A warning method for avoiding emergency vehicles

Abstract

The present invention relates to the field of intelligent transportation, and particularly relates to a warning method for avoiding emergency vehicles. The present invention uses vehicle positioning technology, vehicle networking technology and corresponding algorithms to give early warnings to other vehicles near emergency vehicles performing tasks, reminding other vehicles meeting the avoidance conditions to avoid in advance, so that the emergency vehicles can quickly pass through and perform tasks.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation, and in particular to an early warning system and method for avoiding emergency vehicles. Background Art

[0002] In order to minimize the loss of life and property during the rescue process, emergency vehicles such as fire trucks and ambulances need to arrive at the accident scene as quickly as possible. However, in complex traffic environments, especially in congested road conditions, the time it takes for emergency vehicles to arrive at the accident scene may be extended, resulting in missing the best rescue time.

[0003] In the existing technology, emergency vehicles can use navigation software to avoid congested roads to a certain extent, but this may increase the driving distance and cannot fundamentally solve the problem. Moreover, other vehicles on the road will not be able to avoid emergency vehicles in advance due to limited vision, lack of concentration and other factors, causing the emergency vehicles to travel slowly. Summary of the invention

[0004] In view of the problems existing in the prior art, the object of the present invention is to provide a warning system and method for avoiding emergency vehicles.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions to achieve it.

[0006] (1) An early warning system for avoiding emergency vehicles, comprising an emergency vehicle module and other vehicle modules; the emergency vehicle module is arranged on the emergency vehicle, and the other vehicle modules are arranged on the non-emergency vehicle;

[0007] The emergency vehicle module includes a first driving parameter acquisition module, a first positioning module and a first vehicle-to-vehicle communication module;

[0008] The first driving parameter acquisition module is used to collect the driving parameters of the vehicle, including vehicle speed, acceleration, turn signal status and travel direction; the first positioning module is used to obtain the location information of the vehicle, including the location of the vehicle and the lane in which the vehicle is located; the first vehicle-to-vehicle communication module is used to send the driving parameters and location information of the vehicle to other vehicles;

[0009] Other vehicle modules include a second driving parameter acquisition module, a second positioning module, a second vehicle-to-vehicle communication module, a processing module and an alarm module;

[0010] The second driving parameter acquisition module is used to acquire the driving parameters of the vehicle, including vehicle speed, acceleration, and traveling direction; the second positioning module is used to obtain the position information of the vehicle, and the position information includes the vehicle position and the lane where the vehicle is located; the second vehicle-to-vehicle communication module is used to receive the driving parameters and position information sent by the emergency vehicle; the processing module is used to control the alarm module to give an alarm according to the driving parameters and position information of the host vehicle and the emergency vehicle; the alarm module is used to give an alarm prompt to the driver of the host vehicle.

[0011] (2) A warning method for avoiding an emergency vehicle, comprising the following steps:

[0012] Step 1, a general vehicle receives the driving parameters and position information sent by an emergency vehicle within a certain range;

[0013] Step 2, when the general vehicle is in front of the emergency vehicle, determine whether the general vehicle and the emergency vehicle are traveling in the same direction. If they are traveling in the same direction, go to Step 3; otherwise, go to Step 4;

[0014] Step 3, calculate the longitudinal distance between the general vehicle and the emergency vehicle, and determine whether the longitudinal distance is less than the first safety distance; wherein, the longitudinal distance between the general vehicle and the emergency vehicle is the projection of the straight-line distance between the general vehicle and the emergency vehicle in the traveling direction of the emergency vehicle;

[0015] When the longitudinal distance is less than the first safety distance, give an alarm reminder to the general vehicle according to whether the general vehicle and the emergency vehicle are in the same lane: when the general vehicle and the emergency vehicle are in the same lane, remind the driver of the general vehicle that there is an emergency vehicle behind and needs to change lanes to avoid; when the general vehicle and the emergency vehicle are in different lanes, remind the driver of the general vehicle that there is an emergency vehicle behind and needs to keep driving in the lane;

[0016] Step 4, determine whether the general vehicle and the emergency vehicle are traveling head-on. If they are traveling head-on, go to Step 5; otherwise, go to Step 6;

[0017] Step 5, calculate the longitudinal distance between the general vehicle and the emergency vehicle, and determine whether the longitudinal distance is less than the second safety distance;

[0018] When the longitudinal distance is less than the second safety distance, give an alarm reminder to the general vehicle according to whether the general vehicle and the emergency vehicle are in the same lane: when the general vehicle and the emergency vehicle are in the same lane, remind the driver of the general vehicle that there is an emergency vehicle in front and needs to pull over to avoid; when the general vehicle and the emergency vehicle are in different lanes, remind the driver of the general vehicle that there is an emergency vehicle in front and needs to keep driving in the lane;

[0019] Step 6: Determine whether the direction of the general vehicle relative to the emergency vehicle is consistent with the pre-turning direction of the emergency vehicle based on the turn signal status of the emergency vehicle. If they are consistent, determine whether the longitudinal distance between the general vehicle and the emergency vehicle is less than the third safety distance. If it is less, calculate the lateral distance between the general vehicle and the emergency vehicle, and determine whether the lateral distance is less than the fourth safety distance; wherein, the lateral distance between the general vehicle and the emergency vehicle is the projection of the straight-line distance between the general vehicle and the emergency vehicle in the traveling direction of the general vehicle.

[0020] When the lateral distance is less than the fourth safety distance, give an alarm reminder to the general vehicle according to the relative positions of the general vehicle and the emergency vehicle: remind the driver of the general vehicle that there is an emergency vehicle ahead / behind, and pay attention to avoiding it.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: Using vehicle positioning technology, vehicle networking technology and corresponding algorithms to give early warnings to other vehicles near the emergency vehicle performing tasks, and reminding other vehicles that meet the avoidance conditions to avoid in advance, so that the emergency vehicle can quickly pass through the task. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The following further describes the present invention in detail with reference to the drawings and specific embodiments.

[0023] Figure 1 is a schematic structural diagram of the system of the present invention;

[0024] Figure 2 is a schematic diagram of the scenario where the self-vehicle and the emergency vehicle are traveling in the same direction;

[0025] Figure 3 is a schematic diagram of the scenario where the self-vehicle and the emergency vehicle are traveling head-on;

[0026] Figure 4 is a schematic diagram of the scenario where the traveling directions of the self-vehicle and the emergency vehicle intersect. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The following will describe the implementation scheme of the present invention in detail in combination with the embodiments. However, those skilled in the art will understand that the following embodiments are only used to illustrate the present invention and should not be regarded as limiting the scope of the present invention.

[0028] Refer to Figure 1 , a warning system for avoiding emergency vehicles, including an emergency vehicle module and other vehicle modules; the emergency vehicle module is arranged on the emergency vehicle, and the other vehicle modules are arranged on non-emergency vehicles;

[0029] The emergency vehicle module includes a first driving parameter acquisition module, a first positioning module and a first vehicle-to-vehicle communication module;

[0030] The first driving parameter acquisition module is used to acquire the driving parameters of the vehicle itself through the CAN bus, including vehicle speed, acceleration, turn signal status, and driving direction; the first positioning module is used to obtain the position information of the vehicle itself, and the position information includes the vehicle's position and the lane where the vehicle is located; the first vehicle-to-vehicle communication module is used to send the driving parameters and position information of the vehicle itself to other vehicles, and the vehicle-to-vehicle communication module uses DSRC communication;

[0031] The other vehicle module includes a second driving parameter acquisition module, a second positioning module, a second vehicle-to-vehicle communication module, a processing module, and an alarm module;

[0032] The second driving parameter acquisition module is used to acquire the driving parameters of the vehicle through the CAN bus, including vehicle speed, acceleration, and driving direction; the second positioning module is used to obtain the position information of the vehicle, and the position information includes the vehicle's position and the lane where the vehicle is located; the second vehicle-to-vehicle communication module is used to receive the driving parameters and position information sent by the emergency vehicle, and the vehicle-to-vehicle communication module uses DSRC communication; the processing module is used to control the alarm module to give an alarm according to the driving parameters and position information of the vehicle itself and the emergency vehicle; the alarm module is used to give an alarm prompt to the driver of the vehicle itself in text and voice.

[0033] A warning method for avoiding emergency vehicles includes the following steps:

[0034] Step 1, a general vehicle receives the driving parameters and position information sent by an emergency vehicle within a certain range;

[0035] Step 2, when the general vehicle is in front of the emergency vehicle, determine whether the general vehicle and the emergency vehicle are driving in the same direction. If they are driving in the same direction, go to Step 3; otherwise, go to Step 4;

[0036] Step 3, refer to Figure 2 , when the general vehicle and the emergency vehicle are driving in the same direction, calculate the longitudinal distance between the general vehicle and the emergency vehicle, and determine whether the longitudinal distance is less than the first safety distance; among them, the longitudinal distance between the general vehicle and the emergency vehicle is the projection of the straight-line distance between the general vehicle and the emergency vehicle in the driving direction of the emergency vehicle;

[0037] When the longitudinal distance is less than the first safety distance, give an alarm reminder to the general vehicle according to whether the general vehicle and the emergency vehicle are in the same lane: when the general vehicle and the emergency vehicle are in the same lane, such as Figure 2 Vehicle A in, remind the driver of the general vehicle that there is an emergency vehicle behind and needs to change lanes to avoid; when the general vehicle and the emergency vehicle are in different lanes, such as Figure 2 Vehicle B in, remind the driver of the general vehicle that there is an emergency vehicle behind and needs to keep driving in the lane;

[0038] Specifically, the calculation method of the first safety distance is as follows:

[0039] When a general vehicle is in a stationary state, the calculation method is as follows;

[0040]

[0041] When a general vehicle is in a uniform or accelerating state, the calculation method is as follows;

[0042]

[0043] When a general vehicle is in a braking state, the calculation method is as follows;

[0044]

[0045] Wherein, S 1 is the first safety distance, v 1 is the speed of the emergency vehicle, v 2 is the speed of the general vehicle, t 0 is the reaction time of the emergency vehicle driver, t 1 is the coordination time of the emergency vehicle braking system, t 2 is the time for the emergency vehicle braking deceleration to increase, a 1 is the emergency vehicle braking deceleration, a 2 is the acceleration of the general vehicle, and S is the absolute safety distance.

[0046] According to the latest C-NCAP standard in 2021, the reaction time t 0 of the emergency vehicle driver is taken as 1.6 seconds;

[0047] When the vehicle brakes, the time required for the braking system to eliminate the gap existing in the brake actuator and to generate the braking pressure from the generation of the braking signal is the coordination time t 1 of the emergency vehicle braking system, t 1 is taken as 0.05 seconds;

[0048] After the coordination of the vehicle braking system is completed, the time required for the braking deceleration to increase from zero to the target deceleration is the time t 2 for the emergency vehicle braking deceleration to increase, t 2 is taken as 0.1 seconds;

[0049] The absolute safety distance S is an empirical value obtained according to the driving characteristics of the driver and the traffic flow on the road, generally 5 to 10 meters, and is taken as 8 meters.

[0050] Step 4, determine whether the general vehicle and the emergency vehicle are driving towards each other. If they are driving towards each other, go to Step 5; otherwise, go to Step 6;

[0051] Step 5, refer to Figure 3, when a general vehicle and an emergency vehicle are moving towards each other, calculate the longitudinal distance between the general vehicle and the emergency vehicle, and determine whether the longitudinal distance is less than the second safety distance;

[0052] When the longitudinal distance is less than the second safety distance, according to whether the general vehicle and the emergency vehicle are in the same lane, give an alarm reminder to the general vehicle: when the general vehicle and the emergency vehicle are in the same lane, such as Figure 3 vehicle C in, remind the driver of the general vehicle that there is an emergency vehicle ahead and needs to pull over and give way; when the general vehicle and the emergency vehicle are in different lanes, remind the driver of the general vehicle that there is an emergency vehicle ahead and needs to keep driving in the lane;

[0053] Specifically, the calculation method of the second safety distance is as follows;

[0054]

[0055] where S 2 is the first safety distance, and v is the algebraic sum of the speed of the general vehicle and the speed of the emergency vehicle.

[0056] Step 6, when the general vehicle and the emergency vehicle are neither moving in the same direction nor moving towards each other, it means that the general vehicle and the emergency vehicle have a driving situation similar to Figure 4 shown. According to the turn signal state of the emergency vehicle, judge whether the direction of the general vehicle relative to the emergency vehicle is consistent with the pre-turning direction of the emergency vehicle. If it is consistent, judge whether the longitudinal distance between the general vehicle and the emergency vehicle is less than the third safety distance. If it is less, then calculate the lateral distance between the general vehicle and the emergency vehicle, and judge whether the lateral distance is less than the fourth safety distance; among them, the lateral distance between the general vehicle and the emergency vehicle is the projection of the straight-line distance between the general vehicle and the emergency vehicle on the traveling direction of the general vehicle;

[0057] When the lateral distance is less than the fourth safety distance, according to the relative position of the general vehicle and the emergency vehicle, give an alarm reminder to the general vehicle: remind the driver of the general vehicle that there is an emergency vehicle ahead / behind and needs to pay attention to avoidance. Refer to Figure 4 , that is, remind the driver of vehicle D that there is an emergency vehicle ahead and needs to pay attention to avoidance.

[0058] Specifically, the third safety distance is the sum of the outer radius of the emergency vehicle's loop and the absolute safety radius.

[0059] The calculation method of the outer radius of the emergency vehicle's loop is as follows:

[0060]

[0061] where R is the outer radius of the emergency vehicle's loop, l is the wheelbase of the emergency vehicle, d is the front overhang size of the emergency vehicle, b is the width of the emergency vehicle, and r is the inner radius of the emergency vehicle's loop, r 1 is the minimum turning radius of the emergency vehicle, and n is the front wheel track of the emergency vehicle.

[0062] The absolute safety radius is an empirical value obtained according to the conditions of the road under different weather conditions, generally 2 to 5 meters, and the value is taken as 3 meters.

[0063] Specifically, the calculation method of the fourth safety distance is as follows;

[0064]

[0065] Although the present invention has been described in detail with general descriptions and specific embodiments in this specification, on the basis of the present invention, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection of the present invention.

Claims

1. An early warning method for avoiding emergency vehicles, characterized in that, it includes the following steps: Step 1, an ordinary vehicle receives the driving parameters and location information sent by an emergency vehicle within a certain range; Step 2, when the ordinary vehicle is in front of the emergency vehicle, determine whether the ordinary vehicle and the emergency vehicle are traveling in the same direction. If they are traveling in the same direction, proceed to Step 3; otherwise, proceed to Step 4; Step 3, calculate the longitudinal distance between the ordinary vehicle and the emergency vehicle, and determine whether the longitudinal distance is less than the first safety distance; wherein, the longitudinal distance between the ordinary vehicle and the emergency vehicle is the projection of the straight-line distance between the ordinary vehicle and the emergency vehicle in the traveling direction of the emergency vehicle; When the longitudinal distance is less than the first safety distance, according to whether the ordinary vehicle and the emergency vehicle are in the same lane, give an alarm reminder to the ordinary vehicle: when the ordinary vehicle and the emergency vehicle are in the same lane, remind the driver of the ordinary vehicle that there is an emergency vehicle behind and need to change lanes to avoid; when the ordinary vehicle and the emergency vehicle are in different lanes, remind the driver of the ordinary vehicle that there is an emergency vehicle behind and need to keep driving in the lane; Step 4, determine whether the ordinary vehicle and the emergency vehicle are traveling head-on. If they are traveling head-on, proceed to Step 5; otherwise, proceed to Step 6; Step 5, calculate the longitudinal distance between the ordinary vehicle and the emergency vehicle, and determine whether the longitudinal distance is less than the second safety distance; When the longitudinal distance is less than the second safety distance, according to whether the ordinary vehicle and the emergency vehicle are in the same lane, give an alarm reminder to the ordinary vehicle: when the ordinary vehicle and the emergency vehicle are in the same lane, remind the driver of the ordinary vehicle that there is an emergency vehicle in front and need to pull over to avoid; when the ordinary vehicle and the emergency vehicle are in different lanes, remind the driver of the ordinary vehicle that there is an emergency vehicle in front and need to keep driving in the lane; Step 6, judge whether the direction of the ordinary vehicle relative to the emergency vehicle is consistent with the pre-turning direction of the emergency vehicle according to the turn signal state of the emergency vehicle. If it is consistent, judge whether the longitudinal distance between the ordinary vehicle and the emergency vehicle is less than the third safety distance. If it is less, then calculate the lateral distance between the ordinary vehicle and the emergency vehicle, and judge whether the lateral distance is less than the fourth safety distance; wherein, the lateral distance between the ordinary vehicle and the emergency vehicle is the projection of the straight-line distance between the ordinary vehicle and the emergency vehicle in the traveling direction of the ordinary vehicle; When the lateral distance is less than the fourth safety distance, according to the relative position of the ordinary vehicle and the emergency vehicle, give an alarm reminder to the ordinary vehicle: remind the driver of the ordinary vehicle that there is an emergency vehicle in front / behind and need to pay attention to avoiding.

2. The early warning method for avoiding emergency vehicles according to claim 1, characterized in that, the calculation method of the first safety distance is as follows: When the ordinary vehicle is in a stationary state, the calculation method is as follows; When the ordinary vehicle is in a uniform or accelerating state, the calculation method is as follows; When the ordinary vehicle is in a braking state, the calculation method is as follows; Among them, S 1 is the first safety distance, v 1 is the speed of the emergency vehicle, v 2 is the speed of the general vehicle, t 0 is the reaction time of the emergency vehicle driver, t 1 is the coordination time of the emergency vehicle braking system, t 2 is the emergency vehicle braking deceleration increase time, a 1 is the emergency vehicle braking deceleration, a 2 is the general vehicle acceleration, and S is the absolute safety distance.

3. The early warning method for avoiding emergency vehicles according to claim 1, characterized in that, the calculation method of the second safety distance is as follows; Among them, S 2 is the first safety distance, and v is the algebraic sum of the speeds of ordinary vehicles and emergency vehicles.

4. The early warning method for avoiding emergency vehicles according to claim 1, characterized in that, the third safety distance is the sum of the outer radius of the emergency vehicle's loop and the absolute safety radius.

5. The early warning method for avoiding emergency vehicles according to claim 1, characterized in that, the calculation method of the fourth safety distance is as follows;

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