move toward both sides, and at this time, the problem may be solved by sending a priority passing request to a traffic signal control device at a traffic intersection of the traffic road, that is, the traffic signal control device adjusts a traffic signal period according to the traffic phase operation information to adjust a traffic signal state at the traffic intersection as soon as possible, so that each ordinary vehicle on the traffic road passes through the traffic road as soon as possible, and thus the emergency vehicle can pass through the traffic road in time, thereby improving the passing efficiency of the emergency vehicle to the greatest extent.

Step 203, the server determines a target avoidance position of at least one common vehicle on the road vehicle distribution map according to the vehicle type and the vehicle position of the at least one common vehicle on the emergency driving channel.

In the embodiment of the application, after an emergency running channel for assisting the emergency vehicles to normally pass is planned on a road vehicle distribution diagram, aiming at each first common vehicle positioned on the first emergency running channel, a service end determines the avoidance direction of the first common vehicle according to the vehicle type and the vehicle position of the first common vehicle, and determines the target avoidance position of the first common vehicle in the avoidance direction of the first common vehicle; for each second common vehicle positioned on the second emergency driving channel, the server determines the avoidance direction of the second common vehicle according to the vehicle type and the vehicle position of the second common vehicle, and determines the target avoidance position of the second common vehicle in the avoidance direction of the second common vehicle; and for each third common vehicle positioned on the third emergency driving channel, the service end determines the avoidance direction of the third common vehicle according to the vehicle type and the vehicle position of the third common vehicle, and determines the target avoidance position of the third common vehicle in the avoidance direction of the third common vehicle. And the target avoidance positions of all the common vehicles occupying the emergency driving channel are not positioned in the emergency driving channel.

Specifically, if three traffic lanes in the same driving direction exist on a traffic road through which the emergency vehicle passes, and if the emergency vehicle drives on a middle traffic lane (i.e., a straight traffic lane) and each traffic lane has an ordinary vehicle, the server may plan an emergency driving channel on the middle traffic lane, that is, the server may specifically determine the vehicle distribution on each traffic lane according to the vehicle type (such as a small vehicle, a mini vehicle, a compact vehicle, a medium vehicle, an MPV vehicle, an SUV vehicle, and the like) and the vehicle position in the received driving data of the ordinary vehicles on each traffic lane, and if the ordinary vehicles on the two traffic lanes are sparsely distributed, determine which direction the ordinary vehicle needs to move (i.e., determine the avoidance direction of the ordinary vehicle) according to the vehicle type and the vehicle position of each ordinary vehicle on the middle traffic lane, that is to which one of the two traffic lanes the ordinary vehicle needs to move, and determine which position the ordinary vehicle needs to move to the left side of the adjacent traffic lane, for example, determine which the ordinary vehicle needs to move to the left side of the ordinary lane in front of the ordinary vehicle (such as the driving direction of the emergency vehicle is the driving direction of the east and the west, for example, it can determine which the ordinary vehicle moves to move to the left side of the ordinary lane and to move to the west of the west area of the west) in the west. Because the vehicles of the common vehicles are different in type and occupied space is different, the position of the two traffic lanes on which the common vehicle is suitable for placing the common vehicle needs to be considered, and certainly, the vehicle type and the vehicle position of each common vehicle on the two traffic lanes can also be considered, so that the common vehicles on the two traffic lanes can be indicated to move to leave some space to conveniently place the common vehicle of a certain vehicle type. Therefore, when an avoidance instruction is sent to each ordinary vehicle on the middle lane, comprehensive consideration is given according to the vehicle type and the vehicle position of the ordinary vehicle, so that the ordinary vehicle can be placed at a suitable position on the two lanes, that is, how the ordinary vehicle should effectively move is indicated, the ordinary vehicle is moved to a suitable position on one side lane, and meanwhile, an avoidance instruction may also be sent to one or more ordinary vehicles on the side lane, so that one or more ordinary vehicles on the side lane move to allow the ordinary vehicle on the middle lane, which needs to move the position area where the one or more ordinary vehicles are located, to be placed timely and reasonably, for example, according to the vehicle type and the vehicle position of one ordinary vehicle on the middle lane, the one ordinary vehicle on the middle lane can be indicated to move the front position area (or the rear position area) of one ordinary vehicle on one side lane. Assuming that a certain general vehicle on the middle traffic lane belongs to a small-sized vehicle and the general vehicle is located at a position on the middle traffic lane near the traffic intersection, and it is judged that the general vehicle belonging to the small-sized vehicle can be placed at a position in the front region of the certain general vehicle on the left traffic lane near the traffic intersection, an avoidance instruction for instructing the general vehicle belonging to the small-sized vehicle to move to a position in the front region of the certain general vehicle on the left traffic lane near the traffic intersection can be transmitted to the general vehicle belonging to the small-sized vehicle.

As an example, as shown in fig. 3, a schematic diagram of avoiding general vehicles on three traffic lanes in the same driving direction is provided for the embodiment of the present application. Based on the fig. 3, it can be known that, if the emergency vehicle runs on the middle traffic lane (i.e. the traffic lane 2), and there is a normal vehicle in each traffic lane, the service end will plan an emergency running channel on the middle traffic lane, that is, the service end determines that the vehicle 11 on the traffic lane 1 belongs to a small-sized vehicle, the vehicle 12 belongs to a medium-sized vehicle, and the vehicle 13 belongs to a miniature vehicle according to the received running data of each normal vehicle; determining that the vehicle 21 on the traffic lane 2 belongs to a small vehicle, the vehicle 22 belongs to a medium vehicle, and the vehicle 23 belongs to a mini vehicle; it is determined that the vehicle 31 on the traffic lane 3 belongs to a small vehicle, the vehicle 32 belongs to a medium vehicle, and the vehicle 33 belongs to a miniature vehicle. Thus, after the vehicle types of the ordinary vehicles on the lanes are determined, the vehicle 21 can be determined to move to the front position area of the vehicle 31 on the lane 3 according to the vehicle positions of the vehicle 21 and by combining the ordinary vehicle distribution condition of the lane 1 and the ordinary vehicle distribution condition of the lane 3, and then an avoidance instruction can be sent to the vehicle 21, wherein the avoidance instruction comprises the position where the vehicle 21 specifically needs to move, for example, the position where the vehicle 21 moves to the front position area of the vehicle 31 on the lane 3, and then the vehicle 21 on the lane 2 can be instructed to move to the front position area of the vehicle 31 on the lane 3 for avoidance; according to the vehicle position of the vehicle 22, and in combination with the general vehicle distribution of the traffic lane 1 and the general vehicle distribution of the traffic lane 3, it may be determined to move the vehicle 22 to the position area between the vehicles 11 and 12 on the traffic lane 1, and then an avoidance instruction may be sent to the vehicle 22, where the avoidance instruction includes a position where the vehicle 22 specifically needs to move, for example, to the position area between the vehicles 11 and 12 on the traffic lane 1, and then the vehicle 22 on the traffic lane 2 may be directed to travel to the position area between the vehicles 11 and 12 on the traffic lane 1 for avoidance; the vehicle 23 can be determined to move to the position area between the vehicle 32 and the vehicle 33 on the traffic lane 3 according to the vehicle position of the vehicle 23 and by combining the general vehicle distribution condition of the traffic lane 1 and the general vehicle distribution condition of the traffic lane 3, and then an avoidance instruction can be sent to the vehicle 23, the avoidance instruction includes the position where the vehicle 23 needs to move specifically, for example, the position area between the vehicle 32 and the vehicle 33 on the traffic lane 3, and then the vehicle 23 on the traffic lane 2 can be instructed to travel to the position area between the vehicle 32 and the vehicle 33 on the traffic lane 3 for avoidance.

If two traffic lanes in the same driving direction exist on a traffic road through which the emergency vehicle passes, and if the emergency vehicle runs on one of the traffic lanes, and each of the traffic lanes has an ordinary vehicle, the server may plan an emergency driving lane on the traffic lane, that is, the server may specifically determine vehicle distribution conditions on the two traffic lanes according to vehicle types and vehicle positions in the received driving data of the ordinary vehicles on the respective traffic lanes, and if the ordinary vehicles on the other traffic lane are sparsely distributed, may use the traffic lane in which the emergency vehicle is located as an emergency driving lane, and determine an avoidance direction of the ordinary vehicle according to a vehicle type and a vehicle position of each ordinary vehicle on the traffic lane in which the emergency vehicle is located, that is, determine to which position on the other traffic lane the ordinary vehicle needs to move, for example, determine that the left side is used as the emergency driving lane, and determine that the ordinary vehicle moves to the right ahead (for example, the emergency vehicle moves to the north and the south), for example, may determine that the ordinary vehicle moves to the right side (for example, the left side is a driving direction in which the ordinary vehicle moves to the east). Because the models of the common vehicles are different and the occupied spaces are different, it is necessary to consider which position on the other traffic lane is suitable for placing the common vehicle, and certainly, the common vehicle on the other traffic lane may be instructed to move to leave some space for conveniently placing the common vehicle of a certain vehicle model. Therefore, when an avoidance instruction is issued for each ordinary vehicle on the traffic lane where the emergency vehicle is located, comprehensive consideration is made in accordance with the vehicle type and the vehicle position of the ordinary vehicle so that the ordinary vehicle can be placed at an appropriate position on the other traffic lane.

As an example, as shown in fig. 4, a schematic diagram of avoiding a common vehicle on two traffic lanes in the same driving direction is provided for the embodiment of the present application. Based on the fig. 4, it can be seen that, if an emergency vehicle runs on one of the traffic lanes (i.e. the traffic lane 2), and there is a common vehicle in each traffic lane, the server plans an emergency running channel on the middle traffic lane, that is, the server determines that the vehicle 11 on the traffic lane 1 belongs to a small-sized vehicle, the vehicle 12 belongs to a medium-sized vehicle, and the vehicle 13 belongs to a mini-sized vehicle according to the received running data of each common vehicle; it is determined that the vehicle 21 on the traffic lane 2 belongs to a small vehicle, the vehicle 22 belongs to a medium vehicle, and the vehicle 23 belongs to a miniature vehicle. Thus, after the vehicle types of the ordinary vehicles on the lanes are determined, the front position area of the vehicle 11 on the lane 1 to which the vehicle 21 is moved can be determined according to the vehicle positions of the vehicle 21 and by combining the distribution conditions of the ordinary vehicles on the lane 1, and then an avoidance instruction can be sent to the vehicle 21, wherein the avoidance instruction comprises the position where the vehicle 21 specifically needs to be moved, for example, the front position area of the vehicle 11 on the lane 1 to which the vehicle 21 on the lane 2 is moved, so that the vehicle 21 on the lane 2 can be instructed to travel to the front position area of the vehicle 11 on the lane 1 to avoid; according to the vehicle position of the vehicle 22 and in combination with the general vehicle distribution of the traffic lane 1, it can be determined that the vehicle 22 is moved to the position area between the vehicles 11 and 12 on the traffic lane 1, and then an avoidance instruction including a position where the vehicle 22 specifically needs to be moved, for example, to the position area between the vehicles 11 and 12 on the traffic lane 1, can be sent to the vehicle 22, and then the vehicle 22 on the traffic lane 2 can be directed to travel to the position area between the vehicles 11 and 12 on the traffic lane 1 for avoidance; according to the vehicle position of the vehicle 23 and in combination with the general vehicle distribution of the traffic lane 1, it can be determined to move the vehicle 23 to the position area between the vehicle 12 and the vehicle 13 on the traffic lane 1, and then an avoidance instruction including a position where the vehicle 23 specifically needs to move, for example, to the position area between the vehicle 12 and the vehicle 13 on the traffic lane 1, can be sent to the vehicle 23, and then the vehicle 23 on the traffic lane 2 can be directed to travel to the position area between the vehicle 12 and the vehicle 13 on the traffic lane 1 for avoidance.

It should be noted that if an emergency driving lane cannot be planned by planning a normal vehicle on the driving lane where the emergency vehicle is located on the other driving lane, an emergency driving lane needs to be planned in the middle area between the two driving lanes. That is, an emergency driving lane may be planned in the middle position area of the two traffic lanes by instructing the ordinary vehicles located on the emergency driving lane to move to the side of the road, for example, the ordinary vehicles in the left area on the emergency driving lane get close to the left side and the ordinary vehicles in the right area get close to the right side, so that the emergency vehicles can quickly pass through the traffic road according to the emergency driving lane. For this reason, the service end may determine the avoidance direction of each ordinary vehicle on the emergency travel channel according to the vehicle type and the vehicle position of each ordinary vehicle, that is, determine the direction and the specific moving position area of each ordinary vehicle on the emergency travel channel, which need to move to the side of the road. For example, for each common vehicle on the emergency driving channel, the road side on the left side of a certain common vehicle is determined to move, and if the emergency vehicle is in the driving direction of the east-west trend, the common vehicle is determined to move to a certain position area on the left road side to the west-south 30 degrees. For example, continuing with the description of fig. 4, the vehicle 11, the vehicle 12, and the vehicle 13 on the traffic lane 1 are respectively moved toward the road on the side of the traffic lane 1, and the vehicle 21, the vehicle 22, and the vehicle 23 on the traffic lane 2 are respectively moved toward the road on the side of the traffic lane 2, so that an emergency driving passage is left between the traffic lane 1 and the traffic lane 2, so that the emergency vehicle can quickly pass through the traffic road according to the emergency driving passage.

And 204, aiming at each common vehicle positioned on the emergency driving channel, the service end sends an avoidance instruction to the common vehicle.

In the embodiment of the application, the avoidance instruction is used for instructing the ordinary vehicle occupying the emergency travel channel to leave the emergency travel channel, that is, for each ordinary vehicle occupying the emergency travel channel, the avoidance instruction sent to the ordinary vehicle includes the target avoidance position of the ordinary vehicle, so that the ordinary vehicle can be timely and effectively instructed to travel from the emergency travel channel to the target avoidance position of the ordinary vehicle. Specifically, the server side sends an avoidance instruction to the ordinary vehicles occupying the emergency travel channel periodically (for example, every 10 seconds, 15 seconds, 20 seconds, or the like), so that the ordinary vehicles occupying the emergency travel channel can be effectively instructed to leave the emergency travel channel as soon as possible according to an avoidance instruction requirement (for example, the distribution condition of the ordinary vehicles in all lanes which the emergency vehicles need to pass through can be known based on a road vehicle distribution diagram, so that the ordinary vehicles can be instructed to effectively avoid, for example, the ordinary vehicles occupying the emergency travel channel are instructed to get close to the left lane and/or the right lane), and the ordinary vehicles not occupying the emergency travel channel do not know how to reasonably avoid and cannot leave the emergency travel channel as soon as possible, so that the emergency travel channel can be ensured to be smooth, so that the emergency vehicles can pass through the emergency travel channel as soon as possible. The avoidance instruction may include a vehicle identification number that needs to be moved and information indicating how the general vehicle corresponding to the vehicle identification number moves, such as which direction and to which position the general vehicle moves.

Before an avoidance instruction is sent to at least one common vehicle occupying an emergency running channel, if the traffic signal state of a traffic intersection in front of a lane (such as a left-turn lane, a straight-going lane or a right-turn lane) where the emergency vehicle is located is no-pass in the running process of the emergency vehicle, the common vehicle occupying all lanes where the emergency vehicle passes and waiting to be released cannot effectively avoid in time, so that the emergency vehicle is delayed to pass due to waiting for the release signal. Based on this, according to the technical scheme in the application, when the service end determines that the traffic signal state of the lane where the emergency vehicle is located is no-pass, the service end can send the priority pass request to the traffic signal control equipment at the traffic intersection, so that delay of the emergency vehicle caused by waiting for the traffic release signal is reduced, and the maximum pass efficiency of the emergency vehicle is improved. Specifically, when the server determines that the traffic signal state of the traffic intersection ahead on the lane where the emergency vehicle is located is no-go according to the current vehicle position of the emergency vehicle on the road vehicle distribution map and the distance between the current vehicle position of the emergency vehicle and the traffic intersection on the lane where the emergency vehicle is located is less than or equal to the distance threshold, the server may send a priority-pass request to the traffic signal control device of the traffic intersection so as to instruct the traffic signal control device to adjust the traffic signal cycle on the lane where the emergency vehicle is located according to the traffic phase operation information, so that the traffic signal state of the traffic intersection ahead on the lane where the emergency vehicle is located can be changed into a pass state as soon as possible, so that the ordinary vehicles occupying all lanes where the emergency vehicle passes through can be released as soon as possible, the emergency vehicle can pass through the traffic intersection as soon as possible, delay of the emergency vehicle due to waiting for the traffic release signal is reduced, and the pass efficiency of the emergency vehicle can be improved to the greatest extent. Specifically, if the lane where the emergency vehicle is located is a left-turn lane in two lanes or at least three lanes and the condition of the emergency vehicle on the left-turn lane meets a priority passing condition, the server sends a priority passing request to traffic signal control equipment of a traffic intersection; the priority passing request is used for instructing the traffic signal control equipment to adjust the traffic signal period of the left-turn lane according to the traffic phase operation information so as to enable the ordinary vehicles and the emergency vehicles in the left-turn lane to pass preferentially. If the lane where the emergency vehicle is located is a straight-going lane in two lanes or at least three lanes and the condition of the emergency vehicle on the straight-going lane meets the priority passing condition, the server side sends a priority passing request to traffic signal control equipment at a traffic intersection; the priority passing request is used for instructing the traffic signal control equipment to adjust the traffic signal period of the straight-going lane according to the traffic phase operation information so as to enable the ordinary vehicles and the emergency vehicles in the straight-going lane to pass preferentially. If the lane where the emergency vehicle is located is a right-turn lane of the two lanes or the at least three lanes and the condition of the emergency vehicle on the right-turn lane meets the priority passing condition, the server sends a priority passing request to traffic signal control equipment of the traffic intersection; the priority passing request is used for instructing the traffic signal control equipment to adjust the traffic signal period of the right-turn lane according to the traffic phase operation information so as to enable the ordinary vehicles and the emergency vehicles in the right-turn lane to pass preferentially. The priority traffic condition is that the distance between the vehicle position of the emergency vehicle and the traffic intersection on the lane where the emergency vehicle is located is smaller than or equal to a distance threshold value, and the traffic signal state on the lane where the emergency vehicle is located is no traffic. The distance threshold may be set according to an actual application scenario or according to experience of a person skilled in the art, for example, the distance threshold may be set to be 100 meters, 200 meters, 300 meters, and the like, which is not limited in the embodiment of the present application.

As an example, as shown in fig. 5, a schematic diagram of avoiding a general vehicle on a congested road is provided in an embodiment of the present application. Based on the fig. 5, it can be known that the three traffic lanes are all occupied by the ordinary vehicles, and the traffic signal state of the traffic intersection is no-pass (for example, the traffic lights in the traveling directions of the multiple traffic lanes are in a red light state), and if the emergency vehicle is on the middle traffic lane (i.e., the straight traffic lane), it is assumed that an emergency traveling lane cannot be planned by adjusting the ordinary vehicle on the middle traffic lane to the two traffic lanes at this time, and then it is necessary to solve the problem by sending a priority pass request to the traffic signal control device at the traffic intersection of the traffic road, that is, the traffic signal control device adjusts the traffic signal cycle on the straight traffic lane where the emergency vehicle is located according to the traffic phase operation information to adjust the traffic signal state of the traffic intersection on the straight traffic lane where the emergency vehicle is located as soon as the pass state, so as far as possible, and each ordinary vehicle on the traffic road passes through the traffic road, thereby enabling the emergency vehicle to pass through the traffic road quickly.

The embodiment shows that in the prior art, only when the common vehicle in front of the emergency vehicle is very close to the emergency vehicle, the common vehicle can accurately know the driving lane of the emergency vehicle and accurately avoid the emergency vehicle according to the driving lane, so that the normal driving of the emergency vehicle is delayed, and the emergency vehicle is influenced to execute an emergency task in time. Based on this, the technical scheme in the application plans an emergency driving channel in advance by combining the driving data of the emergency vehicle and the driving data of the common vehicle in the road area where the emergency vehicle is located, so that the emergency vehicle can be ensured to pass through in time, delay of time for executing an emergency task aiming at the emergency vehicle is reduced, and the emergency vehicle can be effectively ensured to execute the emergency task in time. Specifically, when the server detects the avoidance request of the emergency vehicle, the server can accurately generate a road vehicle distribution map with the current real driving state of each vehicle in time according to the driving data of the emergency vehicle and the driving data of the ordinary vehicle in the road area where the emergency vehicle is located, so that the emergency driving channel can be accurately planned on the road vehicle distribution map in the following process. According to the vehicle position and the driving direction of the emergency vehicle, an emergency driving channel for assisting the emergency vehicle to normally pass can be accurately planned in advance on the road vehicle distribution diagram, and the target avoidance position of at least one common vehicle is determined on the road vehicle distribution diagram according to the vehicle type and the vehicle position of at least one common vehicle on the emergency driving channel, so that an avoidance instruction can be continuously sent to each common vehicle on the emergency driving channel, the common vehicle can leave the emergency driving channel to drive to the target avoidance position of the common vehicle as soon as possible, the common vehicle occupying the emergency driving channel can be effectively avoided, the emergency driving channel can be ensured to be smooth, and the emergency vehicle can be effectively ensured to pass through the emergency driving channel in time.

Based on the same technical concept, fig. 6 exemplarily shows an emergency vehicle avoidance apparatus provided in an embodiment of the present application, which may execute a flow of an emergency vehicle avoidance method. The emergency vehicle avoidance method may be executed by a service control center (such as a server), or may be executed by a chip or an integrated circuit capable of supporting the service control center to implement the functions required by the emergency vehicle avoidance method.

As shown in fig. 6, the apparatus includes:

a generating unit 601, configured to generate a road vehicle distribution map in a road area where an emergency vehicle is located according to travel data of the emergency vehicle and travel data of a normal vehicle in the road area where the emergency vehicle is located when an avoidance request of the emergency vehicle is detected; the avoidance request is generated in real time by the emergency vehicle in the process of executing an emergency task; the driving data comprises a vehicle type, a vehicle position and a driving direction;

a processing unit 602, configured to plan an emergency driving lane for assisting the emergency vehicle to normally pass through on the road vehicle distribution map according to the vehicle position and the driving direction of the emergency vehicle; determining a target avoidance position of at least one common vehicle on the road vehicle distribution map according to the vehicle type and the vehicle position of the at least one common vehicle on the emergency driving channel; the target avoidance position is not located in the emergency driving channel; sending an avoidance instruction to each common vehicle positioned on the emergency driving channel; the avoidance instruction is used for indicating the common vehicle to travel from the emergency travel channel to the target avoidance position of the common vehicle.

In some exemplary embodiments, the generating unit 601 is specifically configured to:

In some exemplary embodiments, the processing unit 602 is specifically configured to:

for each first common vehicle positioned on the first emergency driving channel, determining an avoidance direction of the first common vehicle according to the vehicle type and the vehicle position of the first common vehicle, and determining a target avoidance position of the first common vehicle in the avoidance direction of the first common vehicle;

In some exemplary embodiments, the processing unit 602 is further configured to:

before sending an avoidance instruction to the ordinary vehicle, if the lane where the emergency vehicle is located is a left-turn lane of two lanes or at least three lanes and the condition of the emergency vehicle on the left-turn lane meets a priority passing condition, sending a priority passing request to traffic signal control equipment of the traffic intersection; the priority passing request is used for instructing the traffic signal control equipment to adjust the traffic signal period of the left-turn lane according to the traffic phase operation information so that the ordinary vehicles and the emergency vehicles in the left-turn lane pass preferentially.

the processing unit 602 is further configured to:

Based on the same technical concept, the embodiment of the present application further provides a computing device, as shown in fig. 7, including at least one processor 701 and a memory 702 connected to the at least one processor, where a specific connection medium between the processor 701 and the memory 702 is not limited in this embodiment, and the processor 701 and the memory 702 in fig. 7 are connected through a bus as an example. The bus may be divided into an address bus, a data bus, a control bus, etc.

In the embodiment of the present application, the memory 702 stores instructions executable by the at least one processor 701, and the at least one processor 701 may execute the steps included in the foregoing emergency vehicle avoidance method by executing the instructions stored in the memory 702.

The processor 701 is a control center of the computing device, and may be connected to various parts of the computing device by using various interfaces and lines, and implement data processing by executing or executing instructions stored in the memory 702 and calling data stored in the memory 702. Optionally, the processor 701 may include one or more processing units, and the processor 701 may integrate an application processor and a modem processor, where the application processor mainly processes an operating system, a user interface, an application program, and the like, and the modem processor mainly processes an issued instruction. It will be appreciated that the modem processor described above may not be integrated into the processor 701. In some embodiments, processor 701 and memory 702 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.

The processor 701 may be a general-purpose processor, such as a Central Processing Unit (CPU), a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, configured to implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present Application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the disclosed method in connection with the embodiment of the emergency vehicle avoidance method may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

Memory 702, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The Memory 702 may include at least one type of storage medium, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charge Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and so on. The memory 702 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 702 in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function to store program instructions and/or data.

Based on the same technical concept, embodiments of the present application also provide a computer-readable storage medium storing a computer program executable by a computing device, wherein when the program runs on the computing device, the computer device is caused to execute the steps of the above-mentioned emergency vehicle avoidance method.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. An emergency vehicle avoidance method, comprising:

when a server detects an avoidance request of an emergency vehicle, generating a road vehicle distribution map in a road area where the emergency vehicle is located according to the running data of the emergency vehicle and the running data of a common vehicle in the road area where the emergency vehicle is located; the avoidance request is generated in real time in the process that the emergency vehicle executes an emergency task; the driving data comprises a vehicle type, a vehicle position and a driving direction;

2. The method as claimed in claim 1, wherein the service end plans an emergency driving passage for assisting the emergency vehicle to normally pass on the road vehicle distribution map according to the vehicle position and the driving direction of the emergency vehicle, and comprises the following steps:

if the service end determines that the lane where the emergency vehicle is located is any one of two lanes in the same driving direction, the service end plans a first emergency driving channel with a set distance range in a middle area of the two lanes along the driving direction of the emergency vehicle on the road vehicle distribution map by taking the vehicle position of the emergency vehicle as a planning starting point, or plans a second emergency driving channel with a set distance range on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map;

if the service end determines that the lane where the emergency vehicle is located is any lane of at least three lanes in the same driving direction, the service end plans a third emergency driving channel with a set distance range on the lane where the emergency vehicle is located along the driving direction of the emergency vehicle on the road vehicle distribution map by taking the vehicle position of the emergency vehicle as a planning starting point.

3. The method as claimed in claim 2, wherein the step of determining the target avoidance position of at least one common vehicle on the road vehicle distribution map by the server according to the vehicle type and the vehicle position of the at least one common vehicle on the emergency driving channel comprises:

4. The method of claim 2, prior to sending the avoidance command to the generic vehicle, further comprising:

if the lane where the emergency vehicle is located is a left-turn lane in two lanes or at least three lanes and the condition of the emergency vehicle on the left-turn lane meets a priority passing condition, the server sends a priority passing request to traffic signal control equipment of the traffic intersection; the priority passing request is used for instructing the traffic signal control equipment to adjust the traffic signal period of the left-turn lane according to the traffic phase operation information so that the ordinary vehicles and the emergency vehicles in the left-turn lane pass preferentially.

5. The method of claim 4, wherein the method further comprises:

6. The method of claim 4, wherein the method further comprises:

7. The method of any one of claims 4 to 6, wherein the priority traffic condition is that a distance between a vehicle location of the emergency vehicle and a traffic intersection on a lane of the emergency vehicle is less than or equal to a distance threshold and a traffic signal state on the lane of the emergency vehicle is no traffic.

8. An emergency vehicle avoidance apparatus, comprising:

the generating unit is used for generating a road vehicle distribution map in a road area where the emergency vehicle is located according to the running data of the emergency vehicle and the running data of the ordinary vehicle in the road area where the emergency vehicle is located when the avoidance request of the emergency vehicle is detected; the avoidance request is generated in real time by the emergency vehicle in the process of executing an emergency task; the driving data comprises a vehicle type, a vehicle position and a driving direction;

the processing unit is used for planning an emergency running channel for assisting the emergency vehicle to normally pass on the road vehicle distribution map according to the vehicle position and the running direction of the emergency vehicle; determining a target avoidance position of at least one common vehicle on the road vehicle distribution map according to the vehicle type and the vehicle position of the at least one common vehicle on the emergency running channel; the target avoidance position is not located in the emergency driving channel; sending an avoidance instruction to each common vehicle positioned on the emergency driving channel; the avoidance instruction is used for indicating the common vehicle to travel from the emergency travel channel to a target avoidance position of the common vehicle.

9. A computing device comprising at least one processor and at least one memory, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the method of any of claims 1 to 7.

10. A computer-readable storage medium, storing a computer program executable by a computing device, the program, when run on the computing device, causing the computing device to perform the method of any of claims 1 to 7.