WO2019085846A1 - 一种快速车道的规划方法及单元 - Google Patents

一种快速车道的规划方法及单元 Download PDF

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Publication number
WO2019085846A1
WO2019085846A1 PCT/CN2018/112313 CN2018112313W WO2019085846A1 WO 2019085846 A1 WO2019085846 A1 WO 2019085846A1 CN 2018112313 W CN2018112313 W CN 2018112313W WO 2019085846 A1 WO2019085846 A1 WO 2019085846A1
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WIPO (PCT)
Prior art keywords
emergency vehicle
lane
traffic control
control unit
fast lane
Prior art date
Application number
PCT/CN2018/112313
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English (en)
French (fr)
Inventor
王提政
于琦
Original Assignee
华为技术有限公司
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP18873882.7A priority Critical patent/EP3690851A4/en
Publication of WO2019085846A1 publication Critical patent/WO2019085846A1/zh
Priority to US16/863,428 priority patent/US11087621B2/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
    • G—PHYSICS
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    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G—PHYSICS
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    • G—PHYSICS
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    • G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
    • G—PHYSICS
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    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
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    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
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    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
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    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
    • G08G1/096822—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard where the segments of the route are transmitted to the vehicle at different locations and times
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    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
    • G—PHYSICS
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    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G08G1/09685—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is computed only once and not updated
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/55—Push-based network services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]

Definitions

  • the present application relates to the field of wireless communication technologies, and in particular, to a method and a unit for planning a fast lane.
  • the Intelligent Transportation System aims to build a comprehensive, all-round, real-time, accurate and efficient integrated transportation management system by integrating advanced information, communication, sensing, control and computer technologies. . ITS can effectively use transportation facilities, reduce traffic load and environmental pollution, ensure traffic safety, and improve transportation efficiency. It is the future development direction of the transportation system and an important part of smart cities.
  • the ITS there are some emergency vehicles with special special purposes different from ordinary vehicles, such as police cars, fire engines, ambulances, and rescue vehicles.
  • the emergency vehicles can be free from driving speed and driving route during the execution of emergency missions.
  • the direction of the driving direction and the signal of the command light should be allowed by other vehicles and pedestrians.
  • the emergency vehicle periodically broadcasts a Cooperative Awareness Message (CAM) message or a Decentralized Environmental Notification Message (DEMN) to indicate that it is an emergency vehicle. It is to issue a warning to other vehicles to make it emergency.
  • CAM Cooperative Awareness Message
  • DEMN Decentralized Environmental Notification Message
  • the above-mentioned emergency vehicle alarm notification method makes it impossible for other vehicles to quickly respond effectively after knowing the notification message, especially when the road is congested, it is impossible to ensure that other vehicles can effectively avoid the emergency vehicle in time, so that the emergency vehicle cannot be quickly Arriving at the destination seriously affects the efficiency of emergency vehicles for emergency missions.
  • the embodiment of the present application provides a method and a unit for planning a fast lane to save the travel time of the emergency vehicle and improve the execution efficiency of the emergency vehicle for the emergency mission.
  • an embodiment of the present application provides a fast lane planning method, where the method includes: a traffic control unit acquires a fast lane scheduling request, the traffic control unit acquires an identifier of an emergency vehicle, and an emergency vehicle arrives at the traffic control unit.
  • the first road includes at least one a traffic lane control unit determining a fast lane in the at least one lane; the traffic control unit transmitting a second indication message to the non-emergency vehicle on the first road, the second indication message being used to indicate The non-emergency vehicle may not occupy the fast lane during the period from t0 to the t1; the traffic control unit sends a first indication message to the emergency vehicle according to the identifier of the emergency vehicle, where the first indication message is used And indicating that the emergency vehicle is traveling on the fast lane during the period from t0 to the t1.
  • the embodiment of the present application provides a traffic control unit, where the traffic control unit includes: a receiving module, configured to acquire a fast lane scheduling request; an acquiring module, configured to acquire an identifier of the emergency vehicle, and the emergency vehicle arrives at the traffic control a time t0 of the first road managed by the unit, and a time t1 when the first road is taken out; wherein the first road includes at least one lane; and a determining module, configured to determine fast in the at least one lane a transmitting module, configured to send a second indication message to the non-emergency vehicle on the first road, where the second indication message is used to indicate that the non-emergency vehicle is not occupied during the period from t0 to t1 a fast lane; and configured to send a first indication message to the emergency vehicle according to the identifier of the emergency vehicle, where the first indication message is used to indicate that the emergency vehicle is in the period from t0 to t1 Travel on the fast lane.
  • the traffic control unit determining the fast lane in the at least one lane comprises: if the first road includes more than two lanes, selecting the right lane is a fast lane; or, selecting the leftmost lane as a fast lane; or selecting the lane with the least vehicle as a fast lane; or selecting a lane matching the emergency vehicle type as a fast lane; or selecting a preset number of lanes as fast Lane; or, choose the lane with the fastest speed of the car as the fast lane.
  • the method further comprises: the traffic control unit controls the traffic light at the horizontal crossing,
  • the traffic light indicates that the non-emergency vehicle, the non-motorized vehicle, and the pedestrian are prohibited from crossing the fast lane at least during the period from t0 to the t1.
  • the traffic control unit described above may include a control module for performing the method.
  • the traffic control unit after the traffic control unit detects that the emergency vehicle exits the fast lane, the traffic control unit further reports to the non-emergency vehicle on the first road Sending a third indication message for indicating that the fast lane is resumed.
  • an embodiment of the present application provides a fast lane planning method, where the method includes: a central service unit receives a fast lane scheduling request, the fast lane scheduling request includes an identifier of an emergency vehicle; and the central service unit acquires the a vehicle speed of the emergency vehicle and an expected travel route of the emergency vehicle from the current location to the destination address; the central service unit acquires the first road included in the estimated travel route (the first road is a subset of the road of the estimated travel route); The service unit determines a first traffic control unit that controls the first road; the central service unit determines, according to the vehicle speed, the predicted travel route, and the first road, a time at which the emergency vehicle arrives at the first road T0, and time t1 when the first road is taken out; the central service unit sends a scheduling indication to the first traffic control unit, the scheduling indication including an identifier of the emergency vehicle, the t0, and the t1, so that The first traffic control unit pairs the first road according to the identification of the emergency vehicle, the
  • the embodiment of the present application provides a central service unit, where the central service unit includes: a receiving module, configured to receive a fast lane scheduling request, where the lane scheduling request includes an identifier of an emergency vehicle; and an acquiring module, configured to acquire the a vehicle speed of the emergency vehicle and an expected travel route of the emergency vehicle from the current location to the destination address; also for acquiring a first road included in the estimated travel route; and a determining module for determining a number of the first road to be controlled a traffic control unit; a calculation module, configured to determine, according to the vehicle speed, the predicted travel route, and the first road, a time t0 at which the emergency vehicle arrives at the first road, and exit the first a time t1 of the road; a sending module, configured to send a scheduling indication to the first traffic control unit, the scheduling indication including an identifier of the emergency vehicle, the t0, and the t1, so that the first traffic control unit The first road is planned according to the identification of the emergency vehicle, the a lane scheduling request
  • the central service unit when the central service unit acquires the travel path including a plurality of roads, the traffic light between the plurality of roads may be controlled, indicating that the vehicle is allowed to be in the Pass between multiple roads.
  • the central service unit described above may include a control module for performing the method.
  • the central service unit acquiring the predicted travel route of the emergency vehicle from the current location to the destination address comprises: according to the emergency vehicle from the current location to the Determining the estimated travel route with the shortest estimated time of the destination address; determining the estimated travel route according to the minimum number of traffic lights passing by the emergency vehicle from the current location to the destination address; according to the current location to the destination address At least the estimated traffic path is determined by the traffic volume.
  • an embodiment of the present application provides a fast lane planning method, where the method includes: a central service unit receives a fast lane scheduling request, where the fast lane scheduling request includes an identifier of the emergency vehicle; and the central service unit acquires Determining the vehicle speed of the emergency vehicle and the expected travel route of the emergency vehicle from the current location to the destination address; the central service unit determines N traffic control units according to the predicted travel route, and the i-th traffic corresponding to the i-th traffic control unit is fast a lane; wherein the i-th traffic control unit is one of the N traffic control units, the predicted travel lane includes the ith fast lane, i takes all positive integers not greater than N; The unit determines a time t2 at which the emergency vehicle arrives at the destination according to the vehicle speed, the predicted travel route; the central service unit sends a dispatch instruction to the ith traffic control unit, the dispatch indication including the emergency vehicle Identification, the t2, the i-th fast lane identification, so that the i
  • the embodiment of the present application provides a central service unit, where the central service unit includes: a receiving module, configured to receive a fast lane scheduling request, where the fast lane scheduling request includes an identifier of the emergency vehicle; and an acquiring module, a vehicle speed for obtaining the emergency vehicle and an estimated travel route of the emergency vehicle from a current location to a destination address; a determining module configured to determine N traffic control units and an i-th traffic control unit according to the predicted travel lane Corresponding ith fast lane; wherein the i-th traffic control unit is one of the N traffic control units, the predicted travel lane includes the ith fast lane, and the i-coded is not greater than N a calculation module for determining a time t2 when the emergency vehicle arrives at the destination according to the vehicle speed, the estimated travel route, and a sending module, configured to send a scheduling instruction to the ith traffic control unit, where
  • the scheduling indication includes an identifier of the emergency vehicle, the t2, an i-th fast lane
  • an embodiment of the present application provides a method for planning a fast lane, where the method includes: the traffic control unit receives a fast lane scheduling request; the traffic control unit acquires an identifier of the emergency vehicle, and the time t2 of the emergency vehicle arrives at the destination address, and the fast a lane identification, the fast lane identifier is used to indicate which one of the first roads controlled by the traffic control unit is a fast lane; the traffic control unit determines a fast lane according to the fast lane identifier; the traffic control unit is The non-emergency vehicle on the first road sends a second indication message, the second indication message is used to indicate that the non-emergency vehicle does not occupy the fast lane before the time t2; the traffic control unit is based on the identifier of the emergency vehicle
  • the emergency vehicle transmits a first indication message, the first indication message being used to indicate that the emergency vehicle can travel on the fast lane before the time t2.
  • the embodiment of the present application provides a traffic control unit, where the traffic control unit includes: a receiving module, configured to receive a fast lane scheduling request; and an acquiring module, configured to acquire an emergency vehicle identifier, and an emergency a time t2 when the vehicle arrives at the destination address, a fast lane identifier, the fast lane identifier is used to indicate which one of the first roads controlled by the traffic control unit is a fast lane, and a determining module is configured to determine a fast lane according to the fast lane identifier a sending module, configured to send a second indication message to the non-emergency vehicle on the first road, the second indication message is used to indicate that the non-emergency vehicle does not occupy the fast lane before the time t2; the traffic control The unit transmits a first indication message to the emergency vehicle according to the identifier of the emergency vehicle, the first indication message being used to indicate that the emergency vehicle can travel on the fast lane before the time t2.
  • the traffic control unit monitors the emergency vehicle to the first road, and the traffic control unit also goes to the first road
  • the non-emergency vehicle on the third sends a third indication message, which is used to indicate fast lane recovery use on the first road.
  • the embodiment of the present application provides a device, where the device includes a processor, a memory, a transceiver, and a bus; the processor, the memory, and the transceiver are connected by a bus; the memory stores program instructions, and the transceiver is configured to send and receive information;
  • the processor is configured to call program instructions in the memory, perform corresponding operations and information transfer, to perform the method as provided in any of the above aspects, and any possible design method.
  • the embodiment of the present application provides a traffic system, comprising the traffic control unit according to the second aspect or the eighth aspect, the central service unit according to the fourth aspect or the sixth aspect.
  • the central service unit has higher control, richer functions, and a broader management scope than the traffic control unit.
  • a central service unit can manage multiple traffic control units, and a traffic control unit can manage the traffic resources of a road.
  • the above method can be applied to an emergency driving situation of an emergency vehicle.
  • the emergency vehicle plans its own driving route in the travelable area, and can complete obstacle avoidance, lane change and the like based on the travelable area; It can be used in emergency vehicle assisted driving (ADAS/ITS/V2X) scenarios.
  • ADAS/ITS/V2X emergency vehicle assisted driving
  • the emergency vehicle judges the time and space relationship between itself and surrounding vehicles in the travelable area, and realizes functions such as collision prediction, lane change assist, intersection guidance, and violation identification. .
  • the fast lane planning method and the traffic control unit and the central service unit provided according to the present invention; can quickly determine the fast lane, and other non-emergency vehicles can make a consistent avoidance response according to the unified dispatching instruction; can quickly form a fast lane So that the emergency vehicle can pass at full speed.
  • the time for the emergency vehicle to reach the destination is greatly shortened; and the entire avoidance process is orderly, avoiding the disorderly avoidance of non-emergency vehicles.
  • FIG. 1 is a network architecture diagram of an embodiment of the present application.
  • FIG. 2 is a flowchart of a method for planning a fast lane according to an embodiment of the present application
  • FIG. 3 is a flowchart of another method for planning a fast lane according to an embodiment of the present application
  • FIG. 4 is a flowchart of another method for planning a fast lane provided by an embodiment of the present application.
  • FIG. 5 is a flowchart of another method for planning a fast lane according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a module of a traffic control unit according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a module of a central service unit according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a module structure of another central service unit provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of another module of a traffic control unit according to an embodiment of the present disclosure.
  • FIG. 10 is a schematic diagram of hardware components of a traffic management device according to an embodiment of the present application.
  • FIG. 1 is a network architecture diagram of an embodiment of the present application, specifically including: a Traffic Control Unit (TCU), a Center Service Unit (CSU), and an onboard unit installed on an emergency vehicle (On Board Unit) , OBU), where:
  • TCU Traffic Control Unit
  • CSU Center Service Unit
  • OBU onboard unit installed on an emergency vehicle
  • the TCU can coordinate and control the activities of traffic participation objects such as various vehicles, and divide the ITS management scope into multiple management areas based on the map information, and set a TCU for each management area.
  • the TCU can open a fast driving lane for an emergency vehicle.
  • the TCU can be set independently as a functional entity, or can be combined with a network element of a communication network, for example, deploying a TCU in the vicinity of a wireless base station in its management area, so as to be more efficiently coordinated with it. Traffic participation objects communicate.
  • the TCU can manage one road or multiple roads; usually one road is dominant; for effective scheduling, usually one road corresponds to one TCU, and the TCU manages the traffic resources on the road.
  • the CSU can perform optimal path calculation for the vehicle, realize the correspondence between the TCU and the managed area path, and monitor and manage the TCU. For example, before the emergency vehicle arrives at the management area of the TCU, the TCU is notified to prepare the fast driving lane in advance, and the CSU is equivalent.
  • the central subsystem of the ETSI ITS architecture it should be noted that the CSU can be set independently as a functional entity or can be combined with the TCU.
  • the OBU as a device for receiving and using the driving area or the driving lane number, can be placed on the traveling vehicle (since the OBU is usually integrated with the vehicle, the OBU as a communication body can also be directly referred to as a vehicle), including not limited to:
  • Vehicle map terminal such as the current vehicle terminal: navigation equipment, T-BOX, OBD, etc.; such as the vehicle driver equipment that implements the Advanced Driver Assistant System (ADAS) and ITS services; and the vehicle equipment that realizes the automatic driving service. .
  • ADAS Advanced Driver Assistant System
  • ITS Vehicle equipment
  • Pedestrian map terminals such as mobile phones, other handheld Global Positioning System (GPS) terminals.
  • GPS Global Positioning System
  • terminals such as terminals in the field of surveying and mapping.
  • the OBU and the TCU and the CSU can communicate with each other.
  • the OBU can report the status data of the vehicle position and speed to the TCU, and the TCU issues data such as the fast driving lane number to the OBU; and the CSU sends the relevant vehicle information to the TCU;
  • the OBU reports the status data of the vehicle position and speed to the CSU, and the CSU sends the planned path and other data to the OBU to the OBU.
  • FIG. 2 is a flowchart of a method for planning a fast lane according to an embodiment of the present application, which specifically includes the following steps:
  • Step 201 Before the emergency vehicle arrives at the first road, the traffic control unit acquires a fast lane scheduling request, and the first road is a road controlled by the traffic control unit.
  • the traffic control unit may obtain a fast lane scheduling request from the vehicle, or may obtain a fast lane scheduling request from the central service unit.
  • the fast lane scheduling request is used to indicate that the traffic control unit needs to plan a fast lane for the emergency vehicle.
  • Step 202 The traffic control unit acquires the identifier of the emergency vehicle, the time t0 when the emergency vehicle is expected to reach the first road controlled by the traffic control unit, and the time t1 when the first road is expected to exit; wherein the first The road contains at least one lane.
  • the emergency vehicle identification is one-to-one corresponding to the emergency vehicle, and each of the different emergency vehicles has a unique emergency vehicle identification, which may be a network system number, may be a license plate number, etc., and the emergency vehicle identification is used to inform the traffic control unit that Which car plans a fast lane and can also be used by the traffic control unit or the central service unit to determine the real-time location of the emergency vehicle.
  • a unique emergency vehicle identification which may be a network system number, may be a license plate number, etc.
  • the first road refers to the road controlled by the traffic control unit, and the traffic control unit can perform real-time control on the vehicles, traffic signals or other traffic rules on the first road.
  • the traffic information may include the current location of the emergency vehicle, the navigation path of the emergency vehicle, and the location of the first road, the length of the first road, and the speed of the vehicle. (can be average speed, or instantaneous speed), etc.
  • the acquisition of traffic information can be performed by any one of the vehicle, the traffic control unit, and the central service unit, and the calculation of t0 and t1 can also be performed by the vehicle, the traffic control unit, and the center. Execute any one of the service units.
  • the navigation path may be a map planned by an application such as a Google map or a Baidu map, or may be temporarily prepared by acquiring a current location and a destination address of the emergency vehicle by any one of a vehicle, a traffic control unit, and a central service unit. .
  • t0 and t1 can be updated in real time, and the real-time updated t0 and t1 can fully reflect the current traffic condition; so that the traffic control unit can more accurately control the first road.
  • the traffic participants on the road make the planning speed and utilization efficiency of the fast lane more efficient.
  • Step 203 The traffic control unit determines a fast lane in the at least one lane.
  • the present invention is directed to the ability to quickly plan a fast lane for an emergency vehicle by leaving a lane free of obstacles for the emergency vehicle so that the emergency vehicle can travel unimpeded and quickly reach the destination.
  • the lane is a fast lane (for example, if the traffic speed of one lane is faster than that of other lanes, then the lane with faster traffic is used as a fast lane).
  • the way in which the road is selected can be flexibly determined by the intelligent transportation system based on the historical performance of the traffic situation or by various current traffic factors.
  • Step 204 The traffic control unit sends a second indication message to the non-emergency vehicle on the first road, where the second indication message is used to indicate that the non-emergency vehicle does not occupy the fast lane during the period from t0 to t1.
  • the traffic control unit needs to periodically broadcast the t0 and t1 updated in real time to the vehicle on the first road in the form of a second indication message; so that the traffic control unit can fully reach before the time t0 arrives. Dispatching and controlling non-emergency vehicles on the first road to leave the fast lane.
  • the second indication message may include a fast lane identifier, which is used to indicate which lane in the first lane is an emergency lane, and may be a road number, for example, the second lane from the left is a fast lane of the emergency vehicle, when non-emergency
  • the vehicle receives the second indication message, it recognizes that the second lane from the left is the express lane of the emergency vehicle, and the fast lane is not occupied during the prescribed time period.
  • the second indication message may indicate that the non-emergency vehicle immediately exits the current fast lane or exits the current fast lane before time t0 (in order to leave a safe time margin, Before the preset time length from t0, before the 15th time from t0, control the non-emergency vehicle to exit the fast lane); if the other lanes on the first road have non-emergency vehicles, the second indication message indicates that the non-emergency vehicle is It is forbidden to enter the fast lane before time t1.
  • the traffic control unit further controls the traffic light at the crossing, so that the traffic light indicates the non-emergency vehicle, non-motorized at least during the period from t0 to t1 Vehicles and pedestrians are prohibited from crossing the fast lane (in order to leave a safe time margin, before the preset time from t0, such as before 20 seconds from t0, control traffic lights indicate non-emergency vehicles, non-motor vehicles and pedestrians are prohibited from crossing The fast lane) or directly close the lateral crossing.
  • Step 205 The traffic control unit sends a first indication message to the emergency vehicle according to the identifier of the emergency vehicle, where the first indication message is used to instruct the emergency vehicle to travel on the fast lane during the period from the t0 to the t1.
  • the first indication message may be sent to the emergency vehicle according to the identifier of the emergency vehicle, to inform the emergency vehicle that the fast lane can be used, refer to t0.
  • t0 the emergency vehicle that the fast lane can be used
  • the first indication message may include a fast lane identifier for indicating which lane in the first lane is an emergency lane, and may be a road number, for example, the second lane is the fast lane of the emergency vehicle from the left, when the emergency vehicle When the second indication message is received, the second lane from the left is identified as the express lane of the emergency vehicle, and then the fast lane is directly entered during the subsequent passage.
  • the traffic control unit can plan the emergency vehicles to be sequentially and sequentially driven on the fast lane.
  • the traffic control unit may also broadcast a third indication message for indicating that the vehicles of other lanes can enter the original fast lane; the traffic control unit can also restore the signal to normal. The working state; the traffic control unit can also send the message of the fast lane release to the central service unit, so that the central service unit can make subsequent traffic management decisions.
  • FIG. 3 is a flowchart of another fast lane planning method according to an embodiment of the present application, which specifically includes the following steps:
  • Step 301 The central service unit receives a fast lane scheduling request, and the fast lane scheduling request includes an identifier of the emergency vehicle.
  • the central service unit may receive the fast lane scheduling request from the emergency vehicle; or may receive the fast lane scheduling request from the traffic control unit; for example, the traffic control unit may forward the fast lane scheduling request of the emergency vehicle to the central service unit.
  • the central service unit may further determine whether the fast lane scheduling request is valid. If it is determined that the scheduling request is valid, the following steps are continued, and if the scheduling request is determined to be invalid, the response is rejected or not responded.
  • Step 302 The central service unit acquires the vehicle speed of the emergency vehicle and the estimated travel route of the emergency vehicle from the current location to the destination address;
  • the central service unit can obtain the speed of the emergency vehicle directly from the emergency vehicle and the expected driving route of the emergency vehicle from the current location to the destination address; the vehicle speed of the emergency vehicle and the emergency vehicle from the current location to the destination address can also be obtained indirectly from the traffic control unit.
  • the expected driving path can be obtained indirectly from the traffic control unit.
  • the predicted driving path may be a navigation path planned by an application such as Google Maps or Baidu Map, or may be planned by acquiring any of the vehicle, the traffic control unit, and the central service unit by acquiring the current location and the destination address of the emergency vehicle;
  • the planning manner may include: determining an estimated driving route according to a shortest estimated time of the emergency vehicle from the current location to the destination address; determining an estimated driving route according to the minimum number of traffic lights that the emergency vehicle passes from the current location to the destination address; according to the current location of the emergency vehicle
  • the estimated traffic path is determined by at least the traffic volume between the destination addresses.
  • Step 303 The central service unit acquires the first road included in the estimated driving path.
  • the predicted travel route is a route where the current location of the emergency vehicle arrives at the destination address, and the route generally includes at least one road.
  • the first road referred to herein generally refers to any one of the at least one road.
  • Step 304 The central service unit determines to control the first traffic control unit of the first road;
  • the central service unit When the central service unit receives a fast lane scheduling request, it needs to consider globally how to plan a fast channel on the entire path. Therefore, it needs to call the traffic control unit corresponding to each road included in the entire route; jointly complete the scheduling of the traffic resources to ensure that the emergency vehicle continuously uses the fast lane in its expected driving path.
  • the first traffic control unit referred to herein generally refers to a traffic control unit that manages any one of the at least one road; and corresponds to the first road.
  • Step 305 The central service unit determines, according to the vehicle speed, the estimated travel route, and the first road, a time t0 at which the emergency vehicle is expected to reach the first road, and a time t1 at which the first road is expected to exit.
  • the traffic information may include a current location of the emergency vehicle, an estimated travel path of the emergency vehicle (such as a navigation path being traveled), and a location where the first road is located, The length of the first road, the speed of the vehicle (which may be the average speed, or the instantaneous speed), etc., the traffic information may be calculated by the central service unit itself, or indirectly from the vehicle or the traffic control unit, and the calculation of t0 and t1 may also be Calculated by the central service unit itself or indirectly from the vehicle or traffic control unit.
  • Step 306 The central service unit sends a scheduling indication to the first traffic control unit, where the scheduling indication includes the identification of the emergency vehicle, t0 and t1, so that the first traffic control unit plans the first road according to the identification of the emergency vehicle, t0 and t1.
  • the central service unit sends a scheduling instruction to the traffic control unit corresponding to each road in the predicted driving path, so that each traffic control unit performs steps 201-205 respectively. Since the first road and the first traffic control unit are generally referred to, it should be understood that the signal interactions of each traffic control unit are the same or similar, but are independent of each other.
  • the driving route includes the A road and the B road
  • the corresponding traffic control units are the A unit and the B unit, respectively
  • the traffic service unit performs the step 306 for the A unit and the B unit
  • the driving unit A obtains the driving road A.
  • the time (t0A) at which the time (t0A) and the B unit are driven into the road B is different; the time (t1A) leaving the road A and the time (t1B) leaving the road B are also different. Therefore, when the A unit performs step 201 - step 205 and the B unit performs step 201 - step 205, there is a time difference between the planned fast lane on the road A and the fast lane on the planned road B.
  • the central service unit when the central service unit acquires that the predicted driving path includes multiple roads, it may also control a traffic light between the plurality of roads, indicating that the vehicle is allowed to pass between the plurality of roads, such as driving There is a green light between the roads of the path.
  • FIG. 3 is a flowchart of another fast lane planning method according to an embodiment of the present application, which specifically includes the following steps:
  • Step 401 The central service unit receives a fast lane scheduling request, and the lane scheduling request includes an identifier of the emergency vehicle.
  • the central service unit may receive the fast lane scheduling request from the emergency vehicle; or may receive the fast lane scheduling request from the traffic control unit; for example, the fast lane scheduling request of the emergency vehicle may be forwarded by the traffic control unit to the central service unit.
  • the central service unit may also determine whether the fast lane scheduling request is valid, if it is determined that the scheduling request is valid (for example, the type of vehicle acquiring the emergency vehicle may be a police car, a fire vehicle or an ambulance, or a global service unit obtained from the global If the traffic information determines that the vehicle has a higher priority requirement, the following steps are continued, and if it is determined that the scheduling request is invalid, it is rejected or not responded.
  • the type of vehicle acquiring the emergency vehicle may be a police car, a fire vehicle or an ambulance, or a global service unit obtained from the global If the traffic information determines that the vehicle has a higher priority requirement, the following steps are continued, and if it is determined that the scheduling request is invalid, it is rejected or not responded.
  • Step 402 The central service unit acquires the vehicle speed of the emergency vehicle and the estimated travel route of the emergency vehicle from the current location to the destination address;
  • the central service unit can obtain the speed of the emergency vehicle directly from the emergency vehicle and the expected driving route of the emergency vehicle from the current location to the destination address; the vehicle speed of the emergency vehicle and the emergency vehicle from the current location to the destination address can also be obtained indirectly from the traffic control unit.
  • the expected driving path can be obtained indirectly from the traffic control unit.
  • the predicted driving path may be a navigation path planned by an application such as Google Maps or Baidu Map, or may be planned by acquiring any of the vehicle, the traffic control unit, and the central service unit by acquiring the current location and the destination address of the emergency vehicle;
  • the planning manner may include: determining an estimated driving route according to a shortest estimated time of the emergency vehicle from the current location to the destination address; determining an estimated driving route according to the minimum number of traffic lights that the emergency vehicle passes from the current location to the destination address; according to the current location of the emergency vehicle
  • the estimated traffic path is determined by at least the traffic volume between the destination addresses.
  • step 402 it is necessary to determine the expected travel path from the predicted travel path. It is generally expected that there are multiple roads in the driving path, and each road contains multiple lanes. Therefore, in order to mobilize traffic resources more effectively and efficiently, it is necessary to be able to quickly plan the expected driving of the lane level between the current location of the emergency vehicle and the destination address.
  • the channel is to determine which lane to take in each road.
  • the lane is a fast lane (for example, if the traffic speed of one lane is faster than that of other lanes, then the lane with faster traffic is used as a fast lane).
  • the way in which the road is selected can be flexibly determined by the intelligent transportation system based on the historical performance of the traffic situation or by various current traffic factors.
  • the above predicted driving lane may be determined by the central service unit itself; or indirectly obtained from the vehicle, such as the vehicle itself planning an expected driving lane, and sending it to the central service unit for reference; or indirectly from each The traffic control unit corresponding to the road is obtained.
  • each traffic control unit determines a fast lane on the road that is controlled by itself, and sends it to the central service unit, which together constitute the predicted driving lane.
  • Step 403 The central service unit determines at least one traffic control unit according to the estimated travel route, wherein the total road control controlled by the at least one traffic control unit covers the predicted travel passage;
  • the corresponding traffic control unit is determined accordingly.
  • the central service unit determines N traffic control units and the i-th fast lane corresponding to the i-th traffic control unit according to the predicted travel path; wherein the i-th traffic control unit is the N traffic One of the control units, the predicted travel lane comprising the ith fast lane, i taking all positive integers not greater than N;
  • Step 404 The central service unit determines the time t2 when the emergency vehicle arrives at the destination address according to the vehicle speed of the emergency vehicle and the estimated travel route;
  • the traffic information may include the length of the estimated travel path of the emergency vehicle, the speed of the vehicle (which may be an average speed, or an instantaneous speed), etc., the acquisition of traffic information and t2
  • the calculations can be performed by the central service unit itself.
  • Step 405 The central service unit sends a scheduling indication to the at least one traffic control unit, where the scheduling indication includes an identifier of the emergency vehicle, the t2, so that the at least one traffic control unit is based on the identifier of the emergency vehicle, The t2 plans the expected travel path.
  • the central service unit sends a scheduling indication to the i-th traffic control unit, where the scheduling indication includes an identifier of the emergency vehicle, the t2, an i-th fast lane identifier, so that the i-th traffic control unit is The identification of the emergency vehicle, the t2 planning the ith fast lane.
  • the i-th fast lane identifier may be a lane number of the i-th traffic control unit to control the road, or a specific lane may be displayed in a navigation manner; the i-th fast lane identifier is used to identify the i-th fast lane.
  • the central service unit sends a scheduling instruction to the traffic control unit corresponding to each road in the predicted driving path, so that each of the traffic control units performs the following steps 501-505.
  • FIG. 5 is a flowchart of a method for planning a fast lane according to an embodiment of the present application, which specifically includes the following steps:
  • Step 501 The traffic control unit acquires a fast lane scheduling request.
  • the traffic control unit may obtain a fast lane scheduling request from the central service unit.
  • the fast lane scheduling request is used to indicate that the traffic control unit needs to plan a fast lane for the emergency vehicle.
  • Step 502 The traffic control unit acquires the identifier of the emergency vehicle, the time t2 when the emergency vehicle arrives at the destination address, and the fast lane identifier.
  • the fast lane identifier is used to indicate which lane of the first road controlled by the traffic control unit is a fast lane, and may Is the lane number or the specific lane shown in the navigation map.
  • the traffic control unit may acquire the identifier of the emergency vehicle from the central service unit, the time t2 when the emergency vehicle arrives at the destination address, and the fast lane identifier.
  • the fast lane marking is determined by the central service unit in advance.
  • the fast lane identification indicates that the rightmost lane on the first road governed by the traffic control unit is a fast lane.
  • Step 503 The traffic control unit determines the fast lane according to the fast lane identifier.
  • Step 504 The traffic control unit sends a second indication message to the non-emergency vehicle on the first road, where the second indication message is used to indicate that the non-emergency vehicle does not occupy the fast lane before the time t2;
  • the traffic control unit needs to periodically broadcast the t2 of the real-time update to the vehicle on the first road in the form of a second indication message. If there is a non-emergency vehicle on the fast lane on the first road, the second indication message indicates that the non-emergency vehicle immediately exits the current fast lane and cannot use or occupy the fast lane before time t2; if other lanes on the first road If there is a non-emergency vehicle, the second indication message will indicate that the non-emergency vehicle is prohibited from using and occupying the fast lane before time t2.
  • Step 505 The traffic control unit sends a first indication message to the emergency vehicle according to the identifier of the emergency vehicle, where the first indication message is used to indicate that the vehicle can travel on the fast lane before the time t2.
  • the traffic control unit when the traffic control unit monitors the emergency vehicle to exit the fast lane, that is, when the first road is driven out, the traffic control unit further sends a third indication message to the non-emergency vehicle on the first road, the third indication message. Used to indicate fast lane recovery use on the first road. The traffic control unit will also resume normal road management functions for that lane.
  • the traffic control unit controls the traffic light at the horizontal crossing so that the traffic light indicates that the non-emergency vehicle, the non-motor vehicle, and the pedestrian are prohibited from crossing the fast lane at least before time t2 .
  • non-emergency vehicles can only identify emergency vehicles, but many non-emergency vehicles have different responses to avoiding emergency vehicles, and there is no unified planning, so that the entire avoidance process is disordered, thereby failing to form a fast lane in the present invention.
  • the traffic system can enable other vehicles to smoothly and orderly avoid under the unified planning, quickly design a fast lane for the emergency vehicle, and ensure that the fast lane is not expected within the expected time. It is occupied so that the emergency vehicle can travel freely in the fast lane and reach the destination more quickly.
  • the embodiment of the present invention provides a traffic control unit 600.
  • the traffic control unit 600 may include: a receiving module 601, an obtaining module 602, and a determining module 603. Module 604; wherein
  • the receiving module 601 is configured to obtain a fast lane scheduling request; the module can be implemented by a transceiver.
  • the obtaining module 602 is configured to acquire an identifier of the emergency vehicle, a time t0 when the emergency vehicle reaches the first road controlled by the traffic control unit, and a time t1 when the first road is taken out; wherein the first road includes At least one lane; the module can be implemented by a processor invoking a program instruction in a memory or an externally input program instruction; or the transceiver can be used to receive related information.
  • the determining module 603 is configured to determine a fast lane in the at least one lane; the module may be implemented by a processor calling a program instruction in a memory or an externally input program instruction.
  • a sending module 604 configured to send a second indication message to the non-emergency vehicle on the first road, where the second indication message is used to indicate that the non-emergency vehicle does not occupy the fast during the period from t0 to t1 And a first indication message sent to the emergency vehicle according to the identifier of the emergency vehicle, where the first indication message is used to indicate that the emergency vehicle is in the period from t0 to t1 Driving on the fast lane.
  • the module can be implemented by a processor calling a program instruction in a memory or an externally input program instruction, and sending the indication message through the transceiver.
  • the traffic control unit 600 further includes: a control module 605, configured to control a traffic light at the horizontal crossing if the horizontal lane comprises a horizontal crossing, so that the traffic light is at least at the t0 to the t1 During this time period, it is indicated that non-emergency vehicles, non-motorized vehicles, and pedestrians are prohibited from crossing the fast lane.
  • a control module 605 configured to control a traffic light at the horizontal crossing if the horizontal lane comprises a horizontal crossing, so that the traffic light is at least at the t0 to the t1 During this time period, it is indicated that non-emergency vehicles, non-motorized vehicles, and pedestrians are prohibited from crossing the fast lane.
  • the receiving module 601 is specifically configured to perform the method mentioned in step 201 and the method that can be replaced by the same; the obtaining module 602 is specifically configured to perform the method mentioned in step 202 and the method that can be replaced equally;
  • the determining module 603 is specifically configured to perform the method mentioned in step 203 and the method that can be replaced by the same; the sending module 604 is specifically configured to perform the method mentioned in the step 204 or 205 and the method that can be equivalently replaced.
  • the above specific method embodiments and the explanations and expressions in the embodiments are also applicable to the method execution in the unit.
  • the embodiment of the present invention provides a central service unit 700.
  • the traffic control unit 700 may include: a receiving module 701, an obtaining module 702, a determining module 703, a calculating module 704, and a sending module 705;
  • the receiving module 701 is configured to receive a fast lane scheduling request, where the lane scheduling request includes an identifier of an emergency vehicle; the module can be implemented by a transceiver.
  • An obtaining module 702 configured to acquire a vehicle speed of the emergency vehicle and an estimated driving path of the emergency vehicle from a current location to a destination address; and is further configured to acquire a first road included in the estimated driving path; the module may be processed by The program is called by a program instruction in the memory or an externally input program instruction; the related information can also be received through the transceiver.
  • the determining module 703 is configured to determine a first traffic control unit that controls the first road; the module may be implemented by a processor calling a program instruction in a memory or an externally input program instruction.
  • a calculation module 704 configured to determine, according to the vehicle speed, the predicted travel route, and the first road, a time t0 when the emergency vehicle arrives at the first road, and a time t1 when the first road is driven out
  • the module can be implemented by a processor calling a program instruction in a memory or an externally input program instruction.
  • a sending module 705, configured to send a scheduling indication to the first traffic control unit, where the scheduling indication includes an identifier of the emergency vehicle, the t0, and the t1, so that the first traffic control unit is in accordance with the emergency
  • the identification of the vehicle, the t0, and the t1 plan the first road.
  • the module can be implemented by a processor calling a program instruction in a memory or an externally input program instruction, and sending the indication message through the transceiver.
  • the central service unit 700 further includes a control module 706 configured to control a traffic light between the plurality of roads when the travel path includes a plurality of roads, indicating that the vehicle is allowed to pass between the plurality of roads.
  • the module can be implemented by a processor calling a program instruction in a memory or an externally input program instruction to generate a control signal to control the display device.
  • the receiving module 701 is specifically configured to perform the method mentioned in step 301 and the method that can be replaced by the same; the obtaining module 702 is specifically configured to perform the method mentioned in step 302 or 303 and can be equivalently replaced.
  • the determining module 703 is specifically configured to perform the method mentioned in step 304 and the method that can be replaced by the same; the calculating module 704 is specifically configured to perform the method mentioned in step 305 and the method that can be replaced equally; the sending module 705 is specifically used The method mentioned in step 306 and the method that can be replaced equally are performed.
  • the above specific method embodiments and the explanations and expressions in the embodiments are also applicable to the method execution in the unit.
  • the embodiment of the present invention further provides another central service unit 800.
  • the traffic control unit 800 may include: a receiving module 801, an obtaining module 802, a determining module 803, a calculating module 804, and a sending module 805.
  • the receiving module 801 is configured to receive a fast lane scheduling request, where the lane scheduling request includes an identifier of the emergency vehicle; the module can be implemented by a transceiver.
  • An obtaining module 802 configured to acquire a vehicle speed of the emergency vehicle and an expected driving path of the emergency vehicle from a current location to a destination address; the module may be implemented by a processor calling a program instruction in a memory or an externally input program instruction; The relevant information can be received through the transceiver.
  • a determining module 803 configured to determine N traffic control units according to the predicted driving path, and an i-th fast lane corresponding to the i-th traffic control unit; wherein the i-th traffic control unit is the N One of the traffic control units, the predicted travel lane includes the ith fast lane, i takes all positive integers not greater than N; the module can be invoked by the processor to program instructions in the memory or externally input program instructions achieve.
  • a calculation module 804 configured to determine, according to the vehicle speed, the predicted travel route, a time t2 when the emergency vehicle arrives at the destination; the module may be implemented by a processor calling a program instruction in a memory or an externally input program instruction .
  • a sending module 805 configured to send a scheduling indication to the ith traffic control unit, where the scheduling indication includes an identifier of the emergency vehicle, the t2, an i-th fast lane identifier, so that the ith traffic control unit is configured according to the emergency The identification of the vehicle, the t2, planning the ith fast lane.
  • the module can be implemented by a processor calling a program instruction in a memory or an externally input program instruction, and sending the indication message through the transceiver.
  • the central service unit 800 further includes: a control module 806, configured to control a traffic light between the plurality of roads when the plurality of roads are included in the predicted travel lane, indicating that the vehicle is allowed to be between the plurality of roads Pass.
  • the module can be implemented by a processor calling a program instruction in a memory or an externally input program instruction to generate a control signal to control the display device.
  • the receiving module 801 is specifically configured to perform the method mentioned in step 401 and the method that can be replaced by the same; the obtaining module 802 is specifically configured to perform the method mentioned in step 402 and the method that can be replaced equally;
  • the determining module 803 is specifically configured to perform the method mentioned in step 403 and the method that can be replaced by the same; the calculating module 804 is specifically configured to perform the method mentioned in step 404 and the method that can be replaced equally;
  • the sending module 805 is specifically configured to perform The method mentioned in step 405 and the method which can be equivalently replaced.
  • the embodiment of the present invention further provides another traffic control unit 900.
  • the traffic control unit 900 may include: a receiving module 901, an obtaining module 902, a determining module 903, and a sending module 904;
  • the receiving module 901 is configured to obtain a fast lane scheduling request; the module can be implemented by a transceiver.
  • the obtaining module 902 is configured to acquire an identifier of the emergency vehicle, a time t2 when the emergency vehicle arrives at the destination address, and a fast lane identifier, where the fast lane identifier is used to indicate which one of the first roads controlled by the traffic control unit is a fast lane;
  • the module can be implemented by the processor calling a program instruction in the memory or an externally input program instruction; the related information can also be received through the transceiver.
  • the determining module 903 is configured to determine a fast lane according to the fast lane identifier; the module may be implemented by a processor calling a program instruction in a memory or an externally input program instruction.
  • a sending module 904 configured to send a second indication message to the non-emergency vehicle on the first road, where the second indication message is used to indicate that the non-emergency vehicle does not occupy the fast lane before the time t2;
  • the identification of the emergency vehicle transmits a first indication message to the emergency vehicle, the first indication message being used to indicate that the emergency vehicle can travel on the fast lane before the time t2.
  • the sending module 904 is further configured to: when the emergency vehicle is driven out of the first road, send a third indication message to the non-emergency vehicle on the first road, where the third indication message is used to indicate the The fast lane on the first road is restored.
  • the module can be implemented by a processor calling a program instruction in a memory or an externally input program instruction, and sending the indication message through the transceiver.
  • the traffic control unit 900 further includes: a control module 905, configured to control a traffic light at the horizontal crossing if the horizontal lane includes a horizontal crossing, so that the traffic light indicates a non-emergency vehicle at least before time t2 Non-motorized vehicles and pedestrians are prohibited from crossing the fast lane.
  • a control module 905 configured to control a traffic light at the horizontal crossing if the horizontal lane includes a horizontal crossing, so that the traffic light indicates a non-emergency vehicle at least before time t2 Non-motorized vehicles and pedestrians are prohibited from crossing the fast lane.
  • the receiving module 901 is specifically configured to perform the method mentioned in step 501 and the method that can be replaced by the same; the obtaining module 902 is specifically configured to perform the method mentioned in step 502 and the method that can be replaced equally;
  • the determining module 903 is specifically configured to perform the method mentioned in step 503 and the method that can be replaced by the same; the sending module 904 is specifically configured to perform the method mentioned in the steps 504 and 505 and the method that can be replaced equally.
  • the embodiment of the present application provides a traffic management device 1000.
  • the device includes a processor 1001, a memory 1002, a transceiver 1003, and a bus 1004.
  • the processor 1001, the memory 1002, and the transceiver 1003 are connected by a bus 1004.
  • a program instruction is stored in the memory 1002, and the transceiver 1003 is configured to send and receive information.
  • the processor 1001 is configured to call a program instruction in the memory 1002, perform corresponding operations and information transmission, to complete any of the methods and methods provided in the foregoing embodiments. Possible design approach.
  • Embodiments of the present application provide a transportation system including a traffic control unit as described in 600 or 900, a central service unit as described in 700 or 800.
  • embodiments of the present application can be provided as a method, system, or computer program product. Therefore, the embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Moreover, embodiments of the present application can 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, etc.) including computer usable program code.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG.
  • These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

一种快速车道的规划方法及单元，该方法包括：交通控制单元获取快速车道调度请求（201），获取紧急车辆的标识、紧急车辆到达交通控制单元所管控的第一道路的时刻t0，以及驶出第一道路的时刻t1（202）；交通控制单元在至少一条车道中确定出快速车道（203）；交通控制单元向第一道路上的非紧急车辆发送第二指示消息，在t0至t1这一时段内不得占用快速车道（204）；交通控制单元根据紧急车辆的标识向紧急车辆发送第一指示消息，在t0至t1这一时段内在快速车道上行驶（205）。以节省紧急车辆的行驶时间，提升紧急车辆针对紧急任务执行效率。

Description

一种快速车道的规划方法及单元 技术领域
本申请涉及无线通信技术领域，特别涉及一种快速车道的规划方法及单元。
背景技术
智能交通系统(Intelligent Transportation System，ITS)旨在通过集成应用先进的信息、通信、传感、控制和计算机等技术，建立大范围、全方位发挥作用并且实时、准确、高效的综合交通运输管理系统。ITS可以有效利用交通设施、减少交通负荷和环境污染、保证交通安全、提高运输效率，是交通系统未来的发展方向，也是智慧城市的重要组成部分。
目前在ITS中，存在一些与普通车辆不同，具有特殊专门用途的紧急车辆，如，警车、消防车、救护车、救险车等，紧急车辆在执行紧急任务途中可以不受行驶速度、行驶路线、行驶方向和指挥灯信号的限制，其他车辆和行人应当让行。
现有车联网系统中，紧急车辆在行驶过程中会周期性广播协作式提醒消息(Cooperative Awareness Message，CAM)消息或发布中心环境通知消息(Decentralized Environmental Notification Message，DEMN)指示自己是紧急车辆，目的是向其他发出车辆告警，让其紧急避让。
但是，上述紧急车辆的告警通知方式，使得其他车辆即时得知通知消息后依旧不能快速地做出有效响应，尤其在道路拥堵时更无法确保其他车辆能够及时有效避让紧急车辆，使得紧急车辆无法快速到达目的地，严重影响紧急车辆针对紧急任务执行效率。
发明内容
本申请实施例提供一种快速车道的规划方法及单元，以节省紧急车辆的行驶时间，提升紧急车辆针对紧急任务执行效率。
本申请实施例提供的具体技术方案如下：
第一方面，本申请实施例提供一种快速车道的规划方法，该方法包括：交通控制单元获取快速车道调度请求，所述交通控制单元获取紧急车辆的标识、紧急车辆到达所述交通控制单元所管控的第一道路的时刻t0(表明交通控制单元在紧急车辆到达第一路道前收到调度请求)，以及驶出所述第一道路的时刻t1；其中，所述第一道路包含至少一条车道；所述交通控制单元在所述至少一条车道中确定出快速车道；所述交通控制单元向所述第一道路上的非紧急车辆发送第二指示消息，所述第二指示消息用于指示非紧急车辆在所述t0至所述t1这一时段内不得占用快速车道；所述交通控制单 元根据所述紧急车辆的标识向所述紧急车辆发送第一指示消息，所述第一指示消息用于指示所述紧急车辆在所述t0至所述t1这一时段内在所述快速车道上行驶。
第二方面，本申请实施例提供一种交通控制单元，该交通控制单元包括：接收模块，用于获取快速车道调度请求；获取模块，用于获取紧急车辆的标识、紧急车辆到达所述交通控制单元所管控的第一道路的时刻t0，以及驶出所述第一道路的时刻t1；其中，所述第一道路包含至少一条车道；确定模块，用于在所述至少一条车道中确定出快速车道；发送模块，用于向所述第一道路上的非紧急车辆发送第二指示消息，所述第二指示消息用于指示非紧急车辆在所述t0至所述t1这一时段内不得占用快速车道；还用于根据所述紧急车辆的标识向所述紧急车辆发送第一指示消息，所述第一指示消息用于指示所述紧急车辆在所述t0至所述t1这一时段内在所述快速车道上行驶。
根据第一方面和第二方面，在一种可能的设计中，所述交通控制单元在所述至少一条车道中确定出快速车道包括：若第一道路包含两个以上车道，选择最右车道为快速车道；或者，选择最左车道为快速车道；或者，选择车辆最少的车道为快速车道；或者，选择与所述紧急车辆类型匹配的车道为快速车道；或者，选择预设编号的车道为快速车道；或者，选择车流通行速度最快的车道为快速车道。
根据第一方面和第二方面，在一种可能的设计中，若所述快速车道中包含横向道口，所述方法还包括：所述交通控制单元控制所述横向道口处的交通灯，使所述交通灯至少在所述t0至所述t1这一时段内指示非紧急车辆、非机动车辆以及行人禁止穿越所述快速车道。上述交通控制单元可以包含控制模块，用于执行该方法。
根据第一方面和第二方面，在一种可能的设计中，当交通控制单元监测到所述紧急车辆驶出所述快速车道之后，交通控制单元还向所述第一道路上的非紧急车辆发送第三指示消息，用于指示所述快速车道恢复使用。
第三方面，本申请实施例提供一种快速车道的规划方法，该方法包括：中心服务单元接收快速车道调度请求，所述快速车道调度请求包含紧急车辆的标识；所述中心服务单元获取所述紧急车辆的车速以及所述紧急车辆从当前位置到目的地址的预计行驶路径；中心服务单元获取所述预计行驶路径中包含的第一道路(第一道路为预计行驶路径的道路子集)；中心服务单元确定管控所述第一道路的第一交通控制单元；中心服务单元根据所述车速、所述预计行驶路径、和所述第一道路确定出所述紧急车辆到达所述第一道路的时刻t0，以及驶出所述第一道路的时刻t1；中心服务单元向所述第一交通控制单元发送调度指示，所述调度指示包含所述紧急车辆的标识、所述t0和所述t1，以便所述第一交通控制单元根据所述紧急车辆的标识、所述t0和所述t1对所述第一道路进行规划。
第四方面，本申请实施例提供一种中心服务单元，中心服务单元包括：接收模块，用于接收快速车道调度请求，所述车道调度请求包含紧急车辆的标识；获取模块，用于获取所述紧急车辆的车速以及所述紧急车辆从当前位置到目的地址的预计行驶路径；还用于获取所述预计行驶路径中包含的第一道路；确定模块，用于确定管控所述第一道路的第一交通控制单元；计算模块，用于根据所述车速、所述预计行驶路径、和所述第一道路确定出所述紧急车辆到达所述第一道路的时刻t0，以及驶出所述第一道路的时刻t1；发送模块，用于向所述第一交通控制单元发送调度指示，所述调度指示包 含所述紧急车辆的标识、所述t0和所述t1，以便所述第一交通控制单元根据所述紧急车辆的标识、所述t0和所述t1对所述第一道路进行规划。
根据第三方面和第四方面，在一种可能的设计中，中心服务单元获取所述行驶路径包含多个道路时，可以控制所述多个道路之间的交通灯，指示允许车辆在所述多个道路之间通行。上述中心服务单元可以包含控制模块，用于执行该方法。
根据第三方面和第四方面，在一种可能的设计中，中心服务单元获取所述紧急车辆从当前位置到目的地址的预计行驶路径包括：根据所述紧急车辆从所述当前位置到所述目的地址的预计用时最短确定预计行驶路径；根据所述紧急车辆从所述当前位置到所述目的地址经过的交通灯个数最少确定预计行驶路径；根据所述当前位置到所述目的地址之间车流量最少确定预计行驶路径。
第五方面，本申请实施例提供一种快速车道的规划方法，方法包括：中心服务单元接收快速车道调度请求，所述快速车道调度请求包含所述紧急车辆的标识；所述中心服务单元获取所述紧急车辆的车速以及所述紧急车辆从当前位置到目的地址的预计行驶通道；中心服务单元根据所述预计行驶通道确定N个交通控制单元，以及第i个交通控制单元对应的第i条快速车道；其中，所述第i个交通控制单元为所述N个交通控制单元中的一个，所述预计行驶通道包含所述第i快速车道，i取编不大于N的所有正整数；中心服务单元根据所述车速、所述预计行驶通道确定出所述紧急车辆到达所述目的地的时刻t2；中心服务单元向所述第i交通控制单元发送调度指示，所述调度指示包含所述紧急车辆的标识、所述t2、第i快速车道标识，以便所述第i交通控制单元根据所述紧急车辆的标识、所述t2对所述第i快速车道进行规划。
第六方面，本申请实施例提供一种中心服务单元，所述中心服务单元包括：接收模块，用于接收快速车道调度请求，所述快速车道调度请求包含所述紧急车辆的标识；获取模块，用于获取所述紧急车辆的车速以及所述紧急车辆从当前位置到目的地址的预计行驶通道；确定模块，用于根据所述预计行驶通道确定N个交通控制单元，以及第i个交通控制单元对应的第i条快速车道；其中，所述第i个交通控制单元为所述N个交通控制单元中的一个，所述预计行驶通道包含所述第i快速车道，i取编不大于N的所有正整数；计算模块，用于根据所述车速、所述预计行驶通道确定出所述紧急车辆到达所述目的地的时刻t2；发送模块，用于向第i交通控制单元发送调度指示，所述调度指示包含所述紧急车辆的标识、所述t2、第i快速车道标识，以便所述第i交通控制单元根据所述紧急车辆的标识、所述t2对所述第i快速车道进行规划。
第七方面，本申请实施例提供一种快速车道的规划方法，方法包括：交通控制单元接收快速车道调度请求；所述交通控制单元获取紧急车辆的标识、紧急车辆到达目的地址的时刻t2、快速车道标识，快速车道标识用于指示所述交通控制单元管控的第一道路中哪一条车道为快速车道；所述交通控制单元根据所述快速车道标识确定快速车道；所述交通控制单元向所述第一道路上的非紧急车辆发送第二指示消息，所述第二指示消息用于指示非紧急车辆在所述t2时刻前不得占用快速车道；所述交通控制单元根据所述紧急车辆的标识向所述紧急车辆发送第一指示消息，所述第一指示消息用于指示所述紧急车辆在所述t2时刻前能够在所述快速车道上行驶。
第八方面，本申请实施例提供一种，交通控制单元，其特征在于，所述交通控制 单元包括：接收模块，用于接收快速车道调度请求；获取模块，用于获取紧急车辆的标识、紧急车辆到达目的地址的时刻t2、快速车道标识，快速车道标识用于指示所述交通控制单元管控的第一道路中哪一条车道为快速车道；确定模块，用于根据所述快速车道标识确定快速车道；发送模块，用于向所述第一道路上的非紧急车辆发送第二指示消息，所述第二指示消息用于指示非紧急车辆在所述t2时刻前不得占用快速车道；所述交通控制单元根据所述紧急车辆的标识向所述紧急车辆发送第一指示消息，所述第一指示消息用于指示所述紧急车辆在所述t2时刻前能够在所述快速车道上行驶。
根据第七方面和第八方面，在一种可能的设计中，所述交通控制单元监测到所述紧急车辆到驶出所述第一道路时，所述交通控制单元还向所述第一道路上的非紧急车辆发送第三指示消息，所述第三指示消息用于指示所述第一道路上的快速车道恢复使用。
第九方面，本申请实施例提供一种设备，设备包含处理器、存储器、收发器以及总线；处理器、存储器、收发器通过总线相连接；存储器中存储有程序指令，收发器用于收发信息；处理器用于调用存储器中的程序指令，进行相应的运算和信息传输；以完成如上述任意一个方面提供的方法以及任意一种可能的设计的方法。
第十方面，本申请实施例提供一种交通系统，该交通系统包括如第二方面或第八方面所述的交通控制单元、如第四方面或第六方面所述的中心服务单元。
在一种可能的设计中，中心服务单元相对交通控制单元，有更高的控制权、更丰富的功能、以及更广阔的管理范围。一个中心服务单元可以管理多个交通控制单元，而一个交通控制单元可以管理一个道路的交通资源。
上述方法可以应用在紧急车辆自动驾驶场景，在紧急车辆自动驾驶场景中，紧急车辆在可行驶区域内规划自身的行驶路径，并可基于可行驶区域完成避障、换道等动作；上述方法也可以应用在紧急车辆辅助驾驶(ADAS/ITS/V2X)场景中，此时紧急车辆在可行驶区域内判断自身和周边车辆的时空关系，实现碰撞预测、换道辅助、路口引导、违章识别等功能。
应理解，上述任意一种可能的设计方法，在不违背自然规律的条件下，可以进行方法之间的自由组合。
根据本发明所提供的快速车道的规划方法以及交通控制单元和中心服务单元；能够快速确定快速车道，且其他非紧急车辆都能根据统一的调度指示做出一致的避让反应；能够迅速形成快速车道以便紧急车辆能够全速通过。大大缩短了紧急车辆到达目的地的时间；且整个避让过程井然有序，避免了非紧急车辆杂乱无章的无效避让。
附图说明
图1为本申请实施例的网络架构图；
图2为本申请实施例提供的一种快速车道的规划方法流程图；
图3为本申请实施例提供的另一种快速车道的规划方法流程图；
图4和本申请实施例提供的另一种快速车道的规划方法流程图；
图5为本申请实施例提供的另一种快速车道的规划方法流程图；
图6为本申请实施例提供的一种交通控制单元的模块组成示意图；
图7为本申请实施例提供的一种中心服务单元的模块组成示意图；
图8和本申请实施例提供的另一种中心服务单元的模块组成示意图；
图9为本申请实施例提供的另一种交通控制单元的模块组成示意图；
图10为本申请实施例提供的一种交通管理设备的硬件组成示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。
图1所示为本申请实施例的网络架构图，具体包括：交通管理单元(Traffic Control Unit，TCU)，中心服务单元(Center Service Unit，CSU)和紧急车辆上安装的车载单元(On Board Unit，OBU)，其中：
TCU能够对交通参与对象如各种车辆的活动进行协调控制，基于地图信息将ITS管理范围划分为多个管理区域，为每个管理区域设置一个TCU。本申请中TCU可为紧急车辆开通快速行驶车道。需要说明的是，TCU作为功能实体可以独立设置，也可以与通信网络的网元合设，例如，将TCU部署于其负责管理区域内的无线基站附近，以便于更为高效地与其负责协调的交通参与对象进行通信。
在具体实现过程中，TCU可以管理一条道路，或者多条道路；通常以一条道路为主；为了有效调度，通常一个道路对应一个TCU，该TCU对该道路上的交通资源进行管理。
CSU，可以为车辆进行最优路径计算，实现TCU和所管理区域路径的对应，对TCU进行监控和管理，比如在紧急车辆到达TCU的管理区域之前，通知TCU提前准备快速行驶车道，CSU相当于ETSI ITS架构的中心子系统，需要说明的是，CSU作为功能实体可以独立设置，也可以与TCU合设。
OBU，作为接收和使用行驶区域或行驶车道号的装置，可以放在行驶车辆(由于OBU通常与车辆为一体，因此后文为了叙述方便，OBU作为通信主体也可以直接称为车辆)，包括但不限于：
车载地图终端：如现在车载终端：导航设备、T-BOX、OBD等；又如实现高级驾驶辅助系统(Advanced Driver Assistant System，ADAS)、ITS业务的车载设备；又如实现自动驾驶业务的车载设备。
行人地图终端：如手机、其他手持全球定位系统(Global Positioning System，GPS)终端。
其他终端：如测绘领域的终端。
OBU与TCU与CSU之间可以互相通信，如OBU可以上报车辆位置、速度等状态数据给TCU，TCU下发快速行驶车道编号等数据给OBU；又如CSU发送相关的车辆信息给TCU；再如OBU上报车辆位置、速度等状态数据给CSU，CSU向OBU下发规划的路径等数据给OBU等等。
请参阅图2，图2为本申请实施例提供的快速车道的规划方法流程图，具体包括 如下步骤：
步骤201：在紧急车辆到达第一道路之前，交通控制单元获取快速车道调度请求，所述第一道路为所述交通控制单元所管控的道路。
可选的，交通控制单元可以从车辆获取快速车道调度请求，也可以从中心服务单元获取快速车道调度请求。快速车道调度请求用于指示交通控制单元需要为紧急车辆规划出快速车道。
步骤202：交通控制单元获取紧急车辆的标识、紧急车辆预计到达所述交通控制单元所管控的第一道路的时刻t0，以及预计驶出所述第一道路的时刻t1；其中，所述第一道路包含至少一条车道。
其中，紧急车辆标识是与紧急车辆一一对应的，不同的紧急车辆各自有唯一的紧急车辆标识，可以是网络系统编号、可以是车牌号等等，紧急车辆标识用于告知交通控制单元需要为哪一辆车规划快速车道，还可用于交通控制单元或中心服务单元确定该紧急车辆的实时位置。
第一道路指交通控制单元所管控的道路，交通控制单元可以对第一道路上的车辆、交通信号或其他交通规则进行实时管控。
至于t0和t1，可以根据交通信息进行综合计算得到；交通信息可以包括紧急车辆当前的位置、紧急车辆的正在行进的导航路径、以及第一道路所在的位置、第一道路的长度、车辆的速度(可以是平均速度，也可以是瞬时速度)等，交通信息的获取可以由车辆、交通控制单元、中心服务单元中的任意一个执行，t0和t1的计算也可以由车辆、交通控制单元、中心服务单元中的任意一个执行。其中，导航路径可以是例如谷歌地图、百度地图等应用所规划的地图，也可以是车辆、交通控制单元、中心服务单元中的任意一个通过获取紧急车辆的当前位置和目的地址进行临时规划出来的。
具体实现过程中,由于交通状态时刻发生变化，因此t0和t1可以是实时更新的,实时更新的t0和t1可以充分反映当前的交通路况；以便于所述交通控制单元更准确地控制第一道路上的交通参与者，使得快速车道的规划速度和利用效率更高。
步骤203：交通控制单元在所述至少一条车道中确定出快速车道。
一条道路上至少包含一条车道，绝大多数情况，一条道路都包含两条车道以上。本发明旨在能够迅速为紧急车辆规划出快速车道，即为紧急车辆留出来一条没有障碍的车道，以便紧急车辆能够畅通行驶并快速到达目的地。
作为可选的，可以选择最左或最右右车道为快速车道；或者，选择车辆最少的车道为快速车道(如一条车道上有5辆车，另一车道上有10辆车，则选择有5辆车的车道为快速车道，可以减轻调动资源的负担)；或者，选择与所述紧急车辆类型匹配的车道为快速车道(如一条道路本身即为有特殊用途的紧急车道，而其他车道为非紧急车道，则选择紧急车道作为快速车道)；或者，选择预设编号的车道为快速车道(如以从左到右数第2号车道为快速车道)；或者，选择车流通行速度最快的车道为快速车道(如一条车道的车流速度比其它车道的车流更快，则以车流更快的车道作为快速车道)。选择道路的方式可以由智能交通系统根据交通情况的历史表现或者由多种当下交通因素来灵活确定。
步骤204：交通控制单元向第一道路上的非紧急车辆发送第二指示消息，所述第 二指示消息用于指示非紧急车辆在所述t0至所述t1这一时段内不得占用快速车道。
具体实现过程中，交通控制单元需要将实时更新的t0和t1以第二指示消息的形式周期性地广播给第一道路上的车辆；以便于交通控制单元能在t0时刻到达之前，就能够充分地调度和控制第一道路上的非紧急车辆驶离快速车道。
可选的，第二指示消息中可以包含快速车道标识，用于表示第一车道中哪个车道是紧急车道，可以是道路编号，例如从左起第2车道为紧急车辆的快速车道，当非紧急车辆收到第二指示消息时，便识别出左起第2车道为紧急车辆的快速车道，而在上述规定的时间段内不会占用该快速车道。
若第一道路上的快速车道上有非紧急车辆，则第二指示消息会指示非紧急车辆立即驶出当前快速车道或者在t0时刻前驶出当前快速车道(为了留有安全时间余度，可在距t0时刻预设时长之前，如距t0时刻15s之前，控制非紧急车辆驶出快速车道)；如果第一道路上的其他车道有非紧急车辆，则第二指示消息会指示非紧急车辆在t1时刻前禁止驶入快速车道。
可选的，若如果快速车道中还包含横向道口，则交通控制单元还要控制道口处的交通灯，使交通灯至少在所述t0至所述t1这一时段内指示非紧急车辆、非机动车辆以及行人禁止穿越所述快速车道(为了留有安全时间余度，可在距t0时刻预设时长之前，如距t0时刻20s之前，控制交通信号灯指示非紧急车辆、非机动车辆以及行人禁止穿越所述快速车道)，或直接封闭横向道口。
步骤205：交通控制单元根据紧急车辆的标识向紧急车辆发送第一指示消息，第一指示消息用于指示紧急车辆在所述t0至所述t1这一时段内在快速车道上行驶。
可选的，当交通控制单元在t0时刻之前规划好了没有非紧急车辆的快速车道后，可以向根据紧急车辆的标识向紧急车辆发送第一指示消息，告知紧急车辆可以使用快速车道，参照t0-t1这段时间内，可以在安全行驶的前提下全速前进。
可选的，第一指示消息中可以包含快速车道标识，用于表示第一车道中哪个车道是紧急车道，可以是道路编号，例如从左起第2车道为紧急车辆的快速车道，当紧急车辆收到第二指示消息时，便识别出左起第2车道为紧急车辆的快速车道，进而在后续的通行过程中直接驶入该快速车道。
若存在多个紧急车辆需要交通控制单元在第一道路上规划快速车道，则交通控制单元可将这些紧急车辆规划在快速车道上按照先后顺序依次有序行驶。
在具体实现过程中，当紧急车辆驶出快速车道之后：交通控制单元还可以广播第三指示消息，用于指示其他车道的车辆可以驶入原快速车道；交通控制单元还可以将信号灯恢复到正常工作状态；交通控制单元还可以将快速车道释放的消息发送给中心服务单元，以便中心服务单元做后续的交通管理决策。
请参阅图3，图3为本申请实施例提供的另一种快速车道的规划方法流程图，具体包括如下步骤：
步骤301：中心服务单元收到快速车道调度请求，快速车道调度请求包含所述紧急车辆的标识。
其中，中心服务单元可以从紧急车辆接收快速车道调度请求；也可以从交通控制 单元接收快速车道调度请求；如，可以由交通控制单元将紧急车辆的快速车道调度请求转发给中心服务单元。
可选的，中心服务单元还可以判定快速车道调度请求是否有效，如果判断该调度请求有效，则继续执行以下步骤，若判定该调度请求无效，则予以驳回或不予以任何响应。
步骤302：中心服务单元获取紧急车辆的车速以及紧急车辆从当前位置到目的地址的预计行驶路径；
其中，中心服务单元可以直接从紧急车辆获取紧急车辆的车速以及紧急车辆从当前位置到目的地址的预计行驶路径；也可以从交通控制单元间接获取紧急车辆的车速以及紧急车辆从当前位置到目的地址的预计行驶路径。预计行驶路径即可以是谷歌地图、百度地图等应用所规划的导航路径，也可以是车辆、交通控制单元、中心服务单元中的任意一个通过获取紧急车辆的当前位置和目的地址进行规划出来的；如规划方式可以包括：根据紧急车辆从当前位置到目的地址的预计用时最短确定预计行驶路径；根据紧急车辆从当前位置到目的地址经过的交通灯个数最少确定预计行驶路径；根据紧急车辆当前位置到目的地址之间车流量最少确定预计行驶路径。
步骤303：中心服务单元获取所述预计行驶路径中包含的第一道路；
预计行驶路径为紧急车辆当前位置到达目的地址的路线，这段路线中通常包含至少一条道路，为了方便说明，这里指的第一道路泛指所述至少一条道路中的任意一个。
步骤304：中心服务单元确定管控所述第一道路的第一交通控制单元；
当中心服务单元收到快速车道调度请求时，它需要从全局考虑，如何在整个路径上规划出快速通道。因此它需要调用整个路线中所包含的各个道路对应的交通控制单元；共同完成交通资源的调度以保证紧急车辆在其预计行驶路径中连续使用快速车道。此处所指的第一交通控制单元泛指管控上述至少一条道路中的任意一条道路的交通控制单元；与上述第一道路相对应。
步骤305：中心服务单元根据所车速、预计行驶路径、和第一道路确定出紧急车辆预计到达第一道路的时刻t0，以及预计驶出所述第一道路的时刻t1；
具体地，至于t0和t1，可以根据交通信息进行综合计算得到；交通信息可以包括紧急车辆当前的位置、紧急车辆的预计行驶路径(如正在行进的导航路径)、以及第一道路所在的位置、第一道路的长度、车辆的速度(可以是平均速度，也可以是瞬时速度)等，交通信息可以由中心服务单元自己计算，或者从车辆或者交通控制单元间接获取，t0和t1的计算也可以由中心服务单元自己计算，或者从车辆或者交通控制单元间接获取。
步骤306：中心服务单元向第一交通控制单元发送调度指示，调度指示包含紧急车辆的标识、t0和t1，以便第一交通控制单元根据紧急车辆的标识、t0和t1对第一道路进行规划。
具体实现过程中，中心服务单元对于预计行驶路径中每一个道路对应的交通控制单元都会发送调度指示，使得各个交通控制单元都各自执行步骤201-步骤205。由于上述第一道路和第一交通控制单元为泛指，应理解，每个交通控制单元的信号交互都是相同或相似的，但又是彼此独立的。
例如，预计行驶路径包含A道路和B道路，对应的交通控制单元分别为A单元和B单元，则交通服务单元对A单元和B单元都会执行步骤306，但是A单元得到的驶入道路A的时刻(t0A)和B单元得到的驶入道路B的时刻(t0B)是不同的；离开道路A的时刻(t1A)和离开道路B的时刻(t1B)也是不同的。因此A单元在执行步骤201-步骤205和B单元在执行步骤201-步骤205时，规划道路A上的快速车道和规划道路B上的快速车道是存在时间差异的。
此外，在具体实现过程中，中心服务单元获取预计行驶路径包含多个道路时，还可以控制所述多个道路之间的交通灯，指示允许车辆在所述多个道路之间通行，如行驶路径的各道路之间均为绿灯。
请参阅图4，图3为本申请实施例提供的另一种快速车道的规划方法流程图，具体包括如下步骤：
步骤401：中心服务单元，收到快速车道调度请求，车道调度请求包含所述紧急车辆的标识。
其中，中心服务单元可以从紧急车辆接收快速车道调度请求；也可以从交通控制单元接收快速车道调度请求；如，可以由交通控制单元将紧急车辆的快速车道调度请求转发给中心服务单元。
可选的，中心服务单元还可以判定快速车道调度请求是否有效，如果判断该调度请求有效(例如获取到紧急车辆的车辆类型可以是警车，消防车辆或急救车，或中心服务单元从获取的全局交通信息中判断出该车辆有更高优先级的需求)，则继续执行以下步骤，若判定该调度请求无效，则予以驳回或不予以任何响应。
步骤402：中心服务单元获取紧急车辆的车速以及紧急车辆从当前位置到目的地址的预计行驶通道；
其中，中心服务单元可以直接从紧急车辆获取紧急车辆的车速以及紧急车辆从当前位置到目的地址的预计行驶路径；也可以从交通控制单元间接获取紧急车辆的车速以及紧急车辆从当前位置到目的地址的预计行驶路径。预计行驶路径即可以是谷歌地图、百度地图等应用所规划的导航路径，也可以是车辆、交通控制单元、中心服务单元中的任意一个通过获取紧急车辆的当前位置和目的地址进行规划出来的；如规划方式可以包括：根据紧急车辆从当前位置到目的地址的预计用时最短确定预计行驶路径；根据紧急车辆从当前位置到目的地址经过的交通灯个数最少确定预计行驶路径；根据紧急车辆当前位置到目的地址之间车流量最少确定预计行驶路径。
值得说明的是，步骤与402与步骤302的区别之处在于需要从预计行驶路径中确定出预计行驶通道。通常预计行驶路径中包含多个道路，每个道路又包含多个车道，因此为了更有效更快速的调动交通资源，需要能够快速规划出紧急车辆当前位置到目的地址之间的车道级的预计行驶通道，即确定好每个道路中具体走哪个车道。
作为可选的，可以选择最左或最右右车道为快速车道；或者，选择车辆最少的车道为快速车道(如一条车道上有5辆车，另一车道上有10辆车，则选择有5辆车的车道为快速车道，可以减轻调动资源的负担)；或者，选择与所述紧急车辆类型匹配的车道为快速车道(如一条道路本身即为有特殊用途的紧急车道，而其他车道为非紧急车道，则选择紧急车道作为快速车道)；或者，选择预设编号的车道为快速车道(如 以从左到右数第2号车道为快速车道)；或者，选择车流通行速度最快的车道为快速车道(如一条车道的车流速度比其它车道的车流更快，则以车流更快的车道作为快速车道)。选择道路的方式可以由智能交通系统根据交通情况的历史表现或者由多种当下交通因素来灵活确定。
具体实现过程中，上述预计行驶通道可以由中心服务单元自己来确定；或者间接从车辆处获取，如车辆自己规划了一个预计行驶通道，发送给中心服务单元以供参考；或者间接间接从每个道路对应的交通控制单元处来获取，如每个交通控制单元在自己管控的道路上确定出一个快速车道，发送给中心服务单元，这些快速车道共同组成了预计行驶通道。
步骤403：中心服务单元根据预计行驶通道确定至少一个交通控制单元，其中，所述至少一个交通控制单元控制的道路总和覆盖所述预计行驶通道；
一旦预计行驶通道确定了，则对应的交通控制单元也就相应确定出来了。
具体地，中心服务单元根据所述预计行驶通道确定N个交通控制单元，以及第i个交通控制单元对应的第i条快速车道；其中，所述第i个交通控制单元为所述N个交通控制单元中的一个，所述预计行驶通道包含所述第i快速车道，i取编不大于N的所有正整数；
步骤404：中心服务单元根据紧急车辆的车速、预计行驶通道确定出紧急车辆到达目的地址的时刻t2；
具体地，至于t2，可以根据交通信息进行综合计算得到；交通信息可以包括紧急车辆预计行驶通道的长度、车辆的速度(可以是平均速度，也可以是瞬时速度)等，交通信息的获取和t2的计算可以由中心服务单元自己执行。
步骤405：中心服务单元向所述至少一个交通控制单元发送调度指示，所述调度指示包含所述紧急车辆的标识、所述t2，以便所述至少一个交通控制单元根据所述紧急车辆的标识、所述t2对所述预计行驶通道进行规划。
具体地，中心服务单元向所述第i交通控制单元发送调度指示，所述调度指示包含所述紧急车辆的标识、所述t2、第i快速车道标识，以便所述第i交通控制单元根据所述紧急车辆的标识、所述t2对所述第i快速车道进行规划。其中，第i快速车道标识可以是第i交通控制单元管控道路的的车道编号，或者以导航的方式显示出具体车道；第i快速车道标识用于识别所述第i快速车道。
具体实现过程中，中心服务单元对于预计行驶路径中每一个道路对应的交通控制单元都会发送调度指示，使得各个交通控制单元都各自执行以下步骤501-步骤505。
请参阅图5，图5为本申请实施例提供的快速车道的规划方法流程图，具体包括如下步骤：
步骤501：交通控制单元获取快速车道调度请求。
可选的，交通控制单元可以从中心服务单元获取快速车道调度请求。快速车道调度请求用于指示交通控制单元需要为紧急车辆规划出快速车道。
步骤502：交通控制单元获取紧急车辆的标识、紧急车辆到达目的地址的时刻t2、快速车道标识，快速车道标识用于指示所述交通控制单元管控的第一道路中哪一条车道为快速车道，可以是车道编号或导航地图中显示的具体车道。
可选的，交通控制单元可以从中心服务单元获取紧急车辆的标识、紧急车辆到达目的地址的时刻t2、快速车道标识。快速车道标识是由中心服务单元提前已经确定好的。例如，快速车道标识指示交通控制单元管控的第一道路上的最右侧车道为快速车道。
步骤503：交通控制单元根据所述快速车道标识确定快速车道；
步骤504：交通控制单元向第一道路上的非紧急车辆发送第二指示消息，第二指示消息用于指示非紧急车辆在t2时刻前不得占用快速车道；
具体实现过程中，交通控制单元需要将实时更新的t2以第二指示消息的形式周期性地广播给第一道路上的车辆。若第一道路上的快速车道上有非紧急车辆，则第二指示消息会指示非紧急车辆立即驶出当前快速车道并在t2时刻前不得使用或占用快速车道；如果第一道路上的其他车道有非紧急车辆，则第二指示消息会指示非紧急车辆在t2时刻前禁止使用和占用快速车道。
步骤505：交通控制单元根据紧急车辆的标识向紧急车辆发送第一指示消息，所述第一指示消息用于指示在t2时刻前能够在快速车道上行驶。
具体实现过程中，当交通控制单元监控到紧急车辆到驶出快速车道，即驶出第一道路时，交通控制单元还向第一道路上的非紧急车辆发送第三指示消息，第三指示消息用于指示所述第一道路上的快速车道恢复使用。交通控制单元也将恢复针对该车道的正常道路管理功能。
若所述快速车道中包含横向道口，则交通控制单元控制所述横向道口处的交通灯，使所述交通灯至少在t2时刻之前指示非紧急车辆、非机动车辆以及行人禁止穿越所述快速车道。
现有技术中，非紧急车辆只能识别紧急车辆，但众多非紧急车辆对于避让紧急车辆的反应各不相同，没有统一的规划，而使得整个避让过程杂乱无章，从而无法形成本发明中的快速车道。根据本发明实施例提供的快速车道的规划方法，交通系统可以在统一的规划下，使得其他车辆能够平稳有序地进行避让，快速为紧急车辆规划出快速车道，并且保证预计时间内快速车道不被占用，以便紧急车辆能够在快速车道上无障碍行驶，更快速地到达目的地。
基于上述实施例提供的快速车道的规划方法，本发明实施例提供一种交通控制单元600，如图6所示，交通控制单元600可以包括：接收模块601，获取模块602，确定模块603，发送模块604；其中，
接收模块601，用于获取快速车道调度请求；该模块可以由收发器实现。
获取模块602，用于获取紧急车辆的标识、紧急车辆到达所述交通控制单元所管控的第一道路的时刻t0，以及驶出所述第一道路的时刻t1；其中，所述第一道路包含至少一条车道；该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现；也可以通过收发器来接收相关信息。
确定模块603，用于在所述至少一条车道中确定出快速车道；该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现。
发送模块604；用于向所述第一道路上的非紧急车辆发送第二指示消息，所述第二指示消息用于指示非紧急车辆在所述t0至所述t1这一时段内不得占用快速车道；还 用于根据所述紧急车辆的标识向所述紧急车辆发送第一指示消息，所述第一指示消息用于指示所述紧急车辆在所述t0至所述t1这一时段内在所述快速车道上行驶。该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现，将指示消息通过收发器发送出去。
所述交通控制单元600还包括：控制模块605，用于若所述快速车道中包含横向道口，则控制所述横向道口处的交通灯，使所述交通灯至少在所述t0至所述t1这一时段内指示非紧急车辆、非机动车辆以及行人禁止穿越所述快速车道。
在具体实现过程中，接收模块601具体用于执行步骤201中所提到的方法以及可以等同替换的方法；获取模块602具体用于执行步骤202中所提到的方法以及可以等同替换的方法；确定模块603具体用于执行步骤203中所提到的方法以及可以等同替换的方法；发送模块604具体用于执行步骤204或205中所提到的方法以及可以等同替换的方法。其中，上述具体的方法实施例以及实施例中的解释和表述也适用于单元中的方法执行。
本发明实施例提供一种中心服务单元700，如图7所示，交通控制单元700可以包括：接收模块701，获取模块702，确定模块703，计算模块704，发送模块705；其中，
接收模块701，用于接收快速车道调度请求，所述车道调度请求包含紧急车辆的标识；该模块可以由收发器实现。
获取模块702，用于获取所述紧急车辆的车速以及所述紧急车辆从当前位置到目的地址的预计行驶路径；还用于获取所述预计行驶路径中包含的第一道路；该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现；也可以通过收发器来接收相关信息。
确定模块703，用于确定管控所述第一道路的第一交通控制单元；该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现。
计算模块704；用于根据所述车速、所述预计行驶路径、和所述第一道路确定出所述紧急车辆到达所述第一道路的时刻t0，以及驶出所述第一道路的时刻t1；该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现。
发送模块705；用于向所述第一交通控制单元发送调度指示，所述调度指示包含所述紧急车辆的标识、所述t0和所述t1，以便所述第一交通控制单元根据所述紧急车辆的标识、所述t0和所述t1对所述第一道路进行规划。该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现，将指示消息通过收发器发送出去。
所述中心服务单元700还包括：控制模块706，用于所述行驶路径包含多个道路时，控制所述多个道路之间的交通灯，指示允许车辆在所述多个道路之间通行。该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令生成控制信号，控制显示器件来实现。
在具体实现过程中，接收模块701具体用于执行步骤301中所提到的方法以及可以等同替换的方法；获取模块702具体用于执行步骤302或303中所提到的方法以及可以等同替换的方法；确定模块703具体用于执行步骤304中所提到的方法以及可以等同替换的方法；计算模块704具体用于执行步骤305所提到的方法以及可以等同替 换的方法；发送模块705具体用于执行步骤306中所提到的方法以及可以等同替换的方法。其中，上述具体的方法实施例以及实施例中的解释和表述也适用于单元中的方法执行。
本发明实施例还提供另一种中心服务单元800，如图8所示，交通控制单元800可以包括：接收模块801，获取模块802，确定模块803，计算模块804，发送模块805；其中，
接收模块801，用于接收快速车道调度请求，所述车道调度请求包含紧急车辆的标识；该模块可以由收发器实现。
获取模块802，用于获取所述紧急车辆的车速以及所述紧急车辆从当前位置到目的地址的预计行驶通道；该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现；也可以通过收发器来接收相关信息。
确定模块803，用于用于根据所述预计行驶通道确定N个交通控制单元，以及第i个交通控制单元对应的第i条快速车道；其中，所述第i个交通控制单元为所述N个交通控制单元中的一个，所述预计行驶通道包含所述第i快速车道，i取编不大于N的所有正整数；该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现。
计算模块804；用于根据所述车速、所述预计行驶通道确定出所述紧急车辆到达所述目的地的时刻t2；该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现。
发送模块805；用于向第i交通控制单元发送调度指示，所述调度指示包含所述紧急车辆的标识、所述t2、第i快速车道标识，以便所述第i交通控制单元根据所述紧急车辆的标识、所述t2对所述第i快速车道进行规划。该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现，将指示消息通过收发器发送出去。
所述中心服务单元800还包括：控制模块806，用于所述预计行驶通道中包含多个道路时，控制所述多个道路之间的交通灯，指示允许车辆在所述多个道路之间通行。该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令生成控制信号，控制显示器件来实现。
在具体实现过程中，接收模块801具体用于执行步骤401中所提到的方法以及可以等同替换的方法；获取模块802具体用于执行步骤402中所提到的方法以及可以等同替换的方法；确定模块803具体用于执行步骤403中所提到的方法以及可以等同替换的方法；计算模块804具体用于执行步骤404所提到的方法以及可以等同替换的方法；发送模块805具体用于执行步骤405中所提到的方法以及可以等同替换的方法。其中，上述具体的方法实施例以及实施例中的解释和表述也适用于单元中的方法执行。
本发明实施例还提供另一种交通控制单元900，如图9所示，交通控制单元900可以包括：接收模块901，获取模块902，确定模块903，发送模块904；其中，
接收模块901，用于获取快速车道调度请求；该模块可以由收发器实现。
获取模块902，用于获取紧急车辆的标识、紧急车辆到达目的地址的时刻t2、快速车道标识，快速车道标识用于指示所述交通控制单元管控的第一道路中哪一条车道为快速车道；该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令 实现；也可以通过收发器来接收相关信息。
确定模块903，用于根据所述快速车道标识确定快速车道；该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现。
发送模块904；用于向所述第一道路上的非紧急车辆发送第二指示消息，所述第二指示消息用于指示非紧急车辆在所述t2时刻前不得占用快速车道；还用于根据所述紧急车辆的标识向所述紧急车辆发送第一指示消息，所述第一指示消息用于指示所述紧急车辆在所述t2时刻前能够在所述快速车道上行驶。发送模块904还用于监测到所述紧急车辆到驶出所述第一道路时，向所述第一道路上的非紧急车辆发送第三指示消息，所述第三指示消息用于指示所述第一道路上的快速车道恢复使用。该模块可以由处理器调用存储器中的程序指令或者外部输入的程序指令实现，将指示消息通过收发器发送出去。
所述交通控制单元900还包括：控制模块905，用于若所述快速车道中包含横向道口，则控制所述横向道口处的交通灯，使所述交通灯至少在t2时刻之前指示非紧急车辆、非机动车辆以及行人禁止穿越所述快速车道。
在具体实现过程中，接收模块901具体用于执行步骤501中所提到的方法以及可以等同替换的方法；获取模块902具体用于执行步骤502中所提到的方法以及可以等同替换的方法；确定模块903具体用于执行步骤503中所提到的方法以及可以等同替换的方法；发送模块904具体用于执行步骤504和步骤505中所提到的方法以及可以等同替换的方法。其中，上述具体的方法实施例以及实施例中的解释和表述也适用于单元中的方法执行。
本申请实施例提供一种交通管理设备1000，如图10所示，设备包含处理器1001、存储器1002、收发器1003以及总线1004；处理器1001、存储器1002、收发器1003通过总线1004相连接；存储器1002中存储有程序指令，收发器1003用于收发信息；处理器1001用于调用存储器1002中的程序指令，进行相应的运算和信息传输；以完成如上述实施例中提供的任一方法和可能的设计的方法。
本申请实施例提供一种交通系统，该交通系统包括如600或900所述的交通控制单元、如700或800所述的中心服务单元。
本领域内的技术人员应明白，本申请实施例可提供为方法、系统、或计算机程序产品。因此，本申请实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请实施例是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。 可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然，本领域的技术人员可以对本申请实施例进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请实施例的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (20)

  1. 一种快速车道的规划方法，其特征在于，所述方法包括：
    交通控制单元获取快速车道调度请求，
    所述交通控制单元获取紧急车辆的标识、紧急车辆到达所述交通控制单元所管控的第一道路的时刻t0，以及驶出所述第一道路的时刻t1；其中，所述第一道路包含至少一条车道；
    所述交通控制单元在所述至少一条车道中确定出快速车道；
    所述交通控制单元向所述第一道路上的非紧急车辆发送第二指示消息，所述第二指示消息用于指示非紧急车辆在所述t0至所述t1这一时段内不得占用快速车道；
    所述交通控制单元根据所述紧急车辆的标识向所述紧急车辆发送第一指示消息，所述第一指示消息用于指示所述紧急车辆在所述t0至所述t1这一时段内在所述快速车道上行驶。
  2. 如权利要求1所述的方法，其特征在于，所述交通控制单元在所述至少一条车道中确定出快速车道包括：若第一道路包含两个以上车道，
    选择最右车道为快速车道；或者，
    选择最左车道为快速车道；或者，
    选择车辆最少的车道为快速车道；或者，
    选择与所述紧急车辆类型匹配的车道为快速车道；或者，
    选择预设编号的车道为快速车道；或者，
    选择车流通行速度最快的车道为快速车道。
  3. 如权利要求1所述的方法，其特征在于，若所述快速车道中包含横向道口，所述方法还包括：
    所述交通控制单元控制所述横向道口处的交通灯，使所述交通灯至少在所述t0至所述t1这一时段内指示非紧急车辆、非机动车辆以及行人禁止穿越所述快速车道。
  4. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    当交通控制单元监测到所述紧急车辆驶出所述快速车道之后，交通控制单元还向所述第一道路上的非紧急车辆发送第三指示消息，用于指示所述快速车道恢复使用。
  5. 一种快速车道的规划方法，其特征在于，所述方法包括：
    中心服务单元接收快速车道调度请求，所述快速车道调度请求包含紧急车辆的标识；
    所述中心服务单元获取所述紧急车辆的车速以及所述紧急车辆从当前位置到目的地址的预计行驶路径；
    所述中心服务单元获取所述预计行驶路径中包含的第一道路；
    所述中心服务单元确定管控所述第一道路的第一交通控制单元；
    所述中心服务单元根据所述车速、所述预计行驶路径、和所述第一道路确定出所述紧急车辆到达所述第一道路的时刻t0，以及驶出所述第一道路的时刻t1；
    所述中心服务单元向所述第一交通控制单元发送调度指示，所述调度指示包含所述紧急车辆的标识、所述t0和所述t1，以便所述第一交通控制单元根据所述紧急车辆的标识、所述t0和所述t1对所述第一道路进行规划。
  6. 如权利要求5所述方法，其特征在于，所述方法还包括：
    所述中心服务单元获取所述行驶路径包含多个道路时，
    控制所述多个道路之间的交通灯，指示允许车辆在所述多个道路之间通行。
  7. 如权利要求5所述的方法，其特征在于，所述中心服务单元获取所述紧急车辆从当前位置到目的地址的预计行驶路径包括：
    根据所述紧急车辆从所述当前位置到所述目的地址的预计用时最短确定预计行驶路径；
    根据所述紧急车辆从所述当前位置到所述目的地址经过的交通灯个数最少确定预计行驶路径；
    根据所述当前位置到所述目的地址之间车流量最少确定预计行驶路径。
  8. 一种快速车道的规划方法，其特征在于，所述方法包括：
    中心服务单元接收快速车道调度请求，所述快速车道调度请求包含所述紧急车辆的标识；
    所述中心服务单元获取所述紧急车辆的车速以及所述紧急车辆从当前位置到目的地址的预计行驶通道；
    中心服务单元根据所述预计行驶通道确定N个交通控制单元，以及第i个交通控制单元对应的第i条快速车道；其中，所述第i个交通控制单元为所述N个交通控制单元中的一个，所述预计行驶通道包含所述第i快速车道，i取编不大于N的所有正整数；
    中心服务单元根据所述车速、所述预计行驶通道确定出所述紧急车辆到达所述目的地的时刻t2；
    中心服务单元向所述第i交通控制单元发送调度指示，所述调度指示包含所述紧急车辆的标识、所述t2、第i快速车道标识，以便所述第i交通控制单元根据所述紧急车辆的标识、所述t2对所述第i快速车道进行规划；其中，第i快速车道标识用于识别所述第i快速车道。
  9. 一种快速车道的规划方法，其特征在于，所述方法包括：
    交通控制单元接收快速车道调度请求；
    所述交通控制单元获取紧急车辆的标识、紧急车辆到达目的地址的时刻t2、快速车道标识，所述快速车道标识用于指示所述交通控制单元管控的第一道路中哪一条车道为快速车道；
    所述交通控制单元根据所述快速车道标识确定快速车道；
    所述交通控制单元向所述第一道路上的非紧急车辆发送第二指示消息，所述第二指示消息用于指示非紧急车辆在所述t2时刻前不得占用快速车道；
    所述交通控制单元根据所述紧急车辆的标识向所述紧急车辆发送第一指示消息，所述第一指示消息用于指示所述紧急车辆在所述t2时刻前能够在所述快速车道上行驶。
  10. 如权利要求9所述方法，其特征在于，所述方法还包括：
    所述交通控制单元监测到所述紧急车辆到驶出所述第一道路时，所述交通控制单元还向所述第一道路上的非紧急车辆发送第三指示消息，所述第三指示消息用于指示所述第一道路上的快速车道恢复使用。
  11. 一种交通控制单元，其特征在于，所述交通控制单元包括：
    接收模块，用于获取快速车道调度请求；
    获取模块，用于获取紧急车辆的标识、紧急车辆到达所述交通控制单元所管控的第一道路的时刻t0，以及驶出所述第一道路的时刻t1；其中，所述第一道路包含至少一条车道；
    确定模块，用于在所述至少一条车道中确定出快速车道；
    发送模块，用于向所述第一道路上的非紧急车辆发送第二指示消息，所述第二指示消息用于指示非紧急车辆在所述t0至所述t1这一时段内不得占用快速车道；还用于根据所述紧急车辆的标识向所述紧急车辆发送第一指示消息，所述第一指示消息用于指示所述紧急车辆在所述t0至所述t1这一时段内在所述快速车道上行驶。
  12. 如权利要求11所述的交通控制单元，其特征在于，所述确定模块具体用于：
    若第一道路包含两个以上车道，
    选择最右车道为快速车道；或者，
    选择最左车道为快速车道；或者，
    选择车辆最少的车道为快速车道；或者，
    选择与所述紧急车辆类型匹配的车道为快速车道；或者，
    选择预设编号的车道为快速车道；或者，
    选择车流通行速度最快的车道为快速车道。
  13. 如权利要求11所述的交通控制单元，其特征在于，所述交通控制单元还包括：控制模块，所述控制模块用于，若所述快速车道中包含横向道口，则控制所述横向道口处的交通灯，使所述交通灯至少在所述t0至所述t1这一时段内指示非紧急车辆、非机动车辆以及行人禁止穿越所述快速车道。
  14. 如权利要求11所述的交通控制单元，其特征在于，所述发送模块还用于：
    当监测到紧急车辆驶出快速车道之后，向所述第一道路上的非紧急车辆发送第三指示消息，用于指示所述快速车道恢复使用。
  15. 一种中心服务单元，其特征在于，所述中心服务单元包括：
    接收模块，用于接收快速车道调度请求，所述车道调度请求包含紧急车辆的标识；
    获取模块，用于获取所述紧急车辆的车速以及所述紧急车辆从当前位置到目的地址的预计行驶路径；还用于获取所述预计行驶路径中包含的第一道路；
    确定模块，用于确定管控所述第一道路的第一交通控制单元；
    计算模块，用于根据所述车速、所述预计行驶路径、和所述第一道路确定出所述紧急车辆到达所述第一道路的时刻t0，以及驶出所述第一道路的时刻t1；
    发送模块，用于向所述第一交通控制单元发送调度指示，所述调度指示包含所述紧急车辆的标识、所述t0和所述t1，以便所述第一交通控制单元根据所述紧急车辆的标识、所述t0和所述t1对所述第一道路进行规划。
  16. 如权利要求15所述中心服务单元，其特征在于，所述中心服务单元还包括：
    控制模块，用于所述行驶路径包含多个道路时，控制所述多个道路之间的交通灯，指示允许车辆在所述多个道路之间通行。
  17. 如权利要求15所述的中心服务单元，其特征在于，所述获取模块具体用于：
    根据所述紧急车辆从所述当前位置到所述目的地址的预计用时最短确定预计行驶路径；
    根据所述紧急车辆从所述当前位置到所述目的地址经过的交通灯个数最少确定预计行驶路径；
    根据所述当前位置到所述目的地址之间车流量最少确定预计行驶路径。
  18. 一种中心服务单元，其特征在于，所述中心服务单元包括：
    接收模块，用于接收快速车道调度请求，所述快速车道调度请求包含所述紧急车辆的标识；
    获取模块，用于获取所述紧急车辆的车速以及所述紧急车辆从当前位置到目的地址的预计行驶通道；
    确定模块，用于根据所述预计行驶通道确定N个交通控制单元，以及第i个交通控制单元对应的第i条快速车道；其中，所述第i个交通控制单元为所述N个交通控制单元中的一个，所述预计行驶通道包含所述第i快速车道，i取编不大于N的所有正整数；
    计算模块，用于根据所述车速、所述预计行驶通道确定出所述紧急车辆到达所述目的地的时刻t2；
    发送模块，用于向第i交通控制单元发送调度指示，所述调度指示包含所述紧急车辆的标识、所述t2、第i快速车道标识，以便所述第i交通控制单元根据所述紧急车辆的标识、所述t2对所述第i快速车道进行规划；其中，第i快速车道标识用于识别所述第i快速车道。
  19. 一种交通控制单元，其特征在于，所述交通控制单元包括：
    接收模块，用于接收快速车道调度请求；
    获取模块，用于获取紧急车辆的标识、紧急车辆到达目的地址的时刻t2、快速车道标识，快速车道标识用于指示所述交通控制单元管控的第一道路中哪一条车道为快速车道；
    确定模块，用于根据所述快速车道标识确定快速车道；
    发送模块，用于向所述第一道路上的非紧急车辆发送第二指示消息，所述第二指示消息用于指示非紧急车辆在所述t2时刻前不得占用快速车道；
    所述交通控制单元根据所述紧急车辆的标识向所述紧急车辆发送第一指示消息，所述第一指示消息用于指示所述紧急车辆在所述t2时刻前能够在所述快速车道上行驶。
  20. 如权利要求19所述交通控制单元，其特征在于，所述发送模块还用于：
    监测到所述紧急车辆到驶出所述第一道路时，向所述第一道路上的非紧急车辆发送第三指示消息，所述第三指示消息用于指示所述第一道路上的快速车道恢复使用。
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