Intersection priority passing method, device and equipment for emergency vehicle and medium

Abstract

The invention provides an intersection priority passing method, device and equipment for an emergency vehicle and a medium, and relates to the technical field of traffic signal control, and the method comprises the steps: generating a passing route of the emergency vehicle according to an emergency planning route of the emergency vehicle and the predicted passing time between every two adjacent intersections in the emergency planning route, the predicted passing time is obtained according to a current traffic state and a historical traffic state, and the passing route comprises information of a plurality of intersections through which the emergency vehicle sequentially passes; under the condition that the emergency vehicle drives into the upstream preset distance of each intersection in the passing route, the green light time of the emergency passing direction of the intersection is prolonged; according to the traffic signal when the emergency vehicle is predicted to arrive at the stop line of each intersection in the passing route, the corresponding green light extension strategy or the red light early cut-off strategy is adopted to adjust the timing parameter of the traffic signal when the emergency vehicle is predicted to arrive at the intersection, and the problem of priority passing of the emergency vehicle at the intersection can be solved.

Description

Technical Field

[0001] This application relates to the field of traffic signal control technology, specifically to a method, device, equipment, and medium for prioritizing emergency vehicles at intersections. Background Technology

[0002] As cities expand and car ownership increases, urban traffic congestion is worsening. This congestion not only causes air and noise pollution but also frequently delays travel, severely hindering the normal operation of emergency vehicles (including police cars, fire trucks, emergency rescue vehicles, and ambulances). In the event of an emergency, traffic congestion can prevent emergency vehicles from reaching the scene immediately, hindering timely rescue efforts. Furthermore, the high speeds of emergency vehicles weaving through traffic can exacerbate congestion and create additional traffic hazards. Therefore, planning the most efficient routes for emergency vehicles in the immediate aftermath of an accident, ensuring their priority passage through intersections, is a crucial aspect of daily traffic management. Summary of the Invention

[0003] At least one embodiment of this application provides a method, apparatus, device, and medium for prioritizing the passage of emergency vehicles at intersections, to solve the problem of prioritizing the passage of emergency vehicles at intersections in the prior art.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows:

[0005] In a first aspect, embodiments of this application provide a method for prioritizing the passage of emergency vehicles at intersections, including:

[0006] The emergency vehicle's route is generated based on the emergency vehicle's planned route and the estimated travel time between every two adjacent intersections in the planned route. The estimated travel time is obtained based on the current traffic conditions and historical traffic conditions. The route includes information on multiple intersections that the emergency vehicle will pass through in sequence.

[0007] If the emergency vehicle enters within a predetermined distance upstream of each intersection in the traffic route, the green light time for the emergency traffic direction at the intersection shall be extended.

[0008] Based on the traffic signal at the stop line of each intersection along the route when the emergency vehicle is expected to arrive, the timing parameters of the traffic signal at the intersection are adjusted by adopting the corresponding green light extension strategy or red light early termination strategy.

[0009] Optionally, the method for prioritizing emergency vehicles at intersections further includes:

[0010] If the emergency vehicle has already left the intersection, the timing parameters of the traffic signals at the intersection shall be restored within a preset number of traffic signal cycles.

[0011] Optionally, the method for prioritizing emergency vehicles at intersections includes generating a travel route for the emergency vehicles based on their planned emergency routes and the estimated travel time between every two adjacent intersections along those routes.

[0012] Based on the road segment between every two adjacent intersections in the emergency vehicle's emergency planning route and the estimated travel time, the shortest time path is optimized to generate multiple candidate routes for the emergency vehicle.

[0013] The travel route is obtained from multiple candidate travel routes, with the maximum travel distance of the candidate travel routes as a constraint.

[0014] Optionally, the method for prioritizing emergency vehicles at intersections, after generating the emergency vehicle's route based on the emergency vehicle's planned route and the estimated travel time between every two adjacent intersections in the planned route, the method includes:

[0015] When the emergency vehicle passes through each intersection on the route, the route is dynamically updated based on the emergency vehicle's planned route and the estimated travel time between every two adjacent intersections on the planned route.

[0016] Optionally, in the method for prioritizing emergency vehicles at intersections, the estimated travel time is obtained based on the distance between two adjacent intersections, the average speed of historically passing vehicles between the two adjacent intersections, the duration of the currently identified last vehicle passing through the road segment between the two adjacent intersections, the latitude and longitude of the midpoint of the stop lines of the two adjacent intersections, and the latitude and longitude of the last vehicle.

[0017] Optionally, in the method for prioritizing emergency vehicles at intersections, the preset distance is obtained based on the signal cycle of the downstream intersection, the green light duration of the emergency passage direction at the downstream intersection, and the average speed of the emergency vehicles.

[0018] Optionally, the method for prioritizing emergency vehicles at intersections includes extending the green light time for the emergency traffic direction at the intersection, which includes:

[0019] Within a preset time range, the green light time for the emergency passage direction at the intersection is extended. The lower limit of the preset time range is obtained based on the length of the pedestrian crossing and the pedestrian crossing speed, while the upper limit is obtained based on the traffic signal cycle and the sum of the minimum green light times for each phase of the intersection.

[0020] Optionally, the method for prioritizing emergency vehicles at intersections includes adjusting the timing parameters of the traffic signals at the intersections where the emergency vehicle is expected to arrive, based on the traffic signals at the stop line of each intersection along the route, using a corresponding green light extension strategy or red light early termination strategy. This includes:

[0021] When the stop line at each intersection along the route where the emergency vehicle is expected to arrive is green, the timing parameters of the traffic signal for the intersection where the emergency vehicle is expected to arrive are adjusted based on the relationship between the expected time for the emergency vehicle to cross the stop line at the intersection, the expected time for the queued vehicles to dissipate, and the remaining time of the green light.

[0022] If the stop line at each intersection along the route where the emergency vehicle is expected to arrive is red, the timing parameters of the traffic signal for the intersection where the emergency vehicle is expected to arrive are adjusted based on the relationship between the expected time for the emergency vehicle to pass the stop line at the intersection, the expected time for the queued vehicles to dissipate, the remaining time of the red light, and the green light interval for phase switching. A corresponding early red light termination strategy is adopted to adjust the timing parameters of the traffic signal for the emergency vehicle to arrive at the intersection.

[0023] Optionally, in the method for prioritizing emergency vehicles at intersections, the green light extension strategy satisfies one of the following:

[0024] If the remaining time of the green light is greater than the expected time for the queued vehicles to disperse, and the expected time for the queued vehicles to disperse is greater than the expected time for the emergency vehicle to pass the stop line at the intersection, the green light extension strategy includes a first green light extension time, which is obtained based on the expected time for the queued vehicles to disperse and the expected time for the emergency vehicle to pass the stop line at the intersection.

[0025] If the time it takes for an emergency vehicle to pass the stop line at the intersection is greater than the remaining time of the green light, and the remaining time of the green light is greater than the time it takes for the queued vehicles to disperse, the green light extension strategy includes a second green light extension time, which is obtained based on the time it takes for the emergency vehicle to pass the stop line at the intersection and the remaining time of the green light.

[0026] If the time it takes for an emergency vehicle to pass the stop line at the intersection is greater than the time it takes for the queued vehicles to disperse, and the time it takes for the queued vehicles to disperse is greater than the remaining time of the green light, the green light extension strategy includes a second green light extension time.

[0027] Optionally, in the method for prioritizing emergency vehicles at intersections, the red light early termination strategy satisfies one of the following:

[0028] If the estimated time for the queued vehicles to dissipate is greater than the estimated time for the emergency vehicles to pass the stop line at the intersection, the red light early termination strategy includes immediately implementing the red light early termination.

[0029] When the remaining time of the red light is greater than the time when the emergency vehicle is expected to pass the stop line at the intersection, and the time when the emergency vehicle is expected to pass the stop line at the intersection is greater than the time when the queued vehicles are expected to disperse, the red light early termination strategy includes a first red light early termination time, which is obtained based on the remaining time of the red light and the time when the emergency vehicle is expected to pass the stop line at the intersection.

[0030] When the time it takes for an emergency vehicle to pass the stop line at the intersection is less than or equal to the sum of the estimated dissipation time of the queuing vehicles, the remaining time of the red light, and the green light interval during phase switching, the second early red light termination time of the early red light termination strategy is determined based on the remaining time of the red light, the estimated time it takes for the emergency vehicle to pass the stop line at the intersection, and the estimated dissipation time of the queuing vehicles.

[0031] Secondly, embodiments of this application also provide an intersection priority passage device for emergency vehicles, comprising:

[0032] The generation module is used to generate the route of the emergency vehicle based on the emergency planning route of the emergency vehicle and the estimated travel time between every two adjacent intersections in the emergency planning route. The estimated travel time is obtained based on the current traffic conditions and historical traffic conditions. The route includes information on multiple intersections that the emergency vehicle passes through in sequence.

[0033] An extension module is used to extend the green light time for the emergency passage direction at each intersection when the emergency vehicle enters within a preset upstream distance of each intersection in the passage route.

[0034] The adjustment module is used to adjust the timing parameters of the traffic signals at the intersections where the emergency vehicle is expected to arrive, based on the traffic signals at the stop line of each intersection along the route, by adopting a corresponding green light extension strategy or red light early termination strategy.

[0035] Thirdly, embodiments of this application also provide an intersection priority passage device for emergency vehicles, including: a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the processor executes the program or instructions to implement the intersection priority passage method for emergency vehicles as described in the first aspect.

[0036] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the intersection priority passage method for emergency vehicles as described in the first aspect.

[0037] Fifthly, embodiments of this application also provide a computer program product, including computer instructions, which, when executed by a processor, implement the intersection priority passage method for emergency vehicles as described in the first aspect.

[0038] Compared with the prior art, this application provides a method, device, equipment, and medium for prioritizing emergency vehicles at intersections. The method includes: generating a travel route for the emergency vehicle based on its planned emergency route and the estimated travel time between every two adjacent intersections along the planned route. The estimated travel time is obtained based on current and historical traffic conditions. The travel route includes information on multiple intersections the emergency vehicle sequentially passes through. When the emergency vehicle enters within a predetermined upstream distance of each intersection along the travel route, the green light time for the emergency travel direction at each intersection is extended. The traffic signal timing for the emergency vehicle's expected arrival at the stop line of each intersection along the route is calculated, and a corresponding green light extension strategy or red light early termination strategy is adopted to adjust the timing parameters of the traffic signal at the intersection. In this way, dynamic path optimization is performed based on the expected travel time between two adjacent intersections, and vehicles in the emergency travel direction are cleared in a progressive manner within a preset distance upstream of the intersection when the emergency vehicle enters it. This can reduce interference to other vehicles while ensuring emergency response. Furthermore, the timing parameters of the traffic signal are adjusted based on the traffic signal when the emergency vehicle is expected to arrive at the stop line of the intersection to ensure priority passage for emergency vehicles. Attached Figure Description

[0039] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0040] Figure 1 This is a flowchart illustrating the method for prioritizing emergency vehicles at intersections as described in the embodiments of this application.

[0041] Figure 2 This is a schematic diagram of the coordinated lane clearing scheme in the embodiments of this application;

[0042] Figure 3 A schematic diagram illustrating a typical timing scheme for the eight phases in the embodiments of this application;

[0043] Figure 4 A schematic diagram illustrating a typical timing scheme for the four-phase configuration in the embodiments of this application;

[0044] Figure 5 This is a flowchart illustrating one embodiment of the intersection priority passage method for emergency vehicles described in the embodiments of this application;

[0045] Figure 6 This is a schematic diagram of the intersection priority passage device for emergency vehicles described in the embodiments of this application;

[0046] Figure 7 This is a hardware block diagram of the intersection priority passage device for emergency vehicles described in the embodiments of this application. Detailed Implementation

[0047] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, without limiting the number of objects; for example, the first object can be one or more. Furthermore, "or" in this application indicates at least one of the connected objects. For example, "A or B" covers three scenarios: Scenario 1: including A but not B; Scenario 2: including B but not A; Scenario 3: including both A and B. The character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0048] Please refer to Figure 1 This application provides a method for prioritizing the passage of emergency vehicles at intersections, including:

[0049] Step 101: Generate the route of the emergency vehicle based on the emergency planning route of the emergency vehicle and the estimated travel time between every two adjacent intersections in the emergency planning route. The estimated travel time is obtained based on the current traffic conditions and historical traffic conditions. The route includes information on multiple intersections that the emergency vehicle passes through in sequence.

[0050] Optionally, the estimated travel time is obtained based on the distance between two adjacent intersections, the average speed of historical vehicles passing between the two adjacent intersections, the duration of the currently identified last vehicle passing through the road segment between the two adjacent intersections, the latitude and longitude of the midpoint of the stop lines of the two adjacent intersections, and the latitude and longitude of the last vehicle.

[0051] In this embodiment of the application, when predicting travel time, i.e., obtaining the estimated travel time, traffic data for each direction formed based on road segment perception capabilities are integrated with current and historical traffic conditions. Specifically, the estimated travel time is calculated using the following formula:

[0052]

[0053] Among them, T ij The estimated travel time is indicated by x; x represents the distance between intersection i and intersection j. t represents the historical average speed of vehicles passing between intersection i and intersection j; ij This represents the duration of the last identified vehicle traversing the road segment between intersection i and intersection j; x i y i The coordinates of the midpoint of the stop line at intersection i are represented by the latitude and longitude; x j y j The coordinates of the midpoint of the stop line at intersection j are represented by the latitude and longitude; x a y a This indicates the latitude and longitude of the currently identified tail vehicle.

[0054] It should be noted that existing technologies mostly use traffic flow theory, which calculates the average travel time by the relationship between theoretical capacity and actual traffic volume, and establishes the correspondence between travel time and traffic flow by calibrating different correction parameters, thereby calculating the shortest travel time of a vehicle on a certain road segment, i.e., the expected travel time. However, it does not take into account the operation of individual vehicles or the uncertainty of road traffic.

[0055] Therefore, the above-mentioned travel time prediction method adopted in this application fully considers the operation of individual vehicles and the uncertainty of road traffic compared with the prior art, resulting in the predicted travel time matching the actual travel time and improving the rescue efficiency of the emergency vehicle.

[0056] It should also be noted that the current traffic status, historical traffic status, and other vehicle parameters mentioned in this application embodiment can be obtained using vehicle-to-everything (V2X) technology. Therefore, this application embodiment provides a method for prioritizing the passage of emergency vehicles at intersections based on V2X technology.

[0057] In one implementation, optionally, the route of the emergency vehicle is generated based on the emergency planning route of the emergency vehicle and the estimated travel time between every two adjacent intersections in the emergency planning route, including:

[0058] Based on the road segment between every two adjacent intersections in the emergency vehicle's emergency planning route and the estimated travel time, the shortest time path is optimized to generate multiple candidate routes for the emergency vehicle.

[0059] The travel route is obtained from multiple candidate travel routes, with the maximum travel distance of the candidate travel routes as a constraint.

[0060] In this embodiment, firstly, the intersections in the emergency planning route are set as nodes of the existing road network, and each node, i.e., the road segment between every two adjacent intersections, is set as an arc. The estimated travel time between every two adjacent intersections is used as the weight, and Dijkstra's algorithm is applied to optimize the shortest time path to generate multiple candidate routes for the emergency vehicle. Then, the candidate routes are corrected a second time using the maximum travel distance corresponding to the candidate routes as a constraint to generate the route for the emergency vehicle.

[0061] It should be noted that the number of emergency vehicle routes generated in step 101 above may not be unique. Here, taking three emergency vehicle routes as an example, these three routes have the shortest total travel time, so they are prioritized. The intersections along the route with the shortest estimated travel time are defined as Level 1 response intersections, and their response mode is activated. All intersections along the other two routes and those associated with the three routes are defined as Level 2 response intersections, and their response mode is simulated. Here, for Level 1 and Level 2 intersections, a roadside perception system can be activated to achieve full-process perception for emergency vehicles and directional road condition recognition for other vehicles.

[0062] In one embodiment, optionally, after generating the emergency vehicle's travel route based on the emergency vehicle's planned route and the estimated travel time between every two adjacent intersections in the planned route, the method includes:

[0063] When the emergency vehicle passes through each intersection on the route, the route is dynamically updated based on the emergency vehicle's planned route and the estimated travel time between every two adjacent intersections on the planned route.

[0064] It should be noted that although the shortest path for the emergency vehicle is optimized in step 101 based on the road segments and estimated travel time between every two adjacent intersections in the emergency planning route, the actual situation can easily change during the emergency vehicle's journey, especially when the rescue distance is long or the rescue point is located in a core area. Therefore, when the emergency vehicle is performing a rescue mission, the route can be dynamically updated based on the emergency vehicle's emergency planning route and the estimated travel time between every two adjacent intersections in the emergency planning route whenever the emergency vehicle passes through an intersection, thereby improving the emergency rescue efficiency of the emergency vehicle.

[0065] Step 102: If the emergency vehicle enters within a predetermined upstream distance of each intersection in the traffic route, extend the green light time for the emergency traffic direction at the intersection.

[0066] In this embodiment, since the green light time for the emergency passage direction of each intersection is extended within a preset distance upstream of the emergency vehicle entering the passage route, the essence is to extend the green light time for the emergency passage direction of social vehicles at the intersection, so as to clear the lane and allow social vehicles to pass before the emergency vehicle arrives.

[0067] Furthermore, since the green light time for emergency vehicles in the emergency passage direction of each intersection is extended whenever the emergency vehicle enters within a predetermined upstream distance of each intersection in the passage route, the purpose of coordinated lane clearing is achieved, enabling the emergency vehicle to proceed with priority.

[0068] Figure 2 This is a schematic diagram of the coordinated lane clearing scheme in the embodiments of this application, as shown below. Figure 2 As shown, when the emergency vehicle enters within a preset distance (S) upstream of the intersection, it clears the vehicles in the emergency rescue direction of several downstream intersections in a certain order, which can reduce the interference to social vehicles and urban road traffic while ensuring the timeliness of emergency response.

[0069] It should be noted that the current priority scheme for sensing, identifying, and responding within the current cycle in existing technologies cannot detect the impending emergency plan in advance by social vehicles. Therefore, changes to the current cycle plan alone can lead to obstruction of rescue routes and delays in the passage of emergency vehicles due to the inability of road congestion to dissipate in advance. If a strict priority control strategy is adopted, prohibiting social vehicles from passing when an emergency demand is generated to ensure that the entire emergency route is clear, although this ensures the smooth passage of emergency vehicles, it will inevitably have a significant impact on the overall traffic situation. Severe congestion at road sections and upstream intersections may even cause local traffic paralysis.

[0070] Therefore, the above-mentioned linkage lane clearing scheme in this application clears the vehicles in the emergency rescue direction of several downstream intersections in a certain order, which can reduce the interference to social vehicles and urban road traffic while ensuring the timeliness of emergency response.

[0071] Optionally, the preset distance is obtained based on the signal cycle of the downstream intersection, the green light duration of the emergency passage direction at the downstream intersection, and the average speed of the emergency vehicles.

[0072] In this embodiment of the application, the preset distance can be calculated using the following formula:

[0073] S=(2T c,max +T a )*v

[0074] Wherein, S represents the preset distance; T c,max T represents the signal period of the downstream intersection of the aforementioned intersection; preferably, it represents the maximum signal period. a The green light duration for the emergency passage direction at the downstream intersection is indicated by v; v represents the average speed of the emergency vehicles.

[0075] In one implementation, optionally, extending the green light time for the emergency passage direction at the intersection includes:

[0076] Within a preset time range, the green light time for the emergency passage direction at the intersection is extended. The lower limit of the preset time range is obtained based on the length of the pedestrian crossing and the pedestrian crossing speed, while the upper limit is obtained based on the traffic signal cycle and the sum of the minimum green light times for each phase of the intersection.

[0077] In this embodiment of the application, the preset time range can be calculated using the following formula:

[0078] t max,g,i =C-∑t min,g,i

[0079]

[0080] Among them, t min,g L represents the lower limit of the preset time range; c V represents the length of the human-shaped crosswalk, preferably the length of the human-shaped crosswalk in the phase conflicting with the current phase; p The t represents the pedestrian crossing speed. max,g,i This represents the upper limit of the preset time range, preferably the maximum green light time for target phase i; C represents the traffic signal cycle; t min,g,i This represents the minimum green light time for the j-th phase.

[0081] Step 103: Based on the traffic signal at the stop line of each intersection along the route when the emergency vehicle is expected to arrive, adjust the timing parameters of the traffic signal at the intersection by adopting the corresponding green light extension strategy or red light early termination strategy.

[0082] In one implementation, optionally, based on the traffic signal at the stop line of each intersection along the route when the emergency vehicle is expected to arrive, a corresponding green light extension strategy or red light early termination strategy is adopted to adjust the timing parameters of the traffic signal at the intersection where the emergency vehicle is expected to arrive, including:

[0083] When the stop line at each intersection along the route where the emergency vehicle is expected to arrive is green, the timing parameters of the traffic signal for the intersection where the emergency vehicle is expected to arrive are adjusted based on the relationship between the expected time for the emergency vehicle to cross the stop line at the intersection, the expected time for the queued vehicles to dissipate, and the remaining time of the green light.

[0084] If the stop line at each intersection along the route where the emergency vehicle is expected to arrive is red, the timing parameters of the traffic signal for the intersection where the emergency vehicle is expected to arrive are adjusted based on the relationship between the expected time for the emergency vehicle to pass the stop line at the intersection, the expected time for the queued vehicles to dissipate, the remaining time of the red light, and the green light interval for phase switching. A corresponding early red light termination strategy is adopted to adjust the timing parameters of the traffic signal for the emergency vehicle to arrive at the intersection.

[0085] In this embodiment, by clearing vehicles in the emergency passage direction in advance when the emergency vehicle enters within a preset distance upstream of each intersection in the passage route through step 102, the traffic flow in the emergency passage direction at the intersection can be dispersed to a certain extent in advance, avoiding oversaturation. However, regardless of the method, the clearing stage still cannot directly block all upstream traffic. For each intersection in the passage route, when the emergency vehicle enters the stop line of each intersection, a further emergency vehicle signal priority scheme is still needed for that intersection.

[0086] Figure 3 A schematic diagram of a typical timing scheme for eight-phase settings in the embodiments of this application. Figure 4 This is a schematic diagram illustrating a typical timing scheme for the four-phase configuration in this application embodiment. A typical cross-shaped intersection is configured with either eight or four phases. In the eight-phase configuration, the sequence is: East Straight, East Left Turn, West Straight, West Left Turn, South Straight, South Left Turn, North Straight, North Left Turn. In the four-phase configuration, the sequence is: East Straight Left, West Straight Left, South Straight Left, North Straight Left. The four-phase configuration is a secondary case of the eight-phase configuration. Considering traffic efficiency, the typical phase display order for eight-phase and four-phase configurations is as follows: Figure 3 and Figure 4 As shown.

[0087] Regardless of the phase sequence settings of the intersection timing scheme, the traffic flow can be differentiated based on the current phase when the emergency vehicle approaches the intersection. Based on the predicted stop time of the emergency vehicle, two states will occur: either the emergency vehicle is expected to arrive during a green light (i.e., the current phase's green light period), or the emergency vehicle is expected to arrive during a red light (i.e., the current phase's red light period). Besides the emergency vehicle, there will still be queuing vehicles in the direction the emergency vehicle is approaching.

[0088] The estimated time for the emergency vehicle to cross the stop line at the intersection and the estimated time for the queued vehicles to dissipate are calculated using the following formulas:

[0089]

[0090]

[0091] Among them, t e The estimated time for the emergency vehicle to pass the stop line at the intersection is indicated by d; d represents the distance from the upstream stop line to the stop line at this intersection; v e This indicates the travel speed of the emergency vehicle; t l The denot represents the estimated time for the queued vehicles to dissipate; l represents the length of the queued vehicles; K represents the road resistance coefficient; S represents the saturation flow rate; and a represents the acceleration of other vehicles.

[0092] t intg =T s +T r -T e

[0093] Among them, t intg T represents the green light interval time for the phase switching; s This indicates the duration of passage for vehicles traveling in the emergency direction at the intersection; T r Indicates the time required to clear vehicles in the emergency passage direction at the intersection; T e This indicates the entry time of vehicles from conflicting directions at the intersection.

[0094] Optionally, the green light extension strategy satisfies one of the following:

[0095] If the remaining time of the green light is greater than the expected time for the queued vehicles to disperse, and the expected time for the queued vehicles to disperse is greater than the expected time for the emergency vehicle to pass the stop line at the intersection, the green light extension strategy includes a first green light extension time, which is obtained based on the expected time for the queued vehicles to disperse and the expected time for the emergency vehicle to pass the stop line at the intersection.

[0096] If the time it takes for an emergency vehicle to pass the stop line at the intersection is greater than the remaining time of the green light, and the remaining time of the green light is greater than the time it takes for the queued vehicles to disperse, the green light extension strategy includes a second green light extension time, which is obtained based on the time it takes for the emergency vehicle to pass the stop line at the intersection and the remaining time of the green light.

[0097] If the time it takes for an emergency vehicle to pass the stop line at the intersection is greater than the time it takes for the queued vehicles to disperse, and the time it takes for the queued vehicles to disperse is greater than the remaining time of the green light, the green light extension strategy includes a second green light extension time.

[0098] In this embodiment of the application, t is used gtl t represents the remaining time of the green light. e The time t represents the estimated time it will take for the emergency vehicle to pass the stop line at the intersection. l This indicates the estimated time for the queue of vehicles to dissipate.

[0099] In t gtl >t e >t lIn this case, it indicates that the congestion in the emergency passage direction of the intersection is relatively weak, and the queued vehicles can dissipate within the remaining time of the green light, while also ensuring that emergency vehicles can quickly pass through the intersection. Therefore, under the current conditions, there is no need to adjust or optimize the timing parameters of the traffic signals for which emergency vehicles are expected to arrive at the intersection.

[0100] In t gtl >t l >t e In this case, it indicates that the emergency vehicles queuing at the intersection can dissipate within the remaining green light time. However, when the emergency vehicles reach the intersection, they will slow down due to the expected dissipation of the queue. Especially if the remaining green light time is close to the expected dissipation time of the queue, there is a risk that the emergency vehicles may not be able to pass through the intersection within the current green light time due to the dissipation delay. Therefore, under the current conditions, the original plan cannot be maintained solely based on the theoretical state. The intersection timing plan should be fine-tuned as appropriate. According to the following formula for the green light extension strategy, the timing parameters of the traffic signal expected to arrive at the intersection for the emergency vehicles should be adjusted, that is, the remaining green light time should be extended. After ensuring that the emergency vehicles have exited the intersection, the traffic should return to normal.

[0101] t ge =t l -t e

[0102] In t e >t gtl >t l In this case, it indicates that the remaining green light time is sufficient to clear the queue of vehicles, but the estimated time for the emergency vehicle to cross the stop line at the intersection is greater than the remaining green light time. This means that the emergency vehicle cannot pass through the intersection within the current green light period. Therefore, under this condition, the timing parameters of the traffic signal for the emergency vehicle's expected arrival at the intersection must be adjusted according to the following formula for the green light extension strategy: that is, extending the remaining green light time. Even if there is a green light gap, it should be ensured that the emergency vehicle can successfully pass through the intersection within this cycle.

[0103] t ge =t e -t gtl

[0104] In t e >t l >t gtlIn this case, it indicates that the remaining green light time is too short, and neither the dissipation of the queued vehicles nor the passage of the emergency vehicle can be completed within the current green light time. Therefore, under this condition, the timing parameters of the traffic signal for the expected arrival of the emergency vehicle at the intersection must be adjusted according to the following formula for the green light extension strategy, that is, the remaining green light time must be extended to ensure that the emergency vehicle can pass through the intersection within the current green light cycle. After the vehicle passes through the intersection, even if the queued vehicles at the intersection have not completely dissipated, the right of way should be immediately cut off and transferred to the conflicting phase.

[0105] t ge =t e -t gtl

[0106] Optionally, the red light early termination strategy satisfies one of the following:

[0107] If the estimated time for the queued vehicles to dissipate is greater than the estimated time for the emergency vehicles to pass the stop line at the intersection, the red light early termination strategy includes immediately implementing the red light early termination.

[0108] When the remaining time of the red light is greater than the time when the emergency vehicle is expected to pass the stop line at the intersection, and the time when the emergency vehicle is expected to pass the stop line at the intersection is greater than the time when the queued vehicles are expected to disperse, the red light early termination strategy includes a first red light early termination time, which is obtained based on the remaining time of the red light and the time when the emergency vehicle is expected to pass the stop line at the intersection.

[0109] When the time it takes for an emergency vehicle to pass the stop line at the intersection is less than or equal to the sum of the estimated dissipation time of the queuing vehicles, the remaining time of the red light, and the green light interval during phase switching, the second early red light termination time of the early red light termination strategy is determined based on the remaining time of the red light, the estimated time it takes for the emergency vehicle to pass the stop line at the intersection, and the estimated dissipation time of the queuing vehicles.

[0110] In this embodiment of the application, t is used rtl t represents the remaining time of the red light. e The time t represents the estimated time it will take for the emergency vehicle to pass the stop line at the intersection. l The estimated time for the queued vehicles to dissipate is indicated by t, which represents the green light interval during the phase transition. intg .

[0111] In t l >t eIn this situation, it indicates that the estimated time for the queued vehicles to dissipate has exceeded the estimated time for the emergency vehicle to pass the stop line at the intersection. If an early red light termination strategy is not implemented, it will cause significant delays for the emergency vehicle's passage. Therefore, to ensure priority passage for emergency vehicles, the early red light termination for this phase should be implemented immediately, while still meeting the minimum green light time requirement for the conflict phase. This will reduce the waiting time for emergency vehicles.

[0112] In t rtl >t e >t l In this case, it indicates that the remaining time of the red light is too long. Based on the current queuing situation, the estimated time for the emergency vehicle to cross the stop line at the intersection is greater than the estimated time for the queued vehicles to dissipate. After the red light ends, the current queued vehicles can dissipate promptly, but at the same time, the dissipation of the queued vehicles will not obstruct the emergency vehicle. Therefore, to ensure the priority passage of the emergency vehicle, the timing parameters of the traffic signal for the estimated arrival time of the emergency vehicle at the intersection should be adjusted according to the following formula for the early red light termination strategy, i.e., reducing the remaining time of the red light:

[0113] t eg =t rtl -t e

[0114] In t e >t l >t rtl or t e >t rtl >t l In this case, based on the current remaining red light time, regardless of whether the remaining red light time is sufficient to clear the queue of vehicles, when the emergency vehicle reaches the stop line at the intersection, the emergency traffic direction has already switched from red to green. However, it may also be within the green light interval of the phase transition. Therefore, further differentiation is needed based on this:

[0115] If t e >t l +t rtl +t intg If the red light in the current direction normally switches to green, the emergency vehicle will arrive. Therefore, in this case, there is no need to adopt the red light early termination strategy; the traffic signal timing parameters of the intersection can be operated normally as originally.

[0116] If t e ≤t l +t rtl +t intgThis indicates that after the red light in the current direction normally switches to green, the queue of vehicles cannot dissipate in time, which will greatly affect the priority passage of emergency vehicles. Therefore, in this case, the timing parameters of the traffic signal when the emergency vehicle is expected to arrive at the intersection are adjusted according to the following formula for the early red light termination strategy, that is, the remaining red light time is reduced:

[0117] t eg =t rtl -t e +t l +1

[0118] In one embodiment, optionally, the method further includes:

[0119] If the emergency vehicle has already left the intersection, the timing parameters of the traffic signals at the intersection shall be restored within a preset number of traffic signal cycles.

[0120] In this embodiment, after the emergency vehicle passes through the intersection first, the traffic signal timing parameters of the intersection adopt a progressive recovery scheme, including: under certain constraints, prioritizing the alleviation of traffic flow in the main congestion direction, restoring the traffic signal timing parameters of each direction of the intersection to their state before the emergency task was triggered; first, when the traffic signal timing parameters are restored to within a set threshold, then the traffic signal timing parameters are gradually adjusted back to their original state; through adjustments of a preset number of traffic signal cycles, normal operation is gradually restored. The preset number can be 3 to 5.

[0121] Figure 5 This is a flowchart illustrating one implementation of the intersection priority passage method for emergency vehicles described in this application. This application's embodiments are applicable to full-line priority passage for connected emergency vehicles. The method and practice are executed collaboratively by vehicle devices, a cloud system, and roadside devices. The vehicle devices primarily possess V2X (vehicle-to-everything) communication technology capabilities, enabling vehicles to achieve connectivity. On one hand, they can accurately and in real-time receive roadside traffic events and data information; on the other hand, they also achieve real-time perception of the vehicle's own location and operational information. The roadside system needs to be equipped with intelligent terminals to achieve V2X-based communication technology capabilities, and simultaneously deploy a response perception system to identify the road traffic conditions and queuing congestion at each entrance direction of the intersection, while also possessing sensing and control capabilities.

[0122] This application also provides a roadside system, including:

[0123] RSU (Road Side Unit) can be configured at each intersection, with two RSUs.

[0124] Using gantry frames or L-shaped members, radar or cameras are deployed in each direction;

[0125] MEC (Mobile Edge Computing) can be deployed on the roadside using poles or other methods. Here, MEC can be applied to the intersection priority passage method for emergency vehicles described in the embodiments of this application.

[0126] like Figure 5 As shown, the method includes five stages: emergency vehicle rescue plan setting stage, intersection emergency response mode preparation stage, coordinated vehicle clearing stage, emergency vehicle signal priority stage, and progressive recovery stage.

[0127] Specifically, the emergency vehicle rescue plan setting phase includes the following steps:

[0128] Confirm the location of the emergency;

[0129] Based on the location of the emergency, obtain the emergency planning route;

[0130] Based on current and historical traffic conditions, obtain the estimated travel time between every two adjacent intersections in the emergency planning route;

[0131] Generate a travel route based on the most recent time path optimization;

[0132] Based on the travel route, generate a list of intersections along the entire route.

[0133] The preparatory phase of the intersection emergency response mode includes:

[0134] Based on the traffic route, confirm the traffic order, direction of traffic and estimated arrival time at each intersection in advance;

[0135] Obtain the phase setting scheme of traffic signals at each intersection;

[0136] Activate emergency response control mode at the intersection where traffic is about to pass;

[0137] Open the dedicated identification channel for roadside connected emergency vehicles;

[0138] Analyze the traffic congestion situation in each direction at the intersection.

[0139] The linked vehicle emptying phase includes the following steps:

[0140] Detect emergency vehicles entering within a predetermined upstream distance of the intersection;

[0141] Based on the current traffic conditions, the green light time for emergency traffic directions will be extended within a cycle.

[0142] The emergency vehicle signal priority phase includes the following steps:

[0143] Within one to two cycles, the queue of vehicles in the emergency passage direction will be dispersed to a preset threshold.

[0144] After the dissipation period, the emergency vehicle passage phase is released in advance according to the emergency passage direction;

[0145] Identify emergency vehicles exiting intersections;

[0146] The progressive recovery phase includes the following steps:

[0147] Identify the main congestion directions;

[0148] Calculate the queue length of vehicles in each direction at the intersection and the queue length before the emergency event occurs;

[0149] Within three cycles, the timing parameters of the traffic signals at the current intersection are adjusted based on the principle of minimizing differences.

[0150] Within three to five cycles, the current timing parameters are restored to normal, with the original timing parameters as the target.

[0151] In summary, the intersection priority passage method for emergency vehicles described in this application adopts a hierarchical priority approach. It can perceive the location of emergency vehicles in real time within a preset distance upstream of the intersection, as well as the current direction of travel and the overall traffic situation at the current and downstream intersections. For scenarios requiring absolute clearance, it clears the queue of vehicles in the emergency passage direction in advance, providing "barrier-free" passage for emergency vehicles. Subsequently, based on the intersection status and according to the intersection congestion index, it progressively restores the original solution. Based on the traffic data of each passage direction formed by the road segment perception capability, it integrates the current road conditions and historical traffic status, dynamically optimizes the path, and generates candidate passage routes for emergency vehicles. The shortest time path optimization result is then corrected a second time using the maximum travel distance as a constraint to generate a travel route. The timing parameters of the traffic signal at the intersection are adjusted based on the different relationships between the expected time for emergency vehicles to pass the stop line at the intersection, the expected time for queued vehicles to dissipate, the remaining time of the green light, and the remaining time of the red light. A progressive recovery scheme is adopted for the timing parameters of the traffic signal after the emergency vehicles have had priority passage.

[0152] Please refer to Figure 6 This application also provides an intersection priority passage device for emergency vehicles, comprising:

[0153] The generation module 601 is used to generate the route of the emergency vehicle based on the emergency planning route of the emergency vehicle and the estimated travel time between every two adjacent intersections in the emergency planning route. The estimated travel time is obtained based on the current traffic status and historical traffic status. The route includes information on multiple intersections that the emergency vehicle passes through in sequence.

[0154] The extension module 602 is used to extend the green light time of the emergency passage direction at each intersection when the emergency vehicle enters within a preset distance upstream of each intersection in the passage route.

[0155] The adjustment module 603 is used to adjust the timing parameters of the traffic signal at each intersection where the emergency vehicle is expected to arrive, based on the traffic signal when the emergency vehicle is expected to arrive at the stop line of each intersection in the route, by adopting a corresponding green light extension strategy or red light early termination strategy.

[0156] Optionally, the emergency vehicle intersection priority passage device further includes:

[0157] The recovery module is used to restore the timing parameters of the traffic signals at the intersection within a preset number of traffic signal cycles after the emergency vehicle has left the intersection.

[0158] Optionally, in the emergency vehicle intersection priority passage device, the generation module 601 is specifically used for:

[0159] Based on the road segment between every two adjacent intersections in the emergency vehicle's emergency planning route and the estimated travel time, the shortest time path is optimized to generate multiple candidate routes for the emergency vehicle.

[0160] The travel route is obtained from multiple candidate travel routes, with the maximum travel distance of the candidate travel routes as a constraint.

[0161] Optionally, the emergency vehicle intersection priority passage device further includes:

[0162] An update module is used to dynamically update the travel route based on the emergency planned route of the emergency vehicle and the estimated travel time between every two adjacent intersections in the emergency planned route, when the emergency vehicle passes through each intersection in the travel route.

[0163] Optionally, in the emergency vehicle intersection priority passage device, the estimated passage time is obtained based on the distance between two adjacent intersections, the average speed of historically passing vehicles between the two adjacent intersections, the duration of the currently identified last vehicle passing through the road segment between the two adjacent intersections, the latitude and longitude of the midpoint of the stop line of the two adjacent intersections, and the latitude and longitude of the last vehicle.

[0164] Optionally, in the intersection priority passage device for emergency vehicles, the preset distance is obtained based on the signal cycle of the downstream intersection, the green light duration of the emergency passage direction at the downstream intersection, and the average speed of the emergency vehicles.

[0165] Optionally, in the emergency vehicle intersection priority passage device, the extension module 602 is specifically used for:

[0166] Within a preset time range, the green light time for the emergency passage direction at the intersection is extended. The lower limit of the preset time range is obtained based on the length of the pedestrian crossing and the pedestrian crossing speed, while the upper limit is obtained based on the traffic signal cycle and the sum of the minimum green light times for each phase of the intersection.

[0167] Optionally, in the emergency vehicle intersection priority passage device, the adjustment module 603 is specifically used for:

[0168] When the stop line at each intersection along the route where the emergency vehicle is expected to arrive is green, the timing parameters of the traffic signal for the intersection where the emergency vehicle is expected to arrive are adjusted based on the relationship between the expected time for the emergency vehicle to cross the stop line at the intersection, the expected time for the queued vehicles to dissipate, and the remaining time of the green light.

[0169] If the stop line at each intersection along the route where the emergency vehicle is expected to arrive is red, the timing parameters of the traffic signal for the intersection where the emergency vehicle is expected to arrive are adjusted based on the relationship between the expected time for the emergency vehicle to pass the stop line at the intersection, the expected time for the queued vehicles to dissipate, the remaining time of the red light, and the green light interval for phase switching. A corresponding early red light termination strategy is adopted to adjust the timing parameters of the traffic signal for the emergency vehicle to arrive at the intersection.

[0170] Optionally, in the emergency vehicle intersection priority passage device, the green light extension strategy satisfies one of the following:

[0171] If the remaining time of the green light is greater than the expected time for the queued vehicles to disperse, and the expected time for the queued vehicles to disperse is greater than the expected time for the emergency vehicle to pass the stop line at the intersection, the green light extension strategy includes a first green light extension time, which is obtained based on the expected time for the queued vehicles to disperse and the expected time for the emergency vehicle to pass the stop line at the intersection.

[0172] If the time it takes for an emergency vehicle to pass the stop line at the intersection is greater than the remaining time of the green light, and the remaining time of the green light is greater than the time it takes for the queued vehicles to disperse, the green light extension strategy includes a second green light extension time, which is obtained based on the time it takes for the emergency vehicle to pass the stop line at the intersection and the remaining time of the green light.

[0173] If the time it takes for an emergency vehicle to pass the stop line at the intersection is greater than the time it takes for the queued vehicles to disperse, and the time it takes for the queued vehicles to disperse is greater than the remaining time of the green light, the green light extension strategy includes a second green light extension time.

[0174] Optionally, in the emergency vehicle intersection priority passage device, the red light early termination strategy satisfies one of the following:

[0175] If the estimated time for the queued vehicles to dissipate is greater than the estimated time for the emergency vehicles to pass the stop line at the intersection, the red light early termination strategy includes immediately implementing the red light early termination.

[0176] When the remaining time of the red light is greater than the time when the emergency vehicle is expected to pass the stop line at the intersection, and the time when the emergency vehicle is expected to pass the stop line at the intersection is greater than the time when the queued vehicles are expected to disperse, the red light early termination strategy includes a first red light early termination time, which is obtained based on the remaining time of the red light and the time when the emergency vehicle is expected to pass the stop line at the intersection.

[0177] When the time it takes for an emergency vehicle to pass the stop line at the intersection is less than or equal to the sum of the estimated dissipation time of the queuing vehicles, the remaining time of the red light, and the green light interval during phase switching, the second early red light termination time of the early red light termination strategy is determined based on the remaining time of the red light, the estimated time it takes for the emergency vehicle to pass the stop line at the intersection, and the estimated dissipation time of the queuing vehicles.

[0178] It should be noted that the device provided in this application embodiment can implement all the method steps implemented in the above-mentioned emergency vehicle intersection priority passage method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0179] This application also provides an intersection priority passage device for emergency vehicles, such as... Figure 7 As shown, it includes:

[0180] The processor 701, memory 702, transceiver 703, and programs or instructions stored in the memory 702 and executable on the processor 701; when the processor 701 executes the programs or instructions, it implements the various processes of the above-described emergency vehicle intersection priority passage method embodiment and achieves the same technical effect. To avoid repetition, these will not be described again here.

[0181] The transceiver 703 is used to receive and send data under the control of the processor 701.

[0182] Among them, Figure 7 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically connecting various circuits of one or more processors represented by processor 701 and memory represented by memory 702. The bus architecture can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 703 can be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium. For different user equipment, the user interface 704 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0183] The processor 701 is responsible for managing the bus architecture and general processing, while the memory 702 can store the data used by the processor 701 when performing operations.

[0184] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the various processes of the above-described emergency vehicle intersection priority passage method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0185] This application also provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, they implement the various processes of the above-described emergency vehicle intersection priority passage method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0186] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0187] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0188] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for prioritizing the passage of emergency vehicles at intersections, characterized in that, include: The emergency vehicle's route is generated based on the emergency vehicle's planned route and the estimated travel time between every two adjacent intersections in the planned route. The estimated travel time is obtained based on the current traffic conditions and historical traffic conditions. The route includes information on multiple intersections that the emergency vehicle will pass through in sequence. If the emergency vehicle enters within a predetermined distance upstream of each intersection in the traffic route, the green light time for the emergency traffic direction at the intersection shall be extended. Based on the traffic signal at the stop line of each intersection along the route when the emergency vehicle is expected to arrive, the timing parameters of the traffic signal at the intersection are adjusted by adopting the corresponding green light extension strategy or red light early termination strategy.

2. The method for prioritizing emergency vehicles at intersections according to claim 1, characterized in that, The method further includes: If the emergency vehicle has already left the intersection, the timing parameters of the traffic signals at the intersection shall be restored within a preset number of traffic signal cycles.

3. The method for prioritizing emergency vehicles at intersections according to claim 1, characterized in that, Based on the emergency vehicle's planned route and the estimated travel time between every two adjacent intersections along the planned route, the route for the emergency vehicle is generated, including: Based on the road segment between every two adjacent intersections in the emergency vehicle's emergency planning route and the estimated travel time, the shortest time path is optimized to generate multiple candidate routes for the emergency vehicle. The travel route is obtained from multiple candidate travel routes, with the maximum travel distance of the candidate travel routes as a constraint.

4. The method for prioritizing emergency vehicles at intersections according to claim 1, characterized in that, After generating the emergency vehicle's route based on the emergency vehicle's planned route and the estimated travel time between every two adjacent intersections in the planned route, the method further includes: When the emergency vehicle passes through each intersection on the route, the route is dynamically updated based on the emergency vehicle's planned route and the estimated travel time between every two adjacent intersections on the planned route.

5. The method for prioritizing emergency vehicles at intersections according to claim 1, characterized in that, The estimated travel time is calculated based on the distance between two adjacent intersections, the average speed of historical vehicles passing between the two adjacent intersections, the duration of the currently identified last vehicle passing through the road segment between the two adjacent intersections, the latitude and longitude of the midpoint of the stop lines of the two adjacent intersections, and the latitude and longitude of the last vehicle.

6. The method for prioritizing emergency vehicles at intersections according to claim 1, characterized in that, The preset distance is obtained based on the signal cycle of the downstream intersection, the green light duration of the emergency passage direction at the downstream intersection, and the average speed of the emergency vehicles.

7. The method for prioritizing emergency vehicles at intersections according to claim 1, characterized in that, Extending the green light time for the emergency traffic direction at the intersection includes: Within a preset time range, the green light time for the emergency passage direction at the intersection is extended. The lower limit of the preset time range is obtained based on the length of the pedestrian crossing and the pedestrian crossing speed, while the upper limit is obtained based on the traffic signal cycle and the sum of the minimum green light times for each phase of the intersection.

8. The method for prioritizing emergency vehicles at intersections according to claim 1, characterized in that, Based on the traffic signal at the expected stop line of each intersection along the route when the emergency vehicle is expected to arrive, the timing parameters of the traffic signal at the expected intersection are adjusted using a corresponding green light extension strategy or red light early termination strategy, including: When the stop line at each intersection along the route where the emergency vehicle is expected to arrive is green, the timing parameters of the traffic signal for the intersection where the emergency vehicle is expected to arrive are adjusted based on the relationship between the expected time for the emergency vehicle to cross the stop line at the intersection, the expected time for the queued vehicles to dissipate, and the remaining time of the green light. If the stop line at each intersection along the route where the emergency vehicle is expected to arrive is red, the timing parameters of the traffic signal for the intersection where the emergency vehicle is expected to arrive are adjusted based on the relationship between the expected time for the emergency vehicle to pass the stop line at the intersection, the expected time for the queued vehicles to dissipate, the remaining time of the red light, and the green light interval for phase switching. A corresponding early red light termination strategy is adopted to adjust the timing parameters of the traffic signal for the emergency vehicle to arrive at the intersection.

9. The method for prioritizing emergency vehicles at intersections according to claim 8, characterized in that, The green light extension strategy satisfies one of the following: If the remaining time of the green light is greater than the expected time for the queued vehicles to disperse, and the expected time for the queued vehicles to disperse is greater than the expected time for the emergency vehicle to pass the stop line at the intersection, the green light extension strategy includes a first green light extension time, which is obtained based on the expected time for the queued vehicles to disperse and the expected time for the emergency vehicle to pass the stop line at the intersection. If the time it takes for an emergency vehicle to pass the stop line at the intersection is greater than the remaining time of the green light, and the remaining time of the green light is greater than the time it takes for the queued vehicles to disperse, the green light extension strategy includes a second green light extension time, which is obtained based on the time it takes for the emergency vehicle to pass the stop line at the intersection and the remaining time of the green light. If the time it takes for an emergency vehicle to pass the stop line at the intersection is greater than the time it takes for the queued vehicles to disperse, and the time it takes for the queued vehicles to disperse is greater than the remaining time of the green light, the green light extension strategy includes a second green light extension time.

10. The method for prioritizing emergency vehicles at intersections according to claim 8, characterized in that, The red light early disconnection strategy satisfies one of the following: If the estimated time for the queued vehicles to dissipate is greater than the estimated time for the emergency vehicles to pass the stop line at the intersection, the red light early termination strategy includes immediately implementing the red light early termination. When the remaining time of the red light is greater than the time when the emergency vehicle is expected to pass the stop line at the intersection, and the time when the emergency vehicle is expected to pass the stop line at the intersection is greater than the time when the queued vehicles are expected to disperse, the red light early termination strategy includes a first red light early termination time, which is obtained based on the remaining time of the red light and the time when the emergency vehicle is expected to pass the stop line at the intersection. When the time it takes for an emergency vehicle to pass the stop line at the intersection is less than or equal to the sum of the estimated dissipation time of the queuing vehicles, the remaining time of the red light, and the green light interval during phase switching, the second early red light termination time of the early red light termination strategy is determined based on the remaining time of the red light, the estimated time it takes for the emergency vehicle to pass the stop line at the intersection, and the estimated dissipation time of the queuing vehicles.

11. An intersection priority passage device for emergency vehicles, characterized in that, include: The generation module is used to generate the route of the emergency vehicle based on the emergency planning route of the emergency vehicle and the estimated travel time between every two adjacent intersections in the emergency planning route. The estimated travel time is obtained based on the current traffic conditions and historical traffic conditions. The route includes information on multiple intersections that the emergency vehicle passes through in sequence. An extension module is used to extend the green light time for the emergency passage direction at each intersection when the emergency vehicle enters within a preset upstream distance of each intersection in the passage route. The adjustment module is used to adjust the timing parameters of the traffic signals at the intersections where the emergency vehicle is expected to arrive, based on the traffic signals at the stop line of each intersection along the route, by adopting a corresponding green light extension strategy or red light early termination strategy.

12. An intersection priority passage device for emergency vehicles, characterized in that, include: A processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the processor, when executing the program or instructions, implements the intersection priority passage method for emergency vehicles as described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the intersection priority passage method for emergency vehicles as described in any one of claims 1 to 10.

14. A computer program product, characterized in that, It includes computer instructions that, when executed by a processor, implement the intersection priority passage method for emergency vehicles as described in any one of claims 1 to 10.

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