Vehicle priority passing method and device, storage medium and electronic equipment

Abstract

The present disclosure provides a vehicle priority passing method, device, storage medium and electronic equipment. The problem that the vehicle priority passing control strategy in the related art does not conform to the actual driving condition of the vehicle and cannot guarantee the priority passing of the vehicle can be solved. The vehicle priority passing method comprises: obtaining a priority passing request sent by a target vehicle; controlling the phase of a signal lamp and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of a vehicle group in front of the target vehicle, and the state of the signal lamp at an intersection; and when the target vehicle is at a preset distance from the intersection, again controlling the phase of the signal lamp and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle group in front of the target vehicle, and the state of the signal lamp at the current intersection. The embodiments of the present disclosure can enable the priority passing of the target vehicle without stopping at the intersection.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of intelligent transportation, and in particular, to a vehicle priority passing method and device, a storage medium and an electronic device. BACKGROUND

[0002] In the field of intelligent transportation, emergency vehicles often need to pass through roads as few times as possible to save rescue time and ensure the safety of personnel and materials. At present, a mathematical model can be established to regard the emergency vehicle as a uniform linear motion to formulate an emergency vehicle priority passing control strategy. However, in general, the vehicle does not maintain a uniform motion during driving, so the vehicle priority passing control strategy formulated in this way does not conform to the actual situation of vehicle driving, and may not guarantee the priority passing of the emergency vehicle due to acceleration, deceleration or overtaking of the vehicle.

[0003] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0004] The present disclosure provides a vehicle priority passing method, device, storage medium and electronic device, which at least partially overcomes the problem that the vehicle priority passing control strategy in the related art does not conform to the actual driving situation of the vehicle and cannot guarantee the priority passing of the vehicle.

[0005] According to a first aspect of the present disclosure, a vehicle priority passing method is provided, comprising: obtaining a priority passing request issued by a target vehicle; controlling the phase of a signal lamp and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of a vehicle group in front of the target vehicle, and the state of the signal lamp at the intersection; and when the target vehicle is at a predetermined distance from the intersection, again controlling the phase of the signal lamp and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle group in front of the target vehicle, and the state of the signal lamp at the intersection.

[0006] Optionally, the priority passing request includes at least one of the following information: the identification of the target vehicle, the category of the target vehicle, the speed of the target vehicle, the position of the target vehicle, and the predetermined trajectory of the target vehicle.

[0007] Optionally, the controlling of the phase of the signal light and / or the vehicle speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle fleet in front of the target vehicle, and the state of the signal light at the intersection comprises: when the time length required for the target vehicle to reach the intersection is not greater than one cycle of the signal light or the target vehicle enters the priority control range, controlling the phase of the signal light and / or the vehicle speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle fleet in front of the target vehicle, and the state of the signal light at the intersection.

[0008] Optionally, the controlling of the phase of the signal light and / or the vehicle speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle fleet in front of the target vehicle, and the state of the signal light at the intersection comprises: when it is determined according to the state of the signal light that the phase of the signal light is green, if the remaining time length of the green light is not greater than the time length required for the target vehicle to meet the vehicle fleet in front of the target vehicle, delaying the time length during which the signal light is in the green phase; when it is determined according to the state of the signal light that the phase of the signal light is green, if the remaining time length of the green light is greater than the time length required for the target vehicle to meet the vehicle fleet in front of the target vehicle, informing the target vehicle to slow down and delaying the time length during which the signal light is in the green phase.

[0009] Optionally, if the remaining time length of the green light is not greater than the time length required for the target vehicle to meet the vehicle fleet in front of the target vehicle, delaying the time length during which the signal light is in the green phase comprises: calculating the delay time length of the green light according to the following formula (1):

[0010]

[0011] wherein g e represents the delay time length of the green light, L0 represents the distance between the target vehicle and the stop line at the intersection when the target vehicle sends the priority request, L1 represents the length of the vehicle fleet, v0 represents the vehicle speed of the target vehicle when the target vehicle sends the priority request, t represents the remaining time length of the green light, t s represents a preset safety transition time, a0 represents the acceleration of the target vehicle, and a1 represents the acceleration of the vehicle fleet; on the basis of the remaining time length of the green light, the signal light is controlled to be further delayed for the delay time length in the green phase.

[0012] Optionally, if the remaining duration of the green light is greater than the duration required for the target vehicle to meet the vehicle platoon in front of the target vehicle, the target vehicle is notified to decelerate and delay the duration of the green light phase of the signal light, including: if the difference between the maximum green light duration and the duration of the green light in a cycle is not less than the delay duration, the signal light is controlled to be in the green light phase for the delay duration; if the difference between the maximum green light duration and the duration of the green light in a cycle is greater than the delay duration, the signal light is controlled to be in the green light phase for the maximum green light duration, the target vehicle is notified to decelerate, and the upper limit of the speed of the target vehicle after deceleration is as follows:

[0013]

[0014] The upper limit of the deceleration time of the target vehicle is as follows:

[0015]

[0016] wherein v' represents the speed of the target vehicle after deceleration, v0 represents the speed of the target vehicle when the priority passage request is sent, a1 represents the acceleration of the vehicle in the platoon, L0 represents the distance between the target vehicle and the stop line of the intersection when the priority passage request is sent, L1 represents the length of the platoon, and t0 represents the acceleration time of the target vehicle.

[0017] Optionally, according to the state information of the target vehicle, the state information of the vehicle platoon in front of the target vehicle, and the state of the intersection signal light, the phase of the signal light and / or the speed of the target vehicle are controlled, including: when it is determined according to the state of the signal light that the phase of the signal light is red, if the duration required for the vehicle platoon in front of the target vehicle to drive away from the intersection is not greater than the duration required for the target vehicle to meet the vehicle platoon in front of the target vehicle, the phase of the signal light is advanced from red to green; when it is determined according to the state of the signal light that the phase of the signal light is red, if the duration required for the vehicle platoon to drive away from the intersection is greater than the duration required for the target vehicle to meet the vehicle platoon, the phase of the signal light is advanced from red to green and the target vehicle is notified to decelerate.

[0018] Optionally, when it is determined according to the state of the signal light that the phase of the signal light is red, if the duration required for the vehicle platoon in front of the target vehicle to drive away from the intersection is not greater than the duration required for the target vehicle to meet the vehicle platoon in front of the target vehicle, the phase of the signal light is advanced from red to green, including:

[0019] The duration of the green light is calculated according to the following formula (2):

[0020]

[0021] wherein g c represents the duration of the green light after the phase of the signal light is switched from the red light to the green light, L0 represents the distance between the target vehicle and the stop line of the intersection when the target vehicle sends the request for priority passage, L1 represents the length of the vehicle group, v0 represents the speed of the target vehicle when the request for priority passage is sent, t s represents the preset safe transition time, a0 represents the acceleration of the target vehicle, and a1 represents the acceleration of the vehicle group; the phase of the signal light is switched from the red light to the green light, and the green light phase is maintained for the duration.

[0022] Optionally, when it is determined according to the state of the signal light that the phase of the signal light is the red light, if the time required for the vehicle group to drive away from the intersection is greater than the time required for the target vehicle to meet the vehicle group, the phase of the signal light is switched from the red light to the green light in advance and the target vehicle is notified to slow down, comprising: if the difference between the duration and the preset safe transition time is less than the time required for the vehicle group to drive away from the intersection, the target vehicle is notified to slow down; if the difference between the duration of the green light and the preset safe transition time is greater than the time required for the vehicle group to drive away from the intersection and less than the remaining time of the red light, the switching time of the red light is determined as follows: R b = R r -(g c -g0)+2t s ; if the value obtained by subtracting the time required for the vehicle group to drive away from the intersection from the duration of the green light and then subtracting the preset safe transition time is less than the sum of the remaining time of the red light and the preset safe transition time, the switching time of the red light is determined as follows: R b = R r -(g c -g0)+2t s ; wherein R b represents the switching time of the red light, R r represents the remaining time of the red light, and g0 represents the time required for the vehicle group to drive away from the intersection.

[0023] Optionally, the method further comprises: before obtaining the request for priority passage sent by the target vehicle, determining the priority of the target vehicle according to the first priority weight corresponding to the type of the target vehicle and the second priority weight corresponding to the number of vehicles in the vehicle group; when there are at least two target vehicles sending the request for priority passage, controlling the target vehicles to pass through in turn according to the priority order of the target vehicles.

[0024] According to a second aspect of the present disclosure, a vehicle priority passing device is also provided, comprising: an acquisition module configured to acquire a priority passing request sent by a target vehicle; a first control module configured to control a phase of a signal lamp at a current intersection and / or a speed of the target vehicle according to state information of the target vehicle, state information of a vehicle platoon in front of the target vehicle, and a state of the signal lamp; and a second control module configured to control the phase of the signal lamp and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle platoon in front of the target vehicle, and the state of the signal lamp at the intersection again when the target vehicle is at a preset distance from the intersection.

[0025] According to a third aspect of the present disclosure, an electronic device is also provided, comprising: a processor; and a memory configured to store executable instructions of the processor; wherein the processor is configured to execute any of the vehicle priority passing methods provided by the embodiments of the present disclosure via execution of the executable instructions.

[0026] According to a fourth aspect of the present disclosure, a computer readable storage medium is also provided, having a computer program stored thereon, the computer program being executed by a processor to implement any of the vehicle priority passing methods provided by the embodiments of the present disclosure.

[0027] The vehicle priority passing method provided by one or more embodiments of the present disclosure can control a phase of a signal lamp at a current intersection and / or a speed of a target vehicle according to state information of the target vehicle, state information of a vehicle platoon in front of the target vehicle, and a state of the signal lamp after acquiring a priority passing request sent by the target vehicle, so as to effectively disperse vehicles in front of the target vehicle. On this basis, the phase of the signal lamp and / or the speed of the target vehicle can be controlled again according to the state information of the target vehicle, the state information of the vehicle platoon in front of the target vehicle, and the state of the signal lamp at the intersection when the target vehicle is at a preset distance from the intersection, so as to correct a current priority passing control strategy according to an actual driving condition of vehicles in the intersection on the basis of the first control, to ensure smooth passing of the target vehicle without causing adverse effects on traffic conditions.

[0028] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0029] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate implementations of the present disclosure and, together with the description, further serve to explain the principles of the present disclosure. It is apparent that the accompanying drawings described below are only some embodiments of the present disclosure, and other drawings can be obtained by those of ordinary skill in the art without creative effort based on these drawings.

[0030] Figure 1 is a flowchart of a vehicle priority passing method according to one or more embodiments of the present disclosure;

[0031] Figure 2 is a flowchart of controlling a phase of a signal lamp and / or a vehicle speed of a target vehicle according to state information of the target vehicle, state information of a vehicle platoon in front of the target vehicle, and a state of the signal lamp at an intersection according to one or more embodiments of the present disclosure;

[0032] Figure 3 is a flowchart of controlling a phase of a signal lamp and / or a vehicle speed of a target vehicle according to state information of the target vehicle, state information of a vehicle platoon in front of the target vehicle, and a state of the signal lamp at an intersection according to one or more embodiments of the present disclosure;

[0033] Figure 4 is a structural schematic diagram of a vehicle priority passing device according to one or more embodiments of the present disclosure;

[0034] Figure 5 is a structural schematic diagram of an electronic device according to one or more embodiments of the present disclosure. DETAILED DESCRIPTION

[0035] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations can be implemented in any number of ways, and are not limited to the examples described herein. Rather, examples are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the example implementations to those skilled in the art. The described features, structures, or characteristics can be combined in one or more implementations.

[0036] In addition, the accompanying drawings are included to provide a thorough understanding of the present disclosure and are incorporated in and constitute a part of the specification. The same references refer to the same or similar

[0037] In addition, the accompanying drawings are included to provide a thorough understanding of the present disclosure and are incorporated in and constitute a part of the specification. The same references refer to the same or similarFigure 1 is a flowchart of a vehicle priority passing method according to one or more embodiments of the present disclosure, which can be implemented by a cooperative vehicle infrastructure system, as shown in Figure 1 The method comprises the following steps:

[0038] Step S102: obtaining a priority passing request sent by a target vehicle;

[0039] Optionally, the target vehicle can carry its state information in the priority passing request and send it to the cooperative vehicle infrastructure system, so that the cooperative vehicle infrastructure system can obtain the state information of the target vehicle, or the target vehicle can also carry its vehicle identification in the priority passing request and send it to the cooperative vehicle infrastructure system, so that the cooperative vehicle infrastructure system can subsequently obtain the state information of the target vehicle in real time according to the vehicle identification of the target vehicle.

[0040] Step S104: controlling the phase of the signal light and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle platoon in front of the target vehicle, and the state of the signal light of the current intersection;

[0041] The state information of the target vehicle includes but is not limited to the speed of the target vehicle, the position of the target vehicle, and the predetermined trajectory of the target vehicle. The state information of the vehicle platoon in front of the target vehicle includes but is not limited to the speed of the vehicle platoon, the length of the vehicle platoon, and the overall acceleration of the vehicle platoon.

[0042] Optionally, the target vehicle is in an accelerating driving state, and on this basis, the control of the speed of the target vehicle can include controlling the target vehicle to decelerate.

[0043] The vehicle platoon in front of the target vehicle refers to a vehicle platoon formed by vehicles located in front of the target vehicle and within the current intersection. The current intersection refers to the intersection closest to the current position of the target vehicle in the predetermined trajectory of the target vehicle. Optionally, after the current intersection is determined, the state of the signal light of the intersection can be requested.

[0044] Step S106: again controlling the phase of the signal light and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle platoon in front of the target vehicle, and the state of the signal light of the intersection when the target vehicle is at a preset distance from the intersection.

[0045] Optionally, to avoid the situation that the target vehicle cannot pass through the intersection smoothly due to acceleration, deceleration or queuing up during driving, on the basis of the first control of the phase of the signal light of the intersection and / or the speed of the target vehicle, the state information of the target vehicle, the state information of the vehicle fleet in front of the target vehicle and the state of the signal light of the intersection are acquired again when the target vehicle is at a preset distance from the intersection, and the phase of the signal light and / or the speed of the target vehicle are controlled according to the state information of the target vehicle, the state information of the vehicle fleet in front of the target vehicle and the state of the signal light of the intersection acquired again, so that further adjustment control can be performed according to the actual driving situation of the vehicles in the intersection on the basis of the last control, to ensure smooth passing of the target vehicle.

[0046] The vehicle priority passing method provided by one or more embodiments of the present disclosure can acquire a priority passing request of a target vehicle, control the phase of a signal light of an intersection and / or the speed of the target vehicle according to state information of the target vehicle, state information of a vehicle fleet in front of the target vehicle and the state of the signal light of the intersection, so that the vehicles in front of the target vehicle can be effectively dispersed, and on this basis, the phase of the signal light and / or the speed of the target vehicle are controlled again according to the state information of the target vehicle, the state information of the vehicle fleet in front of the target vehicle and the state of the signal light of the intersection when the target vehicle is at a preset distance from the intersection, so that the current priority passing control strategy can be corrected according to the actual driving situation of the vehicles in the intersection on the basis of the first control, to ensure smooth passing of the target vehicle without causing adverse effects on the traffic situation.

[0047] In one or more embodiments of the present disclosure, the priority passing request can include at least one of the following information:

[0048] the identity of the target vehicle, the category of the target vehicle, the speed of the target vehicle, the position of the target vehicle and the predetermined trajectory of the target vehicle;

[0049] The category of the target vehicle includes but is not limited to a medical ambulance, a fire truck, an engineering rescue vehicle, a police car, a personnel evacuation vehicle and an emergency material vehicle.

[0050] In one or more embodiments of the present disclosure, the control of the phase of the signal light and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle fleet in front of the target vehicle and the state of the signal light of the intersection can include:

[0051] When the time required for the target vehicle to reach the intersection is not greater than one cycle of the signal light, or the target vehicle enters the priority control range, the phase of the signal light and / or the speed of the target vehicle is controlled according to the state information of the target vehicle, the state information of the vehicle group in front of the target vehicle, and the state of the intersection signal light.

[0052] Optionally, the priority control range can be preset, so that when the target vehicle enters the priority control range, the priority control is implemented on the target vehicle. According to the predetermined trajectory of the target vehicle, the intersection closest to the target vehicle in the driving direction of the target vehicle can be determined, and a distance threshold can be preset. When the distance between the target vehicle and the intersection is not less than the distance threshold, it is determined that the target vehicle enters the priority control range.

[0053] When the time required for the target vehicle to reach the intersection is not greater than one cycle of the signal light, the speed of the target vehicle and / or the phase of the signal light is controlled, so that the accurate control of the speed of the target vehicle and / or the phase of the signal light can be realized within one cycle of the signal light.

[0054] In one or more embodiments of the present disclosure, the first control of the speed of the target vehicle and / or the phase of the signal light and the second control of the speed of the target vehicle and / or the phase of the signal light can be based on the same priority control strategy. Based on this, as shown in the first control of the speed of the target vehicle and / or the phase of the signal light and the second control of the speed of the target vehicle and / or the phase of the signal light can include: Figure 2

[0055] Step S202: When it is determined according to the state of the signal light that the phase of the signal light is green, if the remaining time of the green light is greater than the time required for the target vehicle to meet the vehicle group in front of the target vehicle, the time during which the signal light is in the green phase is delayed.

[0056] When the remaining time of the green light is not greater than the time required for the target vehicle to meet the vehicle group in front of the target vehicle, it indicates that after the remaining time of the green light, the target vehicle does not conflict with the vehicle group in front of it, and the vehicle group in front of it passes the stop line of the intersection. On this basis, the time during which the signal light is in the green phase is delayed, so as to ensure that the target vehicle does not need to stop at the intersection and can pass through smoothly.

[0057] ​Step S204: when it is determined that the phase of the signal light is green according to the state of the signal light, if the remaining time length of the green light is greater than the time length required for the target vehicle to meet the vehicle fleet in front of the target vehicle, the target vehicle is informed to slow down and the time length for which the signal light is in the green phase is delayed.

[0058] When the remaining time length of the green light is greater than the time length required for the target vehicle to meet the vehicle fleet in front of the target vehicle, it indicates that if the target vehicle travels at the current speed, the target vehicle is likely to collide with the vehicles in the vehicle fleet before the vehicle fleet drives away from the intersection, in order to avoid the collision, the target vehicle is further informed to slow down on the basis of delaying the time length for which the signal light is in the green phase.

[0059] In one or more embodiments of the present disclosure, if the remaining time length of the green light is not greater than the time length required for the target vehicle to meet the vehicle fleet in front of the target vehicle, delaying the time length for which the signal light is in the green phase can include:

[0060] The delay time length of the green light is calculated according to the following formula (1):

[0061]

[0062] Wherein, g e represents the delay time length of the green light, L0 represents the distance between the target vehicle and the stop line of the intersection when the target vehicle sends the priority passage request, L1 represents the length of the vehicle fleet, v0 represents the speed of the target vehicle when the target vehicle sends the priority passage request, t represents the remaining time length of the green light, t s represents a preset safety transition time, a0 represents the acceleration of the target vehicle, and a1 represents the acceleration of the vehicle fleet.

[0063] On the basis of the remaining time length of the green light, the signal light is controlled to be further delayed for the delay time length in the green phase.

[0064] In one or more embodiments of the present disclosure, if the remaining time length of the green light is greater than the time length required for the target vehicle to meet the vehicle fleet in front of the target vehicle, the target vehicle is informed to slow down and the time length for which the signal light is in the green phase is delayed.

[0065] If the difference between the maximum green light time length in a cycle and the time length for which the green light has lasted is not less than the delay time length, the signal light is controlled to be delayed for the delay time length in the green phase.

[0066] If the difference between the maximum green light duration and the duration for which the green light has been on in a cycle is greater than the delay duration, the green light phase is delayed by the maximum green light duration, the target vehicle is informed to slow down, and the upper limit of the target vehicle's speed after slowing down is as follows:

[0067]

[0068] The upper limit of the target vehicle's slowing down time is as follows:

[0069]

[0070] wherein v' represents the target vehicle's speed after slowing down, v0 represents the target vehicle's speed when the priority passage request is sent, a1 represents the acceleration of the vehicle in the vehicle group, L0 represents the distance between the target vehicle and the stop line of the intersection when the priority passage request is sent, L1 represents the length of the vehicle group, and t0 represents the acceleration time of the target vehicle.

[0071] The following is an exemplary description of the derivation process of the control strategy for the target vehicle's speed and / or the signal light phase when the signal light is in the green light phase.

[0072] It is assumed that the target vehicle's acceleration is constant and non-zero after the priority passage request is sent.

[0073] To simplify the derivation operation, it is assumed that the initial speed of the vehicle group in front of the target vehicle is close to 0 km / h when the target vehicle sends the priority passage request.

[0074] When the target vehicle sends the priority passage request and the current signal light phase is green, the remaining duration of the green light is t (t≤t1), i.e., t1 is still needed to disperse the vehicle group in front of the target vehicle. To prevent the target vehicle from colliding with the vehicle group within t1, in the critical state, it is assumed that after t1, the travel of the emergency vehicle and the vehicle group satisfies:

[0075]

[0076] wherein t1 is the duration required for the target vehicle to meet the vehicle group in front of the target vehicle; v1 is the initial overall speed of the vehicle group in front of the target vehicle; L1 is the length of the vehicle group; a1 is the acceleration of the vehicle group; v0 is the target vehicle's speed when the passage request is sent; and L0 is the distance from the target vehicle to the stop line of the intersection when the passage request is sent.

[0077] When t≥t1, the target vehicle is in uniform motion (uniform acceleration or uniform deceleration) at this time, and the delay duration of the green light is calculated as follows:

[0078] From formula (3) can be obtained a quadratic equation,

[0079]

[0080] Solving a quadratic equation can be obtained,

[0081] When a0 = a1,

[0082]

[0083] When a0 > a1, it is known that Equation has real roots, then the positive real root of the equation is:

[0084]

[0085] When a0 < a1, if the equation has real roots, that is Must Can be obtained:

[0086]

[0087] From the above formula, 0 < t"1 < t'1, so take the critical state length as

[0088]

[0089] In summary, when t ≥ t1, the delay length of green light can be calculated according to the above formula (1).

[0090] When t < t1, the acceleration a0 of the target vehicle and the acceleration time t0 need to meet the following constraints:

[0091]

[0092] According to the kinematic formula of acceleration, displacement and initial and final speed, we can get,

[0093]

[0094] The first one is the formula corresponding to the target vehicle in front of the vehicle group, and the second one is the formula corresponding to the target vehicle, and the following derivation is carried out,

[0095]

[0096]

[0097]

[0098] Substitute the derivation result into formula (5), we can get,

[0099]

[0100] Thus, the constraint condition for the target vehicle acceleration size a0 and the target vehicle speed guided acceleration time t0 is

[0101]

[0102] Thus, the target vehicle deceleration speed range upper limit is

[0103]

[0104] Thus, the distance already passed after the target vehicle completes deceleration is calculated as follows,

[0105]

[0106] That is, the distance traveled by the target vehicle under the slowest deceleration condition is L 2max .

[0107] In order to avoid a conflict with the queued vehicle fleet on the remaining road section, the time consumed by the emergency vehicle to pass the remaining road section at the speed v is

[0108]

[0109] Thus, the green light delay duration is

[0110] g e_v = t0+ t 2max + t s - t

[0111] wherein,

[0112] t is the current remaining duration of the green light, t s is the safety transition time, which may be set to 9s, for example.

[0113] In summary, when the current phase of the intersection signal light is green, the phase of the signal light and / or the speed of the target vehicle can be controlled according to the control strategy shown in the following expression:

[0114]

[0115] wherein, g max is the maximum green light duration in the signal light cycle and the green light delay calculation duration g e_v after the control speed needs to satisfy g e_v ≤ g max , which may be set to 60s; g is the phase duration of the green light in the cycle; g e is the green light duration that needs to be delayed without adjusting the target vehicle speed.

[0116] In one or more embodiments of the present disclosure, as shown in Figure 3 controlling the phase of the signal light and / or the vehicle speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle fleet in front of the target vehicle, and the state of the intersection signal light, or controlling the phase of the signal light and / or the vehicle speed of the target vehicle again according to the state information of the target vehicle, the state information of the vehicle fleet in front of the target vehicle, and the state of the intersection signal light, can include:

[0117] Step S302: When it is determined according to the state of the signal light that the phase of the signal light is red light, if the time length required for the vehicle fleet in front of the target vehicle to drive away from the intersection is not greater than the time length required for the target vehicle to meet the vehicle fleet in front of the target vehicle, the phase of the signal light is switched from red light to green light in advance.

[0118] If the time length required for the vehicle fleet in front of the target vehicle to drive away from the intersection is not greater than the time length required for the target vehicle to meet the vehicle fleet in front of the target vehicle, it means that if the phase of the signal light is switched from red light to green light in advance, the target vehicle has not yet arrived at the intersection when the vehicle fleet in front of the target vehicle drives away from the intersection, and the target vehicle and the vehicle fleet will not collide.

[0119] Step S304: When it is determined according to the state of the signal light that the phase of the signal light is red light, if the time length required for the vehicle fleet to drive away from the intersection is greater than the time length required for the target vehicle to meet the vehicle fleet, the phase of the signal light is switched from red light to green light in advance and the target vehicle is notified to slow down.

[0120] If the time length required for the vehicle fleet to drive away from the intersection is greater than the time length required for the target vehicle to meet the vehicle fleet, it means that if the phase of the signal light is switched from red light to green light in advance, the target vehicle may collide with the vehicles in the vehicle fleet in front of the target vehicle before the vehicles in the vehicle fleet completely drive away from the intersection, and therefore, in addition to switching the phase of the signal light from red light to green light in advance, the target vehicle is also notified to slow down to avoid collision between the target vehicle and the vehicles in the vehicle fleet.

[0121] In one or more embodiments of the present disclosure, when it is determined according to the state of the signal light that the phase of the signal light is red light, if the time length required for the vehicle fleet in front of the target vehicle to drive away from the intersection is not greater than the time length required for the target vehicle to meet the vehicle fleet in front of the target vehicle, the phase of the signal light is switched from red light to green light in advance, which includes:

[0122] The duration of the green light is calculated according to the following formula (2):

[0123]

[0124] wherein g c represents a duration of the green light after the phase of the signal light is switched from the red light to the green light, L0 represents a distance between the target vehicle and a stop line of the intersection when the target vehicle sends the request for priority passage, L1 represents a length of the vehicle fleet, v0 represents a vehicle speed when the target vehicle sends the request for priority passage, t s represents a preset safe transition time, a0 represents an acceleration of the target vehicle, and a1 represents an acceleration of the vehicle fleet.

[0125] switching the phase of the signal light from the red light to the green light and keeping the duration of the green light.

[0126] In one or more embodiments of the present disclosure, when it is determined according to the state of the signal light that the phase of the signal light is the red light, if a duration required for the vehicle fleet to leave the intersection is greater than a duration required for the target vehicle to meet the vehicle fleet, the phase of the signal light is switched from the red light to the green light in advance and the target vehicle is informed to slow down, which can include:

[0127] if a difference between the duration and a preset safe transition time is less than the duration required for the vehicle fleet to leave the intersection, the target vehicle is informed to slow down;

[0128] if a difference between the duration of the green light and the preset safe transition time is greater than the duration required for the vehicle fleet to leave the intersection and less than a remaining time of the red light, the switching time of the red light is determined as follows:

[0129] R b = R r -(g c -g0)+2t s ;

[0130] if a value obtained by subtracting the duration required for the vehicle fleet to leave the intersection from the duration of the green light and then subtracting the preset safe transition time is less than a sum of the remaining time of the red light and the preset safe transition time, the switching time of the red light is determined as follows:

[0131] R b = R r -(g c -g0)+2t s ;

[0132] wherein R b represents the switching time of the red light, R r represents the remaining time of the red light, and g0 represents the duration required for the vehicle fleet to leave the intersection.

[0133] The following is an example of the derivation process of the control strategy for the speed of the target vehicle and / or the phase of the signal light when the signal light is in the red light phase.

[0134] Assume that the time required for the vehicle fleet in front of the target vehicle to drive away from the intersection is g0, and t1 is the time in the critical conflict state (critical conflict refers to the meeting of the target vehicle and the vehicle in the vehicle fleet in front of it).

[0135] If g0≤t1, it means that when the red light is switched to the green light in advance, the vehicle in the vehicle fleet has completely driven away from the stop line of the intersection before the target vehicle arrives at the stop line of the intersection, and no vehicle collision conflict occurs. At this time, the duration of the green light required after the red light is switched to the green light in advance is as follows:

[0136]

[0137] If g0>t1, it means that when the red light is switched to the green light in advance, the target vehicle may collide before the vehicle in front of it completely drives away from the intersection. At this time, the target vehicle needs to be notified to adjust its speed.

[0138] At this time, the duration of the green light is as follows:

[0139] g e =t0+t 2max +t s ;

[0140] Wherein,

[0141] t s is the safe transition time, which can be set to 9s.

[0142] The guide speed calculation process is as follows,

[0143]

[0144] Wherein, v1=0

[0145] It can be derived that,

[0146]

[0147] The upper limit of the deceleration speed of the target vehicle is as follows,

[0148]

[0149] It can be obtained that,

[0150]

[0151]

[0152] Therefore, when the target vehicle needs to adjust the vehicle speed, the duration of the green light is as follows:

[0153] g e_v = t0+ t 2max + t s ;

[0154] wherein,

[0155] t s is a safety transition time, which can be set to 9s.

[0156] In summary, when the phase of the current signal light is red, the control strategy for the phase of the signal light and / or the vehicle speed of the target vehicle can be shown in the following expression:

[0157]

[0158] wherein, R r is the remaining time of the red light, t s is a safety transition time, which can be set to 9s, and g0 is a queuing vehicle fleet evacuation time.

[0159] In one or more embodiments of the present disclosure, the method for vehicle priority passage can further include:

[0160] Before obtaining the priority passage request sent by the target vehicle, determining the priority of the target vehicle according to the first priority weight corresponding to the category of the target vehicle and the second priority weight corresponding to the number of vehicles in the vehicle fleet.

[0161] Optionally, the first priority weight and the second priority weight can be weighted and summed according to a preset proportion to calculate the priority of the target vehicle, wherein the priority of the target vehicle represents the priority passage order of the target vehicle, for example, the higher the priority, the earlier the priority passage order.

[0162] When there are at least two target vehicles sending the priority passage request, the target vehicles are controlled to pass in sequence according to the priority order of the target vehicles.

[0163] The types of vehicles include, but are not limited to, medical ambulances, fire engines, engineering rescue vehicles, police cars, personnel evacuation vehicles, and emergency material vehicles. The priority weights of the types of vehicles (i.e., the first priority weights corresponding to the types of the target vehicles) are in the order of medical ambulances, whose priority weight value is set to 6, fire engines, whose priority weight value is set to 5, engineering rescue vehicles, whose priority weight value is set to 4, police cars, whose priority weight value is set to 3, personnel evacuation vehicles, whose priority weight value is set to 2, and emergency material vehicles, whose priority weight value is set to 1. In addition, the second priority weights can be divided according to the number of vehicles in the vehicle fleet in front of the target vehicle in combination with the congestion level of the road in front of the target vehicle. For example, the second priority weights can be divided into 6 levels, such as, the number of vehicles is less than 1: the priority weight value is 6; the number of vehicles is greater than or equal to 1 and less than 3: the priority weight value is 5; the number of vehicles is greater than or equal to 3 and less than 6: the priority weight value is 4; the number of vehicles is greater than or equal to 6 and less than 9: the priority weight value is 3; the number of vehicles is greater than or equal to 9 and less than 12: the priority weight value is 2; and the number of vehicles is greater than or equal to 12 and less than 15: the priority weight value is 1. For example, the priority of the target vehicle can be determined as follows: the priority of the target vehicle can be obtained by multiplying 0.8 times the priority weight value of the target vehicle and 0.2 times the priority weight value corresponding to the number of vehicles in the vehicle fleet in front of the target vehicle. When the number of target vehicles sending the priority passing request is not less than two, the priority passing order of each target vehicle can be determined according to the size of the priority of the target vehicle in combination with the time sequence of the target vehicle sending the priority passing request.

[0164] Optionally, when an emergency vehicle (which is an example of the target vehicle) initiates a priority passing request, the category, speed, position information, and predetermined trajectory of the emergency vehicle can be reported to the road side unit of the cooperative vehicle infrastructure system. The road side unit can request the state of the traffic signal at the corresponding intersection according to the predetermined trajectory of the vehicle, and wait for the emergency vehicle to enter the priority passing control state (e.g., the distance between the emergency vehicle and the intersection is less than a preset distance). When the emergency vehicle enters the priority passing control state, the road side unit can adopt a twice priority control strategy according to the state information of the emergency vehicle, the state information of the vehicle in front of the emergency vehicle, and the state of the corresponding signal, to achieve the purpose of the emergency vehicle passing through the intersection in front of the current road section without stopping.

[0165] In one or more embodiments of the present disclosure, the position node for the first time of controlling the speed of the target vehicle and / or the phase of the signal light can be dynamically calculated by counting the historical traffic data, the queue length, the number of queued vehicles in the conflict direction, and the remaining time of the signal light of the current road section. The second time of controlling the position node can be the position of the target vehicle when the target vehicle is close to the intersection (e.g., when the target vehicle is a preset distance away from the intersection), to prevent the emergency vehicle from still not reaching the stop line of the intersection when the green light delay ends.

[0166] In one or more embodiments of the present disclosure, the speed of the target vehicle and / or the phase of the signal light can be controlled for a second time when the emergency vehicle is within a minimum green light time or a minimum red light time plus a preset time period of the signal light control cycle. For example, the emergency vehicle is within max(minimum red light time, minimum green light time) + 5s (an example of the preset time period).

[0167] In one or more embodiments of the present disclosure, if the remaining time of the red light or the green light of the lane conflicting with the current lane at the current intersection is less than 9s before the red light or green light control strategy is performed on the signal light, the green light or red light control strategy can be implemented after the remaining time is consumed.

[0168] In one or more embodiments of the present disclosure, the signal light control instruction issuing time node can be within a range of 150m to 160m (an example of the above-mentioned priority passing range) from the stop line of the intersection for the first time signal light control, and the longest green light delay strategy is preferred, and within a range of 50m to 60m (an example of the above-mentioned preset distance) from the stop line for the second time signal light control.

[0169] The vehicle priority passing method of one or more embodiments of the present disclosure is exemplarily described below by an example.

[0170] According to the type of the emergency vehicle and the number of vehicles in the vehicle fleet in front of the emergency vehicle, the priority order of the emergency vehicle priority passing is determined;

[0171] The control parameters required for controlling the speed of the emergency vehicle and / or the phase of the signal light twice are calculated.

[0172] According to the determined priority passing order of the emergency vehicle, the parameters required for the first time control and the second time control of each emergency vehicle are calculated in real time.

[0173] Whether the control condition is met is calculated.

[0174] When the emergency vehicle is within a cycle of the signal light in front, the control of the signal light is implemented.

[0175] The specific implementation rules are as follows:

[0176] When the emergency vehicle is in front of the green light, the green light control strategy is adopted, and when the emergency vehicle is in front of the red light, the red light control strategy is adopted.

[0177] When the time left for the emergency vehicle to reach the stop line is max(min red light time, min green light time)+5s, the second green light control strategy or the red light control strategy is performed.

[0178] The time consumption of vehicles passing through the intersection when the priority control is taken for the emergency vehicle and when the priority control is not taken for the emergency vehicle is shown in Table 1 as follows.

[0179] Table 1

[0180]

[0181] As can be seen from Table 1 above, no matter in normal traffic or traffic congestion, the time consumption of the emergency vehicle is less when the priority control is taken for the emergency vehicle than when the priority control is not taken for the emergency vehicle, and traffic paralysis is not caused.

[0182] The number of queued vehicles in the conflict direction when the priority control is taken for the emergency vehicle and when the priority control is not taken for the emergency vehicle is shown in Table 2 as follows.

[0183] Table 2

[0184]

[0185] As can be seen from Table 2 above, the number of queued vehicles in the conflict direction is less when the priority control is taken for the emergency vehicle than when the priority control is not taken for the emergency vehicle.

[0186] The number of times of stopping of the emergency vehicle when the priority control is taken for the emergency vehicle and when the priority control is not taken for the emergency vehicle is shown in Table 3 as follows.

[0187] Table 3

[0188]

[0189] As can be seen from Table 3 above, the emergency vehicle can pass through without stopping when the priority control is taken for the emergency vehicle than when the priority control is not taken for the emergency vehicle, and the time consumption of the emergency vehicle is less.

[0190] Figure 4 is a structural schematic diagram of a vehicle priority passing device according to one or more embodiments of the present disclosure, as shown in Figure 4 The device 410 includes:

[0191] The acquisition module 412 is configured to acquire a priority passing request sent by a target vehicle.

[0192] The first control module 414 is configured to control the phase of the signal light and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle group in front of the target vehicle, and the state of the signal light at the intersection.

[0193] The second control module 416 is configured to control the phase of the signal light and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle group in front of the target vehicle, and the state of the signal light at the intersection again when the target vehicle is at a preset distance from the intersection.

[0194] In one or more embodiments of the present disclosure, the priority passage request can include at least one of the following information:

[0195] The identification of the target vehicle, the category of the target vehicle, the speed of the target vehicle, the position of the target vehicle, and the predetermined trajectory of the target vehicle.

[0196] In one or more embodiments of the present disclosure, the first control module can be specifically configured to control the phase of the signal light and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle group in front of the target vehicle, and the state of the signal light at the intersection when the target vehicle takes no longer than one cycle of the signal light to reach the intersection or when the target vehicle enters the priority passage control range.

[0197] When the target vehicle takes no longer than one cycle of the signal light to reach the intersection, the first control module or the second control module can be configured to acquire the time length required for the target vehicle to reach the intersection and the state of the signal light at the intersection according to the priority passage request.

[0198] In one or more embodiments of the present disclosure, the first control module or the second control module can include:

[0199] The first control unit is configured to, when it is determined according to the state of the signal light that the phase of the signal light is green, delay the time length during which the signal light is in the green phase if the remaining time length of the green light is no longer than the time length required for the target vehicle to meet the vehicle group in front of the target vehicle.

[0200] The second control unit is configured to, when it is determined according to the state of the signal light that the phase of the signal light is green, notify the target vehicle to slow down and delay the time length during which the signal light is in the green phase if the remaining time length of the green light is longer than the time length required for the target vehicle to meet the vehicle group in front of the target vehicle.

[0201] In one or more embodiments of the present disclosure, the first control unit can be specifically configured to:

[0202] The delay duration of the green light is calculated according to the following formula (1):

[0203]

[0204] wherein g e represents the delay duration of the green light, L0 represents the distance between the target vehicle and the stop line of the intersection when the target vehicle sends the priority passage request, L1 represents the length of the vehicle group, v0 represents the vehicle speed when the target vehicle sends the priority passage request, t represents the remaining duration of the green light, t s represents the preset safety transition time, a0 represents the acceleration of the target vehicle, and a1 represents the acceleration of the vehicle group.

[0205] On the basis of the remaining duration of the green light, the signal light is controlled to be further delayed for the delay duration in the green light phase.

[0206] In one or more embodiments of the present disclosure, the second control unit can be specifically used for:

[0207] If the difference between the maximum green light duration in a cycle and the duration of the green light that has already lasted is not less than the delay duration, the signal light is controlled to be delayed for the delay duration in the green light phase.

[0208] If the difference between the maximum green light duration in a cycle and the duration of the green light that has already lasted is greater than the delay duration, the signal light is controlled to be delayed for the maximum green light duration in the green light phase, and the target vehicle is informed to decelerate, and the upper limit value of the vehicle speed after the target vehicle decelerates is limited as follows:

[0209]

[0210] The upper limit value of the deceleration time of the target vehicle is limited as follows:

[0211]

[0212] wherein v represents the vehicle speed after the target vehicle decelerates, v max represents the upper limit value of the vehicle speed after the target vehicle decelerates, v1 represents the initial vehicle speed of the vehicle group, and t0 represents the acceleration time of the target vehicle.

[0213] In one or more embodiments of the present disclosure, the first control module or the second control module can include:

[0214] the third control unit is configured to, when it is determined from the state of the signal light that the phase of the signal light is red, advance the phase of the signal light from red to green if the time required for the vehicle group ahead of the target vehicle to clear the intersection is not greater than the time required for the target vehicle to meet the vehicle group ahead of the target vehicle.

[0215] the fourth control unit is configured to, when it is determined from the state of the signal light that the phase of the signal light is red, advance the phase of the signal light from red to green and notify the target vehicle to decelerate if the time required for the vehicle group to clear the intersection is greater than the time required for the target vehicle to meet the vehicle group.

[0216] In one or more embodiments of the present disclosure, the third control unit can be configured to:

[0217] The duration of the green light is calculated according to the following equation (2):

[0218]

[0219] where g c represents the duration of the green light after the phase of the signal light is switched from the red light to the green light, L0 represents the distance between the target vehicle and the stop line at the intersection when the target vehicle makes the request for priority passage, L1 represents the length of the vehicle group, v0 represents the speed of the target vehicle when the request for priority passage is made, t represents the remaining time of the green light, t s represents a preset safe transition time, a0 represents the acceleration of the target vehicle, and a1 represents the acceleration of the vehicle group.

[0220] The phase of the signal light is switched from red to green, and the duration of the green light is maintained.

[0221] In one or more embodiments of the present disclosure, the fourth control unit can be configured to:

[0222] If the difference between the duration and the preset safe transition time is less than the time required for the vehicle group to clear the intersection, the target vehicle is notified to decelerate.

[0223] If the difference between the duration of the green light and the preset safe transition time is greater than the time required for the vehicle group to clear the intersection and less than the remaining time of the red light, the switching time of the red light is determined as follows:

[0224] R b = R r - (g c - g0) + 2t s ;

[0225] If a value obtained by subtracting a time length required for the vehicle fleet to drive away from the intersection from the time length of the green light and then subtracting the preset safe transition time is less than a sum of the remaining time of the red light and the preset safe transition time, the switching time of the red light is determined as follows:

[0226] R b = R r - (g c - g0) + 2t s ;

[0227] wherein R b represents the switching time of the red light, R r represents the remaining time of the red light, and g0represents the time length required for the vehicle fleet to drive away from the intersection.

[0228] In one or more embodiments of the present disclosure, the vehicle priority passing device can further include:

[0229] The determining module is configured to determine a priority of a target vehicle according to a first priority weight corresponding to a category of the target vehicle and a second priority weight corresponding to a number of vehicles in the vehicle fleet before obtaining a priority passing request sent by the target vehicle.

[0230] The third control module is configured to control the target vehicles to pass in sequence according to the priority order of the target vehicles when there are at least two target vehicles sending the priority passing request.

[0231] One or more embodiments of the present disclosure further provide an electronic device, including a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute any one of the vehicle priority passing methods provided by the embodiments of the present disclosure via execution of the executable instructions.

[0232] One or more embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement any one of the vehicle priority passing methods provided by the embodiments of the present disclosure.

[0233] Those skilled in the art can understand that each aspect of the present disclosure can be implemented as a system, a method or a program product. Therefore, each aspect of the present disclosure can be specifically implemented as a complete hardware embodiment, a complete software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects, which can be collectively referred to as "circuitry", "module" or "system".

[0234] The electronic device 500 according to this embodiment of the present disclosure will be described below with reference to Figure 5 Figure 5 ​The electronic device 500 shown is merely one example and should not be taken as limiting the scope of functionality of various embodiments of the present application.

[0235] As shown in Figure 5 The electronic device 500 can be a general computing device. Components of the electronic device 500 can include, but are not limited to, the at least one processing unit 510, the at least one storage unit 520, and a bus 530 that connects the various system components, including the storage unit 520 and the processing unit 510.

[0236] The storage unit stores program code that can be executed by the processing unit 510 such that the processing unit 510 performs the steps described in the "Exemplary Methods" section above according to various exemplary embodiments of the present application. For example, the processing unit 510 can perform the steps shown in Figure 1 S102: obtaining a priority passage request sent by a target vehicle; S104: when the target vehicle enters a priority passage control range, controlling a phase of a signal light at the intersection and / or a vehicle speed of the target vehicle according to state information of the target vehicle, state information of a vehicle group in front of the target vehicle, and a state of the signal light at the intersection; and S106: when the target vehicle is at a preset distance from the intersection, again controlling the phase of the signal light and / or the vehicle speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle group in front of the target vehicle, and the state of the signal light at the intersection.

[0237] The storage unit 520 can include a readable medium in the form of volatile storage such as a random access memory (RAM) 5201 and / or cache memory 5202, and also can include a non-volatile storage such as a read-only memory (ROM) 5203.

[0238] The storage unit 520 can further include a program / utility 5204 having a set (at least one) of program modules 5205 that include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each or a combination thereof, which may

[0239] The bus 530 can represent one or more of several types of bus structures, including a storage bus or bus controller, a peripheral bus, a graphics bus, a processor or local bus using any of a variety of bus structures, and the like.

[0240] The electronic device 500 can also communicate with one or more external devices 600 such as a keyboard or pointing device, a Bluetooth device, or a database, and / or can communicate with one or more devices that enable a user to interact with the electronic device 500 and / or one or more devices (e.g., a router, a modem, or the like) that enable the electronic device 500 to communicate with one or more other computing devices. Such communication can occur via Input / Output (I / O) interface 550. Still yet, the electronic device 500 can communicate with one or more networks, such as a local area network (LAN), a wide area network (WAN), and / or the Internet, through network adapter 560. As depicted, network adapter 560 communicates with the other components of the electronic device 500 via bus 530. It should be appreciated that although not shown, other hardware and / or software modules could be used in connection with the electronic device 500. These include, but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0241] In the exemplary embodiments of the present disclosure, a computer readable storage medium having stored thereon a program product capable of implementing the above-described method of the specification is also provided. In some possible implementations, various aspects of the present disclosure can also be implemented in the form of a program product including program code, which, when run on a terminal device, causes the terminal device to perform the steps described in the above "Exemplary Method" section according to various exemplary embodiments of the present disclosure.

[0242] A program product for implementing the above-described method according to the embodiments of the present disclosure is described, which can take the form of a portable compact disc read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in the present document, the readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus or device.

[0243] The program product can take any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium, for example, can be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. More specific examples (a non-exhaustive list) of the readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0244] Computer readable signal media can include a propagated data signal with instructions readable by a machine and encompass all manner of media, that is, physical media and / or transmission media, that facilitate the transfer of such a machine -readable program from one place to another. Computer readable storage media can include any available physical medium that can be accessed by a computer. By way of example, and not limitation, such computer readable storage media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other physical medium that can be used to carry or store desired structural information or program code in a computer readable form. Computer readable storage media can also be distributed over network-coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

[0245] Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0246] Program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider.

[0247] It should be noted that, although several modules or units of a device for action execution are mentioned in the above detailed description, such a division is not mandatory. Indeed, features and functionalities of two or more modules or units described above can be embodied in one module or unit according to embodiments of the present disclosure. Conversely, features and functionalities of one module or unit described above can be further divided into multiple modules or units.

[0248] Moreover, although the various steps of the methods of the present disclosure are described in a particular order in the figures, this is not required or implied, nor is it required that all of the steps be performed to achieve the desired result. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, one step can be broken into multiple steps, etc.

[0249] Those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or by software in combination with necessary hardware, through the above description of the embodiments. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash disk, a mobile hard disk, or the like) or a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to perform the methods according to the embodiments of the present disclosure.

[0250] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure following the general principles thereof and including such departures from the present disclosure that come within known use or custom in the art to which the present disclosure pertains. The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A vehicle priority passage method characterized by, The method comprises: acquiring a priority passage request sent by a target vehicle; controlling a phase of a signal light and / or a speed of the target vehicle according to state information of the target vehicle, state information of a vehicle group in front of the target vehicle, and a state of the signal light at the intersection, when a time required for the target vehicle to reach the intersection is not greater than one cycle of the signal light or the target vehicle enters a priority passage control range; controlling the phase of the signal light and / or the speed of the target vehicle again according to the state information of the target vehicle, the state information of the vehicle group in front of the target vehicle, and the state of the signal light at the intersection, when the target vehicle is at a preset distance from the intersection; wherein the state information of the target vehicle comprises an acceleration of the target vehicle when the target vehicle sends the priority passage request; wherein the controlling the phase of the signal light and / or the speed of the target vehicle comprises: when it is determined according to the state of the signal light that the phase of the signal light is red, if a time required for the vehicle group to leave the intersection is greater than a time required for the target vehicle to meet the vehicle group, the phase of the signal light is switched from red to green in advance and the target vehicle is notified to slow down; wherein the method further comprises: if a difference between a duration of the green light and a preset safe transition time is greater than the time required for the vehicle group to leave the intersection and less than a remaining time of the red light, determining a switching time of the red light as follows: wherein, represents the switching time of the red light, represents the remaining time of the red light, represents the duration of the green light, represents the duration required for the vehicle fleet to leave the intersection, represents the preset safety transition time.

2. The method of claim 1, wherein, The priority passage request comprises at least one of the following information: an identifier of the target vehicle, a category of the target vehicle, a speed of the target vehicle, a position of the target vehicle, and a predetermined trajectory of the target vehicle.

3. The method of claim 1, wherein, The controlling the phase of the signal light and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle group in front of the target vehicle, and the state of the signal light at the intersection comprises: when it is determined according to the state of the signal light that the phase of the signal light is green, if a remaining duration of the green light is not greater than a time required for the target vehicle to meet the vehicle group in front of the target vehicle, delaying a duration of the green light phase of the signal light; when it is determined according to the state of the signal light that the phase of the signal light is green, if the remaining duration of the green light is greater than the time required for the target vehicle to meet the vehicle group in front of the target vehicle, notifying the target vehicle to slow down and delaying the duration of the green light phase of the signal light.

4. The method of claim 3, wherein, The delaying the duration of the green light phase of the signal light when the remaining duration of the green light is not greater than the time required for the target vehicle to meet the vehicle group in front of the target vehicle comprises: calculating a delay duration of the green light according to the following formula (1): （1）； wherein, represents a delay duration of the green light, represents a distance between the target vehicle and a stop line of the intersection when the target vehicle sends the request for priority, represents a length of the vehicle platoon, represents a vehicle speed when the target vehicle sends the request for priority, represents a remaining duration of the green light, represents a preset safe transition time, represents an acceleration of the target vehicle, represents an acceleration of the vehicle platoon; controlling the signal light to be further delayed for the delay duration in the green light phase on the basis of the remaining duration of the green light.

5. The method of claim 4, wherein, The notifying the target vehicle to slow down and delaying the duration of the green light phase of the signal light when the remaining duration of the green light is greater than the time required for the target vehicle to meet the vehicle group in front of the target vehicle comprises: if the difference between the maximum green light duration and the green light duration in a cycle is not less than the delay duration of the green light, controlling the signal light to delay the green light phase by the delay duration; if the difference between the maximum green light duration and the green light duration in a cycle is greater than the delay duration of the green light, controlling the signal light to delay the green light phase by the maximum green light duration, informing the target vehicle to slow down, and limiting the upper limit of the speed of the target vehicle after slowing down as follows: ； limiting the upper limit of the slowing-down time of the target vehicle as follows: ； wherein, denotes a vehicle speed of the target vehicle after deceleration, denotes a vehicle speed of the target vehicle when the target vehicle issues a request for priority passage, denotes an acceleration of a vehicle in the vehicle platoon, denotes a distance between the target vehicle and a stop line of the intersection when the target vehicle issues the request for priority passage, denotes a length of the vehicle platoon, denotes an acceleration time of the target vehicle.

6. The method of claim 1, wherein, controlling the phase of the signal light and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle group in front of the target vehicle, and the state of the intersection signal light, including: if the time required for the vehicle group in front of the target vehicle to drive away from the intersection is not greater than the time required for the target vehicle to meet the vehicle group in front of the target vehicle, switching the phase of the signal light from red to green in advance when it is determined according to the state of the signal light that the phase of the signal light is red; if the time required for the vehicle group in front of the target vehicle to drive away from the intersection is greater than the time required for the target vehicle to meet the vehicle group, switching the phase of the signal light from red to green in advance and informing the target vehicle to slow down when it is determined according to the state of the signal light that the phase of the signal light is red.

7. The method of claim 6, wherein, if the time required for the vehicle group in front of the target vehicle to drive away from the intersection is not greater than the time required for the target vehicle to meet the vehicle group in front of the target vehicle, switching the phase of the signal light from red to green in advance, including: calculating the duration of the green light according to the following formula (2): （2）； wherein, denotes a duration of the green light after the phase of the signal light is switched from the red light to the green light, denotes a distance between the target vehicle and the stop line of the intersection when the target vehicle sends the request for priority, denotes a length of the vehicle platoon, denotes a vehicle speed when the target vehicle sends the request for priority, denotes a preset safe transition time, denotes an acceleration of the target vehicle, denotes an acceleration of the vehicle platoon; switching the phase of the signal light from red to green and keeping the duration in the green light phase.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: determining the priority of the target vehicle according to the first priority weight corresponding to the category of the target vehicle and the second priority weight corresponding to the number of vehicles in the vehicle group before obtaining the priority passing request sent by the target vehicle; controlling the target vehicles to pass in turn according to the priority order of the target vehicles when there are at least two target vehicles sending the priority passing request.

9. A vehicle priority device, comprising: including: an acquisition module, configured to acquire a priority passing request sent by a target vehicle; a first control module, configured to control the phase of the signal light and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle group in front of the target vehicle, and the state of the current intersection signal light when the target vehicle arrives at the intersection within a cycle or the target vehicle drives into the priority passing control range; a second control module, configured to control the phase of the signal light and / or the speed of the target vehicle according to the state information of the target vehicle, the state information of the vehicle group in front of the target vehicle, and the state of the signal light of the intersection again when the target vehicle is at a preset distance from the intersection; The state information of the target vehicle comprises an acceleration when the target vehicle sends a request for priority passage; The first control module or the second control module is configured to, when it is determined according to the state of the signal light that the phase of the signal light is red, if a time length required for the vehicle group to leave the intersection is greater than a time length required for the target vehicle to meet the vehicle group, advance the phase of the signal light from red to green and notify the target vehicle to slow down; The first control module or the second control module is further configured to, if a difference between a duration of the green light and a preset safe transition time is greater than the time length required for the vehicle group to leave the intersection and less than a remaining time of the red light, determine a switching time of the red light as follows: wherein, represents the switching time of the red light, represents the remaining time of the red light, represents the duration of the green light, represents the duration required for the vehicle fleet to leave the intersection, represents the preset safe transition time.

10. An electronic device, comprising: comprising: a processor; and a memory for storing executable instructions of the processor; The processor is configured to execute the vehicle priority passage method according to any one of claims 1-8 by executing the executable instructions.

11. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the vehicle priority passage method according to any one of claims 1-8.

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