CN117315962A - Emergency vehicle priority passing method, intelligent traffic system and cloud platform - Google Patents
Emergency vehicle priority passing method, intelligent traffic system and cloud platform Download PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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Abstract
The invention relates to a priority passing method of emergency vehicles, an intelligent traffic system and a cloud platform, wherein the priority passing method of the emergency vehicles comprises the following steps: acquiring destination information and real-time GPS information from a vehicle-mounted terminal of an emergency vehicle, and updating an optimal driving route in real time; acquiring real-time road condition information of each road section to be reached and real-time lamp state information of a signal lamp on the optimal driving route; analyzing the real-time position information, the optimal driving route, the real-time road condition information and the real-time lamp state information, and acquiring guidance strategy information of preferential traffic; the signal control information is sent to the signal control platform, so that the signal control platform adjusts the state of signal lamps of all the intersections to be reached on the optimal driving route according to the signal control information; and sending the recommended speed information to the vehicle-mounted terminal of the emergency vehicle through the corresponding road side equipment so as to enable the vehicle-mounted terminal to output the recommended speed information. By the aid of the technical scheme, the problem that rescue is affected due to congestion, red light waiting and the like when an emergency vehicle passes through an intersection road section is solved.
Description
Technical Field
The invention relates to the field of intelligent traffic, in particular to a priority passing method of emergency vehicles, an intelligent traffic system and a cloud platform.
Background
Emergency vehicles such as police cars, ambulances, fire engines, etc. are vehicles used by government departments such as emergency management departments, public security offices, hospitals, fire departments, etc. to cope with sudden emergency incidents. The emergency vehicles are used as components in the urban traffic flow, and on the premise of ensuring that rescue emergency measures are timely and efficiently implemented, government departments can improve the running efficiency, reliability and safety of the whole traffic flow, and meanwhile, the adverse effects of the emergency vehicles on the social conventional traffic flow are reduced, so that the emergency vehicles are hot spots and difficulties in research in the intelligent traffic field in recent years.
Currently, in urban road traffic, the preferential passage of emergency vehicles still presents certain challenges and problems. The traditional main methods for guaranteeing the preferential passage of emergency vehicles are signal scheduling and on-site command. Traffic signals are traffic guidance measures for distributing traffic rights to traffic flows in time in places where separation principles cannot be realized in road space, but traffic signal control strategies in general aim to balance traffic flows among users on different roads, and information isolation between emergency vehicles and signal lamps causes that the emergency vehicles cannot obtain the road rights with high priority in time, so that the arrival time of the emergency vehicles can be delayed. The manual on-site command has the problems of low timeliness, high cost and the like. In addition, the emergency vehicle priority traffic has the following technical problems: on the premise of not interfering with normal traffic flow, the emergency vehicle can pass quickly, and delay and travel time are reduced.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art and provides a priority passing method of emergency vehicles, an intelligent traffic system and a cloud platform.
The technical scheme adopted for solving the technical problems is as follows: a method of constructing a preferential pass of an emergency vehicle, comprising:
acquiring destination information and real-time GPS information of an emergency vehicle from a vehicle-mounted terminal of the emergency vehicle through corresponding road side equipment, acquiring real-time position information of the emergency vehicle according to the real-time GPS information, and updating an optimal driving route of the emergency vehicle in real time according to the real-time position information and the destination information;
acquiring real-time road condition information of each road section to be reached and real-time lamp state information of a signal lamp on the optimal driving route through corresponding edge computing units;
analyzing the real-time position information, the optimal driving route, the real-time road condition information and the real-time lamp state information, and obtaining guidance strategy information of the emergency vehicle for preferential traffic, wherein the guidance strategy information comprises: the signal control information of each crossing to be reached on the optimal driving route and the recommended speed information of each road section to be reached on the optimal driving route by the emergency vehicle;
the information is sent to an information control platform, so that the information control platform adjusts the state of signal lamps of all the intersections to be reached on the optimal driving route according to the information control information;
and sending the recommended speed information to a vehicle-mounted terminal of the emergency vehicle through corresponding road side equipment so as to enable the vehicle-mounted terminal to output the recommended speed information.
Preferably, after the step of acquiring the guidance policy information of the emergency vehicle preferential passage, the method further includes:
and sending the information to the vehicle-mounted terminal of the emergency vehicle through corresponding road side equipment so as to enable the vehicle-mounted terminal to output the information.
Preferably, the guiding policy information further includes: the destination arrival time of the emergency vehicle, the destination arrival distance of the emergency vehicle;
after the step of acquiring the guidance policy information of the emergency vehicle preferential traffic, the method further comprises:
and sending the destination arrival time and the destination arrival distance to the vehicle-mounted terminal of the emergency vehicle through corresponding road side equipment so as to enable the vehicle-mounted terminal to output the destination arrival time and the destination arrival distance.
Preferably, after the step of acquiring the guidance policy information of the emergency vehicle preferential passage, the method further includes:
generating avoidance reminding information according to the guidance strategy information;
and sending the avoidance reminding information to the vehicle-mounted terminal of the common vehicle on the corresponding road section on the optimal driving route through corresponding road side equipment so as to enable the vehicle-mounted terminal to output the avoidance reminding information.
Preferably, the step of analyzing the real-time location information, the optimal driving route, the real-time road condition information and the real-time lamp state information and obtaining the guidance strategy information of the emergency vehicle preferential traffic includes:
step S31, for each road section which is to be reached on the optimal driving route, calculating the average speed of each lane of the road section according to the real-time road condition information;
step S32, taking the maximum value of the average speeds of all lanes as the recommended speed of the emergency vehicle on the road section;
step S33, determining the current speed of the emergency vehicle and the distance between the emergency vehicle and the next intersection to be reached according to the real-time GPS information of the emergency vehicle, and calculating the estimated time length of the emergency vehicle passing through the next intersection to be reached according to the current speed, the suggested speed of the road section and the distance between the emergency vehicle and the next intersection to be reached;
step S34, determining green light demand duration of the next-to-arrive intersection according to the estimated duration, and determining signal control information of the next-to-arrive intersection according to the green light demand duration and current lamp state information.
Preferably, in the step S33, an estimated time period for the emergency vehicle to pass through the next-to-arrive intersection is calculated according to formula 1:
wherein T is the estimated time length, V is the recommended vehicle speed, V 0 And a is the maximum acceleration of the emergency vehicle, and L is the distance between the emergency vehicle and the next crossing to be reached.
Preferably, in the step S34, a green light demand duration of the next upcoming intersection is determined according to formula 2;
T green ＝k 1 ×T+k 2 x F formula 2
Wherein T is green For the green light demand time length, k 1 For adjusting the coefficients, k, of the duration weights 2 And F is the traffic flow of the road section and is the flow weight adjusting coefficient.
Preferably, in the step S34, the step of determining the signaling information of the next-to-arrive intersection according to the green light demand duration and the current light status information includes:
judging whether the next crossing to be reached is currently red or green according to the current lamp state information;
when the traffic light is red, determining the information of the traffic light which is to be reached next as early-cut-off of the red light and turning on of the green light;
and when the intersection is a green light, judging whether the residual duration of the green light is smaller than the required duration of the green light, and if so, determining the signal control information of the next arrival intersection as green light extension.
The invention also constructs a cloud platform of the intelligent traffic system, which comprises a processor and a memory storing a computer program, wherein the processor realizes the steps of the emergency vehicle preferential passing method when executing the computer program.
The invention also constructs an intelligent traffic system comprising:
a vehicle-mounted terminal provided in a vehicle including an emergency vehicle, a general vehicle;
the vehicle-road cooperative equipment is arranged at the road side of the corresponding road and comprises an edge calculation unit, road side equipment, road condition detection equipment and a signal lamp controller;
a signal control platform connected with the signal lamp controller;
the cloud platform is described above.
In the technical scheme provided by the invention, the V2X OBU is installed on the emergency vehicle, so that destination information and real-time GPS information can be acquired; the edge computing units MEC, RSU and other vehicle-road cooperative devices are added on the road side, and signal lamps are connected in a butt joint mode, so that real-time lamp state information of the road condition information and the signal lamps can be obtained; after the cloud platform receives the vehicle-end information and the road-end information, the strategy analysis of the priority passing of the crossing is carried out through big data analysis, so that the problem that the rescue is affected due to congestion, red light waiting and the like when an emergency vehicle passes through a road section of the crossing is solved. Moreover, the technical scheme of the embodiment has the following beneficial effects:
1. the vehicle-road cooperative equipment is utilized to acquire all-element and all-time vehicle conditions and road condition data as basic data elements, and the phase scheme and the real-time lamp state information of the signal lamps are combined to provide an all-weather, real-time and accurate road-crossing section priority passing scheme for emergency vehicles, so that the passing efficiency and rescue speed of the emergency vehicles are improved;
2. the emergency vehicle can sense traffic conditions and road conditions of all intersections on the planned path in real time, so that the vehicle can accurately advance at the recommended speed;
3. the cloud platform performs dynamic path planning through an optimization algorithm according to real-time data acquired from the road side equipment so as to optimize a driving route;
4. according to traffic conditions and road conditions of a plurality of intersections, the cloud platform can coordinate with a traffic management system to promote optimization of traffic in an overall area.
Drawings
In order to more clearly illustrate the embodiments of the present invention, the drawings that are required for the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the accompanying drawings:
FIG. 1 is a flow chart of a first embodiment of a method of preemptive passing an emergency vehicle in accordance with the present invention;
FIG. 2 is a flowchart of an embodiment of step S30 in FIG. 1;
FIG. 3 is a flow chart of a second embodiment of a method of preemptive passing an emergency vehicle in accordance with the present invention;
FIG. 4 is a logic block diagram of a first embodiment of the intelligent transportation system of the present invention;
FIG. 5 is a diagram of a second embodiment of the intelligent transportation system;
fig. 6 is a data flow diagram of a third embodiment of the intelligent transportation system of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Aiming at the following problems in the prior art: how to ensure that the emergency vehicle keeps a preferential passing state when passing through a plurality of adjacent road sections, so as to avoid frequent pause and waiting; and how to acquire road traffic information in real time by using the road cooperation system, and combine the road traffic information with the emergency vehicle path planning and signal control, so that on the premise of realizing the prior passing of the emergency vehicle, the smooth running of the whole road network is ensured, and the influence on the road network is reduced.
In addition, intelligent traffic development has entered a highly informative and intelligent period, which has also led to some fundamental changes in the basic features of intelligent traffic systems, including: the real-time acquisition of road network information and the real-time acquisition of vehicle position information become basic work of a traffic system; safety and efficiency are two non-negligible topics in the traffic field. The vehicle-road cooperative system integrates vehicle, road and human information by adopting wireless communication and a new generation internet technology, and is integrated into a traffic cooperative control system, so that real-time sharing and interaction of the vehicle-road information are realized, effective cooperation of the vehicle, road and human is fully realized, traffic safety is remarkably improved, and traffic passing efficiency is improved.
Fig. 1 is a flowchart of a first embodiment of a method for preferential traffic of an emergency vehicle, which is applied to a cloud platform of an intelligent traffic system, and the cloud platform can be in communication connection with a signal control platform and an edge computing unit arranged at a road side. Also, the preferential pass method of the emergency vehicle of the embodiment includes the steps of:
step S10, acquiring destination information and real-time GPS information of an emergency vehicle from a vehicle-mounted terminal of the emergency vehicle through corresponding road side equipment, acquiring real-time position information of the emergency vehicle according to the real-time GPS information, and updating an optimal driving route of the emergency vehicle in real time according to the real-time position information and the destination information;
in this step, a vehicle-mounted terminal is installed on an emergency vehicle (such as a police car, an ambulance, a fire truck, etc.), and the vehicle-mounted terminal comprises a V2X OBU module and a man-machine interaction module (such as a tablet computer), wherein the man-machine interaction module can be used for a driver to input destination information, and the V2X OBU module has an RTK high-precision positioning function and can acquire GPS information of the vehicle in real time. And then the vehicle-mounted terminal uploads the destination and GPS information to the cloud platform through the corresponding RSU. After receiving the GPS information and the destination of the emergency vehicle, the cloud platform may perform route planning, for example, may take the running planned route with the shortest optimal time as the optimal running route.
Step S20, acquiring real-time road condition information of each road section which is to be reached on the optimal driving route and real-time lamp state information of the signal lamp through a corresponding edge computing unit;
in this step, the intersection or road segment is deployed with an edge computing unit (Multi-access Edge Computing, MEC) and road side equipment (RSU), the edge computing unit is connected with various sensors (e.g., cameras, radars, etc.) and road signal controllers, can collect signal states (Signal Phase and Timing Message, SPAT), fuse perceived traffic participant information (Roadside Safety Message, RSM) in real time, and interacts with the cloud platform.
Step S30, analyzing the real-time position information, the optimal driving route, the real-time road condition information and the real-time lamp state information, and obtaining guiding policy information of the emergency vehicle preferential traffic, wherein the guiding policy information includes: the signal control information of each crossing to be reached on the optimal driving route and the recommended speed information of each road section to be reached on the optimal driving route by the emergency vehicle;
in the step, the cloud platform calculates and analyzes a priority traffic strategy according to data (signal lamp state and road condition data) uploaded by the edge calculation unit and GPS data uploaded by the OBU at the vehicle end, and outputs a command result of priority traffic of the road crossing section, wherein the command result comprises a signal lamp back control strategy (signal control information), a vehicle suggested speed and the like.
Step S40, the information is sent to an information control platform, so that the information control platform adjusts the state of signal lamps of all the intersections to be reached on the optimal driving route according to the information control information;
in the step, the cloud platform issues a signal lamp back control strategy to a signal control platform, and the signal control platform is responsible for the overall control of the signal lamp at the intersection, the maintenance of a phase scheme and the like.
And step S50, the recommended speed information is sent to the vehicle-mounted terminal of the emergency vehicle through corresponding road side equipment so as to enable the vehicle-mounted terminal to output the recommended speed information.
In the step, the cloud platform issues the strategy result to the edge computing unit, the edge computing unit broadcasts the strategy result to the vehicle-mounted terminal of the emergency vehicle through the RSU, the flat plate of the vehicle-mounted terminal can display and broadcast current strategy information (comprising recommended vehicle speed), and a driver adjusts driving actions according to the information.
The technical scheme of the embodiment constructs a method for realizing the preferential passing of the emergency intelligent network-connected vehicles across road sections based on the vehicle-road cooperation, and V2X OBU is installed on the emergency vehicles to acquire destination information and real-time GPS information; the edge computing units MEC, RSU and other vehicle-road cooperative devices are added on the road side, and signal lamps are connected in a butt joint mode, so that real-time lamp state information of the road condition information and the signal lamps can be obtained; after the cloud platform receives the vehicle-end information and the road-end information, the strategy analysis of the priority passing of the crossing is carried out through big data analysis, so that the problem that the rescue is affected due to congestion, red light waiting and the like when an emergency vehicle passes through a road section of the crossing is solved. Moreover, the technical scheme of the embodiment has the following beneficial effects:
1. the vehicle-road cooperative equipment is utilized to acquire all-element and all-time vehicle conditions and road condition data as basic data elements, and the phase scheme and the real-time lamp state information of the signal lamps are combined to provide an all-weather, real-time and accurate road-crossing section priority passing and green wave passing scheme for emergency vehicles, so that the passing efficiency and rescue speed of the emergency vehicles are improved;
2. the emergency vehicle can sense traffic conditions and road conditions of all intersections on the planned path in real time, so that the vehicle can accurately acquire information such as traffic jam, road construction or emergency accidents;
3. the cloud platform performs dynamic path planning through an optimization algorithm according to real-time data acquired from the road side equipment so as to optimize a driving route;
4. according to traffic conditions and road conditions of a plurality of intersections, the cloud platform can coordinate with a traffic management system to promote optimization of traffic in an overall area.
Further, in an alternative embodiment, after step S30, the method further includes:
and sending the information to the vehicle-mounted terminal of the emergency vehicle through corresponding road side equipment so as to enable the vehicle-mounted terminal to output the information.
In this embodiment, the cloud platform also sends the signaling information to the edge computing unit, which in turn sends it to the RSU, which broadcasts it to the OBUs within communication range, thereby communicating with the vehicle and providing real-time signaling information to the driver.
Further, in an alternative embodiment, the guiding policy information further includes: the destination arrival time of the emergency vehicle, the destination arrival distance of the emergency vehicle;
after the step of acquiring the guidance policy information of the emergency vehicle preferential traffic, the method further comprises:
and sending the destination arrival time and the destination arrival distance to the vehicle-mounted terminal of the emergency vehicle through corresponding road side equipment so as to enable the vehicle-mounted terminal to output the destination arrival time and the destination arrival distance.
In this embodiment, the cloud platform may further calculate a destination arrival time of the emergency vehicle and a destination arrival distance of the emergency vehicle according to road conditions, traffic congestion conditions, and the like, and then send the calculated destination arrival time and destination arrival distance to the vehicle-mounted terminal of the emergency vehicle through the edge calculation unit and the road side device, so as to provide the destination arrival time and destination arrival distance to the driver.
Further, after step S30, the method further includes:
generating avoidance reminding information according to the guidance strategy information;
and sending the avoidance reminding information to the vehicle-mounted terminal of the common vehicle on the corresponding road section on the optimal driving route through corresponding road side equipment so as to enable the vehicle-mounted terminal to output the avoidance reminding information.
In this embodiment, the cloud platform may further instruct the policy information to generate avoidance reminding information, and then send the avoidance reminding information to a common vehicle (social vehicle) through the edge computing unit and the road side device, and after the common vehicle receives the data, the common vehicle may timely and safely avoid the vehicle, so as to give up a life channel for the emergency vehicle.
Further, in an alternative embodiment, as shown in fig. 2, step S30 specifically includes:
step S31, for each road section which is to be reached on the optimal driving route, calculating the average speed of each lane of the road section according to the real-time road condition information;
in the step, the vehicle-mounted terminal of the common vehicle is also provided with the V2X OBU, the GPS information of the vehicle-mounted terminal can be uploaded to the cloud platform through the corresponding RSU, and the cloud platform can calculate the running speed and the average speed of a lane where the vehicle-mounted terminal is located after receiving the GPS information of the common vehicle.
Step S32, taking the maximum value of the average speeds of all lanes as the recommended speed of the emergency vehicle on the road section;
in this step, the recommended vehicle speed may be calculated according to the following formula:
wherein V is Advice of For the recommended speed of the emergency vehicle on the road section, V i The average speed of the ith lane of the road section is given, and N is the number of lanes of the road section.
Step S33, determining the current speed of the emergency vehicle and the distance between the emergency vehicle and the next intersection to be reached according to the real-time GPS information of the emergency vehicle, and calculating the estimated time length of the emergency vehicle passing through the next intersection to be reached according to the current speed, the suggested speed of the road section and the distance between the emergency vehicle and the next intersection to be reached;
step S34, determining green light demand duration of the next-to-arrive intersection according to the estimated duration, and determining signal control information of the next-to-arrive intersection according to the green light demand duration and current lamp state information.
Further, in step S33, an estimated time period for the emergency vehicle to pass through the next-to-arrive intersection may be calculated according to formula 1:
wherein T is the estimated time length, V is the recommended vehicle speed, V 0 And a is the maximum acceleration of the emergency vehicle, and L is the distance between the emergency vehicle and the next crossing to be reached.
Further, in step S34, a green light demand duration of the next upcoming intersection is determined according to formula 2;
T green ＝k 1 ×T+k 2 x F formula 2
Wherein T is green For the green light demand time length, k 1 For adjusting the coefficients, k, of the duration weights 2 And F is the traffic flow of the road section and is the flow weight adjusting coefficient.
Further, in step S34, the step of determining the information of the next intersection to be reached according to the green light demand duration and the current light status information includes:
judging whether the next crossing to be reached is currently red or green according to the current lamp state information;
when the traffic light is red, determining the signal control information of the next intersection to be reached as early-cut-off of the red light, and turning on the green light, namely turning off the red light immediately and turning on the green light;
and when the intersection is a green light, judging whether the residual duration of the green light is smaller than the required duration of the green light, if so, determining the signal control information of the next arriving intersection as green light extension, namely extending the green light by a specific value which is larger than the difference value between the required duration of the green light and the residual duration. Of course, if not less than, the information of the intersection to be reached next is not adjusted.
Fig. 3 is a flowchart of a second embodiment of a method for preferential traffic of an emergency vehicle according to the present invention, in which, first, a cloud platform plans a driving route according to a destination and a current location of the emergency vehicle, and can take a driving route with a shortest time as an optimal driving route, and it is noted that the planned route includes a plurality of road segments. Then, the cloud platform acquires sensing data (namely road condition information) of all the intersections on the planned driving route and real-time lamp state data of the signal lamps, and acquires phase configuration schemes of all the intersections from the signal control platform; then, the cloud platform calculates the maximum speed of the emergency vehicle passing through each road section and takes the maximum speed as the recommended speed of the emergency vehicle, and meanwhile, the cloud platform calculates a corresponding signal control optimization scheme (i.e. signal control information) of each road junction by adopting a strategy of absolute priority of emergency vehicle traffic according to real-time road condition information and signal lamp phase information of the road junction along the driving route, for example, a green lamp phase change strategy comprising a signal lamp channel, so that the emergency vehicle is green when driving to the road junction at the speed of the recommended speed; then, the cloud platform transmits a signal control optimization scheme of all intersections which the emergency vehicle is about to pass to the signal control platform, and transmits information such as suggested speed of the road section where the emergency vehicle is located to vehicle end equipment of the emergency vehicle through MEC and RSU, and a flat plate of the vehicle-mounted terminal displays and broadcasts guide information; and finally, judging whether the vehicle reaches a destination, if not, tracking the position of the emergency vehicle and the road condition information in real time by the cloud platform, repeating the steps, and if so, ending.
The invention also constructs a cloud platform of the intelligent transportation system, which comprises a processor and a memory storing a computer program, wherein the processor realizes the steps of the emergency vehicle preferential passing method when executing the computer program.
The present invention also constructs an intelligent transportation system comprising: the vehicle-mounted terminal, the vehicle-road cooperative equipment, the cloud platform and the signal control platform, wherein the vehicle-mounted terminal is arranged on a vehicle (an emergency vehicle and a common vehicle); the vehicle-road cooperative equipment is arranged at the road side of the road and comprises an edge calculation unit, road side equipment, road condition detection equipment (such as a camera and a radar) and a signal lamp controller; the signal control platform is connected with signal lamp controllers of all intersections; the logical structure of the cloud platform may be as described above. In addition, the number of the vehicle-mounted terminals and the number of the vehicle-road cooperative devices are multiple, and the number of the vehicle-mounted terminals and the number of the vehicle-road cooperative devices can be different in different application scenes.
FIG. 4 is a logical block diagram of a first embodiment of the intelligent transportation system of the present invention, which employs a vehicle-road-Yun Sanceng architecture and includes: the cloud platform 11 is responsible for collecting road side information and vehicle end information, carrying out strategy analysis and interacting with the signal control platform 12; the signal control platform 12 is responsible for the overall control of the crossing signal lights, maintenance of the phase scheme, and the like. The road side comprises an MEC 21, a camera 22, a millimeter wave radar 23 and a signal lamp controller 24. The vehicle end includes a V2X OBU 31 and a vehicle-mounted display screen (tablet) 32.
Fig. 5 is an application scenario diagram of a first embodiment of the intelligent traffic system of the present invention, which takes two intersections as an example, showing the deployment structure of the system. Each intersection is provided with a set of MEC, sensing equipment (a camera and millimeter wave radar) and a signal lamp controller. And a cloud platform and a signal control platform are deployed in the cloud. Each vehicle is equipped with a V2X OBU and tablet computer.
The data flow profile of the intelligent transportation system of this embodiment is described below with reference to fig. 6:
1. cloud platform synchronization basic data
The cloud platform synchronizes signal lamp phase data of a plurality of intersections from the signal control platform at fixed time, and meanwhile, the cloud platform maintains data of a part of intersection topological relation, wherein the data can be obtained based on a high-precision map or can be obtained in a static relation data importing mode (such as a database table mode). These data will serve as the basis for policy analysis. In addition, the cloud platform receives GPS information and destination information reported by an OBU of the emergency vehicle, and the receiving mode can be a butt joint emergency processing platform or a manual platform input mode.
GPS data upload
The vehicle end part mainly sends BSM data to the cloud platform at the frequency of 20Hz through a V2X OBU installed on the emergency vehicle, and the cloud platform acquires the position and the running track of the vehicle in real time according to the BSM data. The OBU needs to start the RTK high-precision positioning function, so that the accuracy of BSM data is ensured without large deviation, and the strategy analysis result is influenced.
3. Road condition data uploading
The MEC is connected with intelligent sensing equipment (a camera and a radar), and after MEC fusion analysis, the running track information of motor vehicles, non-motor vehicles, pedestrians and the like at the road section of the road junction, the traffic flow of the road junction, the queuing length, the parking times and the like are uploaded to the cloud platform.
4. Signal lamp data uploading
The MEC acquires the lamp state information of the signal lamps of all direction channels of the intersection in real time through the signal lamp controller connected with the intersection, and uploads the lamp state information to the cloud platform.
5. Signal lamp data broadcasting
The MEC broadcasts the lamp state data of the signal lamp to the OBU through the RSU, and the vehicle-mounted flat plate can check the signal lamp change of the front intersection in real time.
6. Policy analysis
The cloud platform completes one-time strategy analysis based on road condition data and signal lamp data of the vehicle-road cooperation, and destination and GPS information of the emergency vehicle, and the specific analysis process can be referred to as described above.
7. Issuing priority instructions across intersections
The cloud platform can send signal lamp adjustment information (i.e. signal control information) to the signal control platform in an absolute priority mode every time the cloud platform completes policy analysis, the signal control platform adjusts the phase of the signal lamp of the intersection (early-cut-off or green light extension) according to the signal lamp adjustment information, absolute priority or coordinated priority is adopted (depending on the signal control scheme of each intersection and whether the signal control platform supports the signal lamp) so that the emergency vehicle can reach the intersection as much as possible, the emergency vehicle can safely and efficiently pass through a plurality of intersections without stopping, and collision can not be generated with social vehicles in other directions. If the cloud platform finds that the driving mode and the issuing strategy of the emergency vehicle are different, or monitors that the road condition changes, the cloud platform re-analyzes the strategy in time and issues the latest traffic strategy again.
8. Guiding information delivery
The cloud platform transmits guiding information (namely guiding strategy information comprising the recommended speed of an emergency vehicle, the lamp state of a front crossing, the time and distance of reaching a destination and the like) to the RSU through the MEC, and the RSU broadcasts the guiding information to V2X OBU (comprising the emergency vehicle and other social vehicles provided with the V2X OBU) in a communication range through a PC5 interface, and the guiding information is displayed and voice broadcast through a flat plate of the vehicle-mounted terminal. After the emergency vehicle receives the data, the emergency vehicle runs at a relatively fixed speed according to the recommended speed, and can check the signal lamp state information of the front intersection, the time and the distance to the destination in real time. After the social vehicles receive the data, the social vehicles can timely and safely avoid, and a life channel is reserved for the emergency vehicles.
Regarding the intelligent transportation system of this embodiment, the following points are also described:
1. the edge calculation unit uploads sensing data comprising signal lamp data, intersection vehicle information, vehicle flow and other data, so that the time delay of uploading the data is within 100 ms;
2. the cloud platform calculates a priority traffic strategy through a big data technology based on the data uploaded by the edge calculation unit, and the whole data processing delay is within 10 ms;
3. and the cloud platform transmits the strategy calculation result to the vehicle end and the signal control platform, and the transmission delay is within 10 ms.
Finally, the technical scheme of the embodiment is based on the V2X vehicle road cooperative system, and the perception capability of the edge computing unit and the big data processing capability of the platform are utilized to realize the guidance of the prior passing of the cross-road section for the emergency intelligent network-connected vehicles, so that the passing speed of the emergency vehicles and the efficiency of reaching the destination are greatly improved, rescue actions are accelerated, more lives are saved, the rescue efficiency is improved, and the loss is reduced. Meanwhile, the method also reduces the waiting time and the stopping times of the emergency vehicle, reduces accident risks, is beneficial to reducing the occurrence rate of traffic accidents and ensures the safety of pedestrians and other road users. In addition, the scheme reduces the interference of the emergency vehicles on the normal traffic flow by intelligently optimizing the emergency vehicle passing scheme, is beneficial to relieving road congestion, improves the overall traffic fluency and improves the urban traffic environment. In summary, the scheme is based on advanced vehicle-road cooperation technology, improves the passing efficiency of emergency vehicles, improves the satisfaction of traffic participants, and generates good economic efficiency and social benefit.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any such modifications, equivalents, and improvements that fall within the spirit and principles of the present invention are intended to be covered by the following claims.
Claims (10)
1. A method of preferential passage of emergency vehicles, comprising:
acquiring destination information and real-time GPS information of an emergency vehicle from a vehicle-mounted terminal of the emergency vehicle through corresponding road side equipment, acquiring real-time position information of the emergency vehicle according to the real-time GPS information, and updating an optimal driving route of the emergency vehicle in real time according to the real-time position information and the destination information;
acquiring real-time road condition information of each road section to be reached and real-time lamp state information of a signal lamp on the optimal driving route through corresponding edge computing units;
analyzing the real-time position information, the optimal driving route, the real-time road condition information and the real-time lamp state information, and obtaining guidance strategy information of the emergency vehicle for preferential traffic, wherein the guidance strategy information comprises: the signal control information of each crossing to be reached on the optimal driving route and the recommended speed information of each road section to be reached on the optimal driving route by the emergency vehicle;
the information is sent to an information control platform, so that the information control platform adjusts the state of signal lamps of all the intersections to be reached on the optimal driving route according to the information control information;
and sending the recommended speed information to a vehicle-mounted terminal of the emergency vehicle through corresponding road side equipment so as to enable the vehicle-mounted terminal to output the recommended speed information.
2. The method of preferential pass of an emergency vehicle according to claim 1, further comprising, after said step of acquiring guidance policy information for preferential pass of the emergency vehicle:
and sending the information to the vehicle-mounted terminal of the emergency vehicle through corresponding road side equipment so as to enable the vehicle-mounted terminal to output the information.
3. The method of preferential pass of an emergency vehicle according to claim 1, wherein the guidance policy information further comprises: the destination arrival time of the emergency vehicle, the destination arrival distance of the emergency vehicle;
after the step of acquiring the guidance policy information of the emergency vehicle preferential traffic, the method further comprises:
and sending the destination arrival time and the destination arrival distance to the vehicle-mounted terminal of the emergency vehicle through corresponding road side equipment so as to enable the vehicle-mounted terminal to output the destination arrival time and the destination arrival distance.
4. The method of preferential pass of an emergency vehicle according to claim 1, further comprising, after said step of acquiring guidance policy information for preferential pass of the emergency vehicle:
generating avoidance reminding information according to the guidance strategy information;
and sending the avoidance reminding information to the vehicle-mounted terminal of the common vehicle on the corresponding road section on the optimal driving route through corresponding road side equipment so as to enable the vehicle-mounted terminal to output the avoidance reminding information.
5. The method according to any one of claims 1 to 4, wherein the step of analyzing the real-time location information, the optimal driving route, the real-time road condition information, and real-time traffic state information and acquiring guidance policy information for the preferential passage of the emergency vehicle comprises:
step S31, for each road section which is to be reached on the optimal driving route, calculating the average speed of each lane of the road section according to the real-time road condition information;
step S32, taking the maximum value of the average speeds of all lanes as the recommended speed of the emergency vehicle on the road section;
step S33, determining the current speed of the emergency vehicle and the distance between the emergency vehicle and the next intersection to be reached according to the real-time GPS information of the emergency vehicle, and calculating the estimated time length of the emergency vehicle passing through the next intersection to be reached according to the current speed, the suggested speed of the road section and the distance between the emergency vehicle and the next intersection to be reached;
step S34, determining green light demand duration of the next-to-arrive intersection according to the estimated duration, and determining signal control information of the next-to-arrive intersection according to the green light demand duration and current lamp state information.
6. The preferential pass method of an emergency vehicle according to claim 5, wherein in said step S33, an estimated time period for said emergency vehicle to pass through said next-to-arrive intersection is calculated according to formula 1:
wherein T is the estimated time length, V is the recommended vehicle speed, V 0 And a is the maximum acceleration of the emergency vehicle, and L is the distance between the emergency vehicle and the next crossing to be reached.
7. The method of claim 6, wherein in step S34, a green light demand duration of the next upcoming intersection is determined according to formula 2;
T green ＝k 1 ×T+k 2 x F formula 2
Wherein T is green For the green light demand time length, k 1 For adjusting the coefficients, k, of the duration weights 2 And F is the traffic flow of the road section and is the flow weight adjusting coefficient.
8. The method according to claim 5, wherein in the step S34, the step of determining the information of the traffic control of the next-to-be-reached intersection according to the green light demand time period and the current light state information includes:
judging whether the next crossing to be reached is currently red or green according to the current lamp state information;
when the traffic light is red, determining the information of the traffic light which is to be reached next as early-cut-off of the red light and turning on of the green light;
and when the intersection is a green light, judging whether the residual duration of the green light is smaller than the required duration of the green light, and if so, determining the signal control information of the next arrival intersection as green light extension.
9. Cloud platform of a smart transportation system comprising a processor and a memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method for preferential passage of emergency vehicles according to any one of claims 1-8.
10. An intelligent transportation system, comprising:
a vehicle-mounted terminal provided in a vehicle including an emergency vehicle, a general vehicle;
the vehicle-road cooperative equipment is arranged at the road side of the corresponding road and comprises an edge calculation unit, road side equipment, road condition detection equipment and a signal lamp controller;
a signal control platform connected with the signal lamp controller;
the cloud platform of claim 9.
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| CN117636671A (en) * | 2024-01-24 | 2024-03-01 | 四川君迪能源科技有限公司 | Cooperation scheduling method and system for intelligent vehicle meeting of rural roads |
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| CN117636671A (en) * | 2024-01-24 | 2024-03-01 | 四川君迪能源科技有限公司 | Cooperation scheduling method and system for intelligent vehicle meeting of rural roads |
| CN117636671B (en) * | 2024-01-24 | 2024-04-30 | 四川君迪能源科技有限公司 | Cooperation scheduling method and system for intelligent vehicle meeting of rural roads |
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