An emergency vehicle passing method, device, equipment and storage medium

Abstract

The application discloses a passing method and device of an emergency vehicle, equipment and a storage medium, relates to the technical field of intelligent network connected vehicles and intelligent transportation, and can realize that a target vehicle sends an avoidance intention to an emergency vehicle in real time, thereby efficiently completing avoidance of the emergency vehicle and improving the passing efficiency of the emergency vehicle. The specific scheme comprises the following steps: after receiving an emergency driving intention sent by an emergency vehicle, a target vehicle acquires a first position, a first speed of a plurality of other vehicles around the target vehicle, a second speed, a second position and a merging point position of the target vehicle; according to a plurality of first positions, a plurality of first speeds, the second speed, the second position, the merging point position and a preset safety distance calculation model, an avoidance intention of the target vehicle is determined, the avoidance intention is used for indicating whether to yield to the emergency vehicle; and the avoidance intention is sent to the emergency vehicle, so that the emergency vehicle makes a decision plan according to the avoidance intention.

Description

Technical Field

[0001] This application relates to the fields of intelligent connected vehicles and smart transportation technology, and in particular to a method, apparatus, device and storage medium for emergency vehicle passage. Background Technology

[0002] In recent years, with the rapid development of automotive intelligence and smart transportation technologies, the penetration rate of V2X-based roadside and vehicle-mounted equipment in transportation has been increasing, providing a new wireless communication method between vehicles and roads.

[0003] Currently, emergency vehicles mainly rely on sirens, announcements, and manual directions to move forward on time-consuming road sections. However, these methods result in a lack of real-time communication between emergency vehicles and other vehicles, making it difficult for emergency vehicles to understand the other vehicles' avoidance intentions in a timely manner. Furthermore, these methods have a limited scope of application, usually only suitable for vehicles within a very small area around the emergency vehicle, leading to low traffic efficiency for emergency vehicles. Summary of the Invention

[0004] This application provides a method, apparatus, device, and storage medium for emergency vehicle passage, which can improve the passage efficiency of emergency vehicles.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] A first aspect of this application provides a method for prioritizing emergency vehicle passage, applied to a target vehicle, wherein the target vehicle is a vehicle within a first preset range ahead of the lane where the emergency vehicle is located, and the method includes:

[0007] After receiving an emergency driving intention sent by an emergency vehicle, the system obtains the first position, first speed of multiple other vehicles within a second preset range around the target vehicle, the second speed of the target vehicle, the second position of the target vehicle, and the convergence point position, where the convergence point is a preset distance ahead of the second position.

[0008] Based on multiple first positions, multiple first speeds, second speeds, second positions, merging point positions, and a preset safe distance calculation model, the avoidance intention of the target vehicle is determined. The avoidance intention is used to indicate whether to give way to the emergency vehicle.

[0009] The avoidance intention is sent to the emergency vehicle so that the emergency vehicle can make decisions and plans based on the avoidance intention.

[0010] In one embodiment, determining the avoidance intention of the target vehicle based on multiple first positions, multiple first velocities, second velocities, second positions, merging point positions, and a preset safe distance calculation model includes:

[0011] Based on multiple first and second positions, determine a first number of other vehicles located in the left lane of the target vehicle and a second number of other vehicles located in the right lane of the target vehicle;

[0012] The lane to be entered by the target vehicle is determined based on the first and second quantities;

[0013] Identify multiple other target vehicles located in the lane to be entered from among multiple other vehicles;

[0014] Based on the first target position of multiple other target vehicles, the second target speed, second speed, second position of multiple other target vehicles, the convergence point position, and the safety distance calculation model, the avoidance intention of the target vehicle is determined.

[0015] In one embodiment, the avoidance intention of a target vehicle is determined based on the first target position of multiple other target vehicles, the first target speed, second speed, second position of multiple other target vehicles, the merging point position, and a preset safe distance calculation model, including:

[0016] Determine the first time when each of the other target vehicles arrives at the convergence point based on the first target's location and speed;

[0017] The second time when the target vehicle travels to the merging point is determined based on the second position and the second speed.

[0018] Based on multiple first and second times, determine the first target time and the second target time, wherein the second time is greater than the second target time and less than the first target time;

[0019] Based on the calculation model of the first target time, the first target speed corresponding to the first target time, the second target time, the second target speed corresponding to the second target time, the second speed, the second time, and the safe distance, the avoidance intention of the target vehicle is determined.

[0020] In one embodiment, determining the avoidance intention of the target vehicle based on a calculation model of a first target time, a first target speed corresponding to the first target time, a second target time, a second target speed corresponding to the second target time, a second speed, a second time, and a safe distance includes:

[0021] The first target speed corresponding to the first target time and the second target speed corresponding to the second target time are input into the safe distance calculation model to determine the safe distance of the target space into which the target vehicle is about to change lanes. The target space consists of the front of other target vehicles corresponding to the first target time and the rear of other target vehicles corresponding to the second target time.

[0022] The avoidance intention of the target vehicle is determined based on the safe distance, the second time, the second speed, the first target time, and the second target time.

[0023] In one embodiment, determining the avoidance intention of the target vehicle based on a safe distance, a second time, a second speed, a first target time, and a second target time includes:

[0024] Based on the second time, the second speed, the first target time, and the second target time, determine the actual distance the target vehicle travels into the target space at the second speed;

[0025] Determine the target vehicle's avoidance intention based on the actual distance and the safe distance.

[0026] In one embodiment, the method further includes:

[0027] If the avoidance intention indication does not yield to the emergency vehicle, then at least one determination process is performed until the updated avoidance intention indication yields to the emergency vehicle, or the second update speed of the target vehicle is zero, to obtain the target avoidance intention;

[0028] The determination process in the i-th step includes:

[0029] The target vehicle is controlled to decelerate at a preset acceleration to obtain a second updated speed for the target vehicle;

[0030] Obtain the first updated position of multiple other vehicles within a second preset range around the target vehicle, the first updated speed of the other vehicles, the second updated position of the target vehicle, and the updated position of the merging point;

[0031] Based on multiple first update positions, multiple first update speeds, second update speeds, second update positions, convergence point positions, and a preset safe distance calculation model, the update avoidance intention of the target vehicle is determined; where i is a positive integer greater than or equal to 1.

[0032] The intention to avoid the target is sent to the emergency vehicle so that the emergency vehicle can make decisions and plans based on the intention to avoid the target.

[0033] In one embodiment, sending an avoidance intention to an emergency vehicle includes:

[0034] Based on V2X, the avoidance intention is sent to the emergency vehicle;

[0035] Alternatively, the avoidance intention can be sent to the roadside unit, which will then forward the avoidance intention to the emergency vehicle.

[0036] In a second aspect of this application, an emergency vehicle passage device is provided. The device is located at a target vehicle, which is a vehicle within a first preset range ahead of the lane where the emergency vehicle is located. The device includes:

[0037] The acquisition module is used to acquire, after receiving the emergency driving intention sent by the emergency vehicle, the first position of multiple other vehicles within a second preset range around the target vehicle, the first speed of the other vehicles, the second speed of the target vehicle, the second position of the target vehicle, and the convergence point position, wherein the convergence point is a position at a preset distance in front of the second position;

[0038] The determination module is used to determine the avoidance intention of the target vehicle based on multiple first positions, multiple first speeds, second speeds, second positions, merging point positions, and a preset safe distance calculation model. The avoidance intention is used to indicate whether to give way to the emergency vehicle.

[0039] The sending module is used to send the avoidance intention to the emergency vehicle so that the emergency vehicle can make a decision and plan accordingly.

[0040] In a third aspect of this application, an electronic device is provided, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, it describes the above-mentioned method for the passage of emergency vehicles.

[0041] In a fourth aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the above-described method for the passage of emergency vehicles.

[0042] The beneficial effects of the technical solutions provided in this application include at least the following:

[0043] In the emergency vehicle priority passage method provided in this application embodiment, after receiving an emergency driving intention sent by an emergency vehicle, the target vehicle obtains the first positions, first speeds, second speeds, second positions, and merging point positions of multiple other vehicles within a second preset range around the target vehicle. The merging point is a position at a preset distance ahead of the second position. Based on the multiple first positions, multiple first speeds, second speeds, second positions, merging point positions, and a preset safety distance calculation model, the target vehicle determines its yielding intention, which indicates whether to yield to the emergency vehicle. The target vehicle sends the yielding intention to the emergency vehicle so that the emergency vehicle can make a decision-making plan based on the yielding intention. This method enables real-time communication between the emergency vehicle and the target vehicle, allowing the emergency vehicle to promptly understand the road conditions ahead and the target vehicle's yielding intention. The emergency vehicle can reserve reaction time to take more countermeasures, improving the passage efficiency of emergency vehicles. At the same time, during the process of determining the yielding intention, the driver can choose a suitable merging point according to the actual road conditions, which is especially suitable for turning sections, obstructed sections, and ramp sections. Furthermore, the determination of whether a lane change is possible to allow the target vehicle to pass is based on a calculation model that considers the position and speed of multiple surrounding vehicles and the safe distance, thereby improving traffic safety. Attached Figure Description

[0044] Figure 1 The flowchart of the emergency vehicle passage method provided in the embodiments of this application Figure 1 This method is applied to the target vehicle;

[0045] Figure 2 The flowchart of an emergency vehicle passage method provided in this application embodiment Figure 2 This method is applied to emergency vehicles;

[0046] Figure 3 A flowchart of an exemplary emergency vehicle passage method provided in this application embodiment. Figure 3 ;

[0047] Figure 4 A structural block diagram of an emergency vehicle passage device provided in an embodiment of this application;

[0048] Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0050] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0051] In addition, the use of “based on” or “according to” implies openness and inclusivity, because processes, steps, calculations or other actions “based on” or “according to” one or more conditions or values ​​can in practice be based on additional conditions or values ​​beyond those conditions.

[0052] In recent years, with the rapid development of automotive intelligence and smart transportation technologies, the penetration rate of V2X-based roadside and vehicle-mounted equipment in transportation has been increasing, providing a new wireless communication method between vehicles and roads.

[0053] Currently, emergency vehicles mainly rely on sirens, announcements, and manual directions to move forward on time-consuming road sections. However, these methods result in a lack of real-time communication between emergency vehicles and other vehicles, making it difficult for emergency vehicles to understand the other vehicles' avoidance intentions in a timely manner. Furthermore, these methods have a limited scope of application, usually only suitable for vehicles within a very small area around the emergency vehicle, leading to low traffic efficiency for emergency vehicles.

[0054] To address the aforementioned issues, this application provides a method for prioritizing emergency vehicle passage. Upon receiving an emergency driving intention from an emergency vehicle, the target vehicle acquires the first positions, first speeds, second speeds, and merging point positions of multiple other vehicles within a second preset range around the target vehicle. The merging point is a position at a preset distance ahead of the second position. Based on the multiple first positions, multiple first speeds, second speeds, second positions, merging point positions, and a preset safety distance calculation model, the target vehicle determines its yielding intention, which indicates whether to yield to the emergency vehicle. The target vehicle then sends its yielding intention to the emergency vehicle, enabling the emergency vehicle to make a decision-making plan based on the yielding intention. This method allows for real-time communication between the emergency vehicle and the target vehicle, enabling the emergency vehicle to promptly understand road conditions ahead and the target vehicle's yielding intention. This allows the emergency vehicle more reaction time to take more countermeasures, improving emergency vehicle passage efficiency. Simultaneously, during the process of determining the yielding intention, the driver can choose a suitable merging point based on actual road conditions, particularly suitable for turning sections, obstructed sections, and ramp sections. Furthermore, the determination of whether a lane change is possible to allow the target vehicle to pass is based on a calculation model that considers the position and speed of multiple surrounding vehicles and the safe distance, thereby improving traffic safety.

[0055] like Figure 1 As shown, this application provides a method for prioritizing emergency vehicle passage. This method is applied to the target vehicle and includes:

[0056] Step 101: After receiving the emergency driving intention sent by the emergency vehicle, the target vehicle obtains the first position, first speed of the other vehicles, second speed of the target vehicle, second position of the target vehicle, and convergence point position of multiple other vehicles within a second preset range around the target vehicle. The convergence point is a position at a preset distance in front of the second position.

[0057] The target vehicle is defined as a vehicle within a first preset range ahead of the lane occupied by the emergency vehicle. This first preset range can be a 300-meter area ahead of the lane occupied by the emergency vehicle, or it can be set based on the length of the time-consuming road segment occupied by the emergency vehicle; this application does not specifically limit this range. The second preset range can be a 300-meter area ahead of the lane occupied by the target vehicle; or it can be set based on the communication distance between the target vehicle and other vehicles; this application does not specifically limit this range.

[0058] The preset distance in front of the second position can be the position of the target vehicle at a preset distance. If it is on a straight road, the preset distance can be a fixed distance in front of the target vehicle, such as 10 meters or 20 meters. If it is on a ramp or other merging road, the preset distance from the ramp entrance can be selected as the merging point, which makes it easier for the target vehicle to merge into the ramp.

[0059] Emergency vehicles and target vehicles can communicate using V2X technology or through roadside units (RSUs).

[0060] Currently, the V2X communication between the RSU and the onboard unit primarily employs Dedicated Short Range Communication (DSRC) technology. DSRC is a highly efficient short-range wireless communication technology with its own dedicated frequency band. A 75MHz bandwidth within the 5.9GHz band is designated as a dedicated traffic safety spectrum for DSRC. This differs from other common communication protocols. For example, Wi-Fi, Bluetooth, and Zigbee share the open 2.4GHz band, thus avoiding interference or congestion from other signals in the current area. It enables the identification and two-way communication of high-speed moving targets within a specific small area, transmitting image, voice, and data information in real time. If the vehicle is within the effective communication range of DSRC, it can use the dedicated frequency band to send location, speed, and direction information to other vehicles on the road; simultaneously, the vehicle can also receive signals from other vehicles.

[0061] Therefore, the above process can be as follows: the target vehicle receives the emergency driving intention sent by the emergency vehicle based on V2X technology, or the target vehicle receives the emergency driving intention forwarded by the roadside unit, and after the target vehicle receives the emergency driving intention, it obtains the first position, the first speed of the other vehicles, the second speed of the target vehicle, and the second position of the target vehicle within a second preset range around the target vehicle based on V2X technology or through the roadside unit.

[0062] It should be noted that during the emergency passage process, the emergency vehicle will send an emergency passage intention in real time. After receiving the emergency passage intention, the vehicles within the first preset range around the emergency vehicle will first determine whether they are in the same lane as the emergency vehicle. If they are in the same lane, these vehicles are the target vehicles. All these target vehicles need to execute the emergency vehicle priority passage method provided in the embodiments of this application. This application only shows the emergency vehicle priority passage method executed by one target vehicle as an example.

[0063] Step 102: Determine the avoidance intention of the target vehicle based on multiple first positions, multiple first velocities, second velocities, second positions, merging point positions, and a preset safe distance calculation model.

[0064] The yielding intention is used to indicate whether to yield to an emergency vehicle. That is, since the target vehicle is a vehicle within the first preset range in front of the lane where the emergency vehicle is located, the target vehicle needs to change lanes to yield to the emergency vehicle when it needs to yield. Therefore, the yielding intention of the target vehicle mentioned above includes: the target vehicle changing lanes to the left to yield, changing lanes to the right to yield, and not yielding.

[0065] Step 103: The target vehicle sends its avoidance intention to the emergency vehicle so that the emergency vehicle can make a decision and plan based on the avoidance intention.

[0066] Among them, decision planning includes speed planning and path planning.

[0067] Understandably, emergency vehicles make decision-making and planning based on the avoidance intentions of the target vehicle. ， Decision planning includes route planning. If the target vehicle's intention is to yield to the emergency vehicle, the emergency vehicle's decision is to continue in its current lane without changing lanes. If the target vehicle's intention is to refuse to yield to the emergency vehicle, the emergency vehicle's decision is to change lanes to the left or right. Simultaneously, decision planning also includes speed planning. If the target vehicle ahead of the emergency vehicle yields and the road is clear, the emergency vehicle can accelerate through the current section of road. If the target vehicle ahead of the emergency vehicle does not yield and the current section is congested, the emergency vehicle needs to slow down.

[0068] Optionally, based on multiple first positions, multiple first velocities, second velocities, second positions, merging point positions, and a preset safe distance calculation model, the avoidance intention of the target vehicle is determined, including:

[0069] Step 201: Based on multiple first and second positions, determine the first number of other vehicles located in the left lane of the target vehicle and the second number of other vehicles located in the right lane of the target vehicle;

[0070] Step 202: Determine the lane the target vehicle is to enter based on the first quantity and the second quantity;

[0071] Step 203: Identify multiple other target vehicles located in the lane to be entered from among multiple other vehicles;

[0072] Step 204: Determine the avoidance intention of the target vehicle based on the first target position, first target speed, second speed, second position, merging point position, and safe distance calculation model of multiple other target vehicles.

[0073] It should be noted that the first position is the position of other vehicles within the second preset range of the target vehicle; the second position is the position of the target vehicle; the second speed is the speed of the target vehicle; other target vehicles are other vehicles in the lane that the target vehicle is about to enter and within the second preset range, and the speed of other target vehicles is the first target speed.

[0074] When determining whether to change lanes to the left or right to avoid a target vehicle, the following operations are performed: Using the target vehicle's position as the origin, the target vehicle's driving direction as the y-axis, and the direction perpendicular to the y-axis as the x-axis, the first and second positions of multiple other vehicles are projected onto this coordinate model to obtain the number of other vehicles in the left lane of the target vehicle, i.e., the first number, marked as flag1. Then, the number of other vehicles in the right lane of the target vehicle, i.e., the second number, marked as flag2, is obtained. Taking min(flag1, flag2) determines whether the traffic flow is smaller on the left or right side of the target vehicle. The lane with fewer other vehicles is determined as the lane to be entered. Correspondingly, the other vehicles in the lane to be entered are the other target vehicles.

[0075] For example, the target vehicle determines to change lanes to the left based on the first and second numbers. Then, it is necessary to identify the vehicles in the left lane from among multiple other vehicles, i.e., other target vehicles. The first target position and first target speed of multiple other target vehicles are obtained through DSRC technology, as well as the second speed, second position, merging point position, and safe distance calculation model of the previously determined target vehicle, to determine the target vehicle's avoidance intention.

[0076] Optionally, step 204 above, which determines the avoidance intention of a target vehicle based on the first target position, first target speed, second speed, second position, merging point position, and a preset safety distance calculation model of multiple other target vehicles, can be as follows:

[0077] Step 301: Determine the first time when each of the other target vehicles arrives at the merging point based on the first target's location and speed;

[0078] Step 302: Determine the second time when the target vehicle travels to the merging point based on the second position and the second speed;

[0079] Step 303: Based on multiple first times and second times, determine the first target time and the second target time, wherein the second time is greater than the second target time and less than the first target time;

[0080] Step 304: Based on the calculation model of the first target time, the first target speed corresponding to the first target time, the second target time, the second target speed corresponding to the second target time, the second speed, the second time, and the safe distance, determine the avoidance intention of the target vehicle.

[0081] It should be noted that the first time is the time when other target vehicles arrive at the merging point, and the second time is the time when the target vehicle arrives at the merging point. The arrival times of other target vehicles are sorted, and the two times closest to the arrival time of the target vehicle are selected as the first target time and the second target time. The arrival time of the target vehicle is greater than the second target time and less than the first target time. The speed of the vehicle corresponding to the first target time is the first target speed, and the speed of the vehicle corresponding to the second target time is the second target speed.

[0082] The following example, using n other target vehicles (n≥2), further illustrates this point:

[0083] Once the locations of multiple primary targets and convergence points are determined, their distances can be obtained as Sn and their speeds as Vn. According to the formula T = S / V, the times T1, T2, ..., Tn for n other target vehicles can be obtained, where n ≥ 2, S is the distance, and V is the speed.

[0084] After determining the target vehicle's position, speed, and merging point, the arrival time Tm of the target vehicle at the merging point can also be obtained using the same formula. T1, T2, ..., Tn are sorted and compared with Tm. The two times greater than and less than Tm are identified: the time greater than Tm is the first target time Ta, and the time less than Tm is the second target time Tb. The corresponding vehicles are then determined based on these two times, denoted as vehicle 1 and vehicle 2. Since they are in the same lane, vehicle 1 and vehicle 2 are consecutive vehicles. The speed of the vehicle corresponding to the first target time is denoted as Va, and the speed of the vehicle corresponding to the second target time is denoted as Vb. Based on Ta, Va, Tb, Vb, the target vehicle's speed, the arrival time Tm of the target vehicle at the merging point, and the safety distance calculation model, the target vehicle's avoidance intention is determined.

[0085] Optionally, based on a calculation model of the first target time, the first target speed corresponding to the first target time, the second target time, the second target speed corresponding to the second target time, the second speed, the second time, and the safe distance, the avoidance intention of the target vehicle is determined, including:

[0086] Step 401: Input the first target speed Va corresponding to the first target time Ta and the second target speed Vb corresponding to the second target time Tb into the safe distance calculation model to determine the safe distance of the target space into which the target vehicle is about to change lanes. The target space consists of the front of the first vehicle corresponding to the first target time Ta and the rear of the second vehicle corresponding to the second target time Tb.

[0087] Step 402: Determine the target vehicle's avoidance intention based on the safe distance, the second time, the second speed, the first target time, and the second target time.

[0088] The safe distance is the minimum distance required to prevent a collision with vehicles in front and behind when a target vehicle changes lanes and enters the target space. If the safe distance is less than this distance, there is a risk of a traffic accident. For ease of understanding, the safe distance is denoted as Sx. The safe distance Sx is calculated using an empirical formula, as follows:

[0089] Sx=|Va-Vb|*(2+0.5+0.1)+|Va-Vb|*|Va-Vb| / (7.2+3.0)+7

[0090] Where |Va-Vb| is the absolute value of the speed difference between the first vehicle and the second vehicle, and the other constants are empirical values ​​obtained through multiple experiments, from which Sx can be obtained.

[0091] Optionally, the avoidance intention of the target vehicle can be determined based on the safe distance, the second time, the second speed, the first target time, and the second target time, including:

[0092] Step 501: Based on the second time, the second speed, the first target time, and the second target time, determine the actual distance the target vehicle travels into the target space at the second speed;

[0093] Step 502: Determine the target vehicle's avoidance intention based on the actual distance and the safe distance.

[0094] The actual distances from the front of the first vehicle and the rear of the second vehicle when the target vehicle changes lanes and enters the target space are denoted as S1 and S2, respectively. The speed of the target vehicle can be obtained through the on-board equipment and is denoted as Vm. The speeds of the first target, Va and the second target, Vb are known.

[0095] According to the speed-distance formula S=V*T, we know S1=|Va-Vm|*Tm, S2=|Vb-Vm|*Tm. Given S1 and S2, the target space is the sum of S1 and S2. Comparing Sx with S1 and S2, if both S1 and S2 are greater than Sx, the target space meets the entry conditions, and the target vehicle can change lanes; if the target space does not meet the entry conditions, the target vehicle cannot change lanes.

[0096] In other embodiments, the specific value of the safe distance can also be preset based on a threshold, such as 50 meters, according to the speed of the current target vehicle and other vehicles. If the target space meets the preset threshold, the target vehicle can change lanes.

[0097] Optionally, the method further includes:

[0098] If the yield intention instruction does not yield to the emergency vehicle, the above determination process is performed at least once until the yield intention instruction is updated to yield to the emergency vehicle, or the second update speed of the target vehicle is zero, so as to obtain the target yield intention and send the target yield intention to the emergency vehicle so that the emergency vehicle can make a decision and plan according to the target yield intention.

[0099] The i-th determination process includes:

[0100] Control the target vehicle to decelerate at a preset acceleration to obtain the target vehicle's second updated speed;

[0101] Obtain the first updated position of multiple other vehicles within a second preset range around the target vehicle, the first updated speed of the other vehicles, the second updated position of the target vehicle, and the updated position of the merging point;

[0102] Based on multiple first update locations, multiple first update speeds, second update speeds, second update locations, convergence point locations, and a preset safe distance calculation model, the update avoidance intention of the target vehicle is determined.

[0103] Where i is a positive integer greater than or equal to 1.

[0104] In other words, controlling the target vehicle to decelerate at a preset acceleration, i.e., controlling the target vehicle to decelerate uniformly, involves re-determining whether the target space meets the entry conditions after each deceleration. Since the vehicle is moving, each re-determination process may require re-determining the merging point position. Because this method calculates the merging point position in advance, it offers greater flexibility compared to other methods, allowing the driver ample time. The driver can choose a suitable merging point based on actual road conditions, making it particularly suitable for curves and ramps. For example, on a ramp, an emergency vehicle sends its intention to merge onto the ramp to the target vehicle. The target vehicle's driver can choose the ramp's merging point or a location ahead of the ramp as a reference point. Once the target vehicle determines it can avoid the emergency vehicle using the above method, it merges directly onto the ramp. If the target vehicle determines it cannot avoid the emergency vehicle using the same method, the emergency vehicle also has sufficient time to devise other strategies. This method is also suitable for curved road sections, especially those with buildings or trees obstructing the view at the bend. Since emergency vehicles cannot see the target vehicle ahead, if other methods are used, it is impossible to see whether the target vehicle is giving way or not, or if the target vehicle responds with its intention to give way, there is not enough time to take other actions. Using the method provided by this invention, not only can a response be made in advance, but more importantly, it can communicate with the target vehicle in real time, making it easier to understand the avoidance situation of the target vehicle further away, thereby improving the passage efficiency of emergency vehicles and allowing more reaction time to take more measures.

[0105] It is understandable that in this embodiment, emergency vehicles and target vehicles can communicate point-to-point via V2X, unlike typical emergency vehicle yielding methods. Typical yielding methods involve the emergency vehicle sending its driving intentions to other vehicles via V2X to alert them to yield, a one-sided communication method. Emergency vehicles cannot promptly learn of other vehicles' yielding intentions, leaving them in a passive position. Furthermore, typical emergency vehicle yielding methods, because they involve the emergency vehicle directly sending its driving intentions to other vehicles, have a short communication distance and limited coverage.

[0106] In this embodiment, the emergency vehicle directly sends its driving intention via V2X communication and forwards it to the target vehicle through a roadside unit, enabling a wider range of target vehicles to receive the emergency vehicle's driving intention and significantly improving traffic efficiency. Once the target vehicle has determined its avoidance intention using the above method, it can also directly send its avoidance intention via V2X communication and forward it to the emergency vehicle through a roadside unit.

[0107] like Figure 2As shown in the figure, this application provides a method for emergency vehicles to pass through, applicable to emergency vehicles, the method including the following steps:

[0108] Step 2001: The emergency vehicle sends its emergency driving intention directly to the target vehicle via V2X communication or forwards it through the road test unit.

[0109] 2002, Emergency vehicles receive the avoidance intentions of each target vehicle;

[0110] 2003. Emergency vehicles make decisions and plans based on their intention to avoid obstacles.

[0111] Optionally, decision planning includes velocity planning and path planning.

[0112] In practice, there is more than one target vehicle. All vehicles that receive the emergency vehicle's emergency driving intention and are in the same lane as the emergency vehicle are considered target vehicles. After receiving the emergency vehicle's emergency driving intention, all target vehicles calculate their yielding intention using the aforementioned safe distance calculation model. This yielding intention is then fed back to the emergency vehicle, which makes its decision-making based on the received yielding intention. If the target vehicle's yielding intention is to yield to the emergency vehicle, the emergency vehicle decides to continue in its current lane without changing lanes. If the target vehicle's yielding intention is to refuse to yield to the emergency vehicle, the emergency vehicle decides to change lanes to the left or right. Simultaneously, the decision-making process also includes speed planning. If the target vehicle ahead of the emergency vehicle yields and the road is clear, the emergency vehicle can accelerate through the current section of road. If the target vehicle ahead of the emergency vehicle does not yield and the current section is congested, the emergency vehicle needs to slow down.

[0113] Please refer to Figure 3 It illustrates a flowchart of an exemplary emergency vehicle passage method provided in an embodiment of this application, which can be applied to... Figure 1 The passage method for emergency vehicles is shown below. For example... Figure 3 As shown, the method may include the following steps:

[0114] Step 1001: The emergency vehicle sends its emergency driving intention directly to the target vehicle via V2X communication or forwards it through the road test unit.

[0115] Step 1002: After receiving the emergency driving intention sent by the emergency vehicle, the target vehicle obtains the first position, first speed of the other vehicles, second speed of the target vehicle, second position of the target vehicle, and convergence point position of multiple other vehicles within a second preset range around the target vehicle. The convergence point is a position at a preset distance in front of the second position.

[0116] Step 1003: Based on multiple first and second positions, determine the first number of other vehicles located in the left lane of the target vehicle and the second number of other vehicles located in the right lane of the target vehicle.

[0117] Step 1004: Determine the lane to which the target vehicle will enter based on the first quantity and the second quantity.

[0118] Step 1005: Identify multiple other target vehicles located in the lane to be entered from among multiple other vehicles.

[0119] Step 1006: Determine the first time when each of the other target vehicles arrives at the merging point based on the first target's position and speed.

[0120] Step 1007: Determine the second time when the target vehicle travels to the merging point based on the second position and the second speed.

[0121] Step 1008: Based on multiple first times and second times, determine the first target time and the second target time, wherein the second time is greater than the second target time and less than the first target time.

[0122] Step 1009: Input the first target speed corresponding to the first target time and the second target speed corresponding to the second target time into the safe distance calculation model to determine the safe distance of the target space into which the target vehicle is about to change lanes. The target space consists of the rear of other target vehicles corresponding to the first target time and the front of other target vehicles corresponding to the second target time.

[0123] Step 1010: Based on the second time, the second speed, the first target time, and the second target time, determine the actual distance the target vehicle travels into the target space at the second speed.

[0124] Step 1011: Determine the target vehicle's avoidance intention based on the actual distance and the safe distance.

[0125] Step 1012: If the avoidance intention indication does not yield to the emergency vehicle, perform at least one determination process until the updated avoidance intention indication yields to the emergency vehicle, or the second update speed of the target vehicle is zero, to obtain the target avoidance intention, and send the target avoidance intention to the emergency vehicle so that the emergency vehicle can make a decision and plan according to the target avoidance intention.

[0126] The i-th determination process includes:

[0127] Control the target vehicle to decelerate at a preset acceleration to obtain the target vehicle's second updated speed;

[0128] Obtain the first updated position of multiple other vehicles within a second preset range around the target vehicle, the first updated speed of the other vehicles, the second updated position of the target vehicle, and the updated position of the merging point;

[0129] Based on multiple first update locations, multiple first update speeds, second update speeds, second update locations, convergence point locations, and a preset safe distance calculation model, the update avoidance intention of the target vehicle is determined.

[0130] Where i is a positive integer greater than or equal to 1.

[0131] Step 1013: If the avoidance intention indicates to yield to the emergency vehicle, the emergency vehicle shall make a decision and plan according to the avoidance intention after receiving the avoidance intention.

[0132] like Figure 4 As shown, in another embodiment of this application, an emergency vehicle passage device 1100 is also provided. The emergency vehicle passage device 1100 is located at a target vehicle, which is a vehicle within a first preset range in front of the lane where the emergency vehicle is located. The emergency vehicle passage device 1100 includes an acquisition module 1102:

[0133] The acquisition module 1102 is used to acquire, after receiving the emergency driving intention sent by the emergency vehicle, the first position of multiple other vehicles within a second preset range around the target vehicle, the first speed of the other vehicles, the second speed of the target vehicle, the second position of the target vehicle, and the convergence point position, wherein the convergence point is a position at a preset distance in front of the second position.

[0134] The determination module 1103 is used to determine the avoidance intention of the target vehicle based on multiple first positions, multiple first speeds, second speeds, second positions, merging point positions and a preset safe distance calculation model. The avoidance intention is used to indicate whether to give way to the emergency vehicle.

[0135] The sending module 1101 is used to send the avoidance intention to the emergency vehicle so that the emergency vehicle can make a decision and plan according to the avoidance intention.

[0136] It should be noted that the acquisition module 1102, the determination module 1103, and the sending module 1101 are all located in the vehicle terminal or connected to the vehicle terminal. In order to realize the identification and two-way communication of moving targets at high speed in a specific small area, transmit image, voice and data information in real time, and acquire information such as the location, speed and direction sent by other vehicles, the vehicle also needs to be equipped with a GPS device, a speed sensor device and a wireless transmission device.

[0137] The emergency vehicle passage device 1100 provided in this application embodiment can implement the above method embodiment. Each module in the emergency vehicle passage device 1100 can be implemented in whole or in part by software, hardware and their combination.

[0138] In one embodiment of this application, the determining module 1103 is specifically used for:

[0139] Based on multiple first and second positions, determine a first number of other vehicles located in the left lane of the target vehicle and a second number of other vehicles located in the right lane of the target vehicle;

[0140] The lane to be entered by the target vehicle is determined based on the first and second quantities;

[0141] Identify multiple other target vehicles located in the lane to be entered from among multiple other vehicles;

[0142] Based on the first target position, first target speed, second speed, second position, convergence point position, and safety distance calculation model of multiple other target vehicles, the avoidance intention of the target vehicle is determined.

[0143] In one embodiment of this application, the determining module 1103 is specifically used for:

[0144] Determine the first time when each of the other target vehicles arrives at the convergence point based on the first target's location and speed;

[0145] The second time when the target vehicle travels to the merging point is determined based on the second position and the second speed.

[0146] Based on multiple first and second times, determine the first target time and the second target time, wherein the second time is greater than the second target time and less than the first target time;

[0147] Based on the first target time, the first target speed corresponding to the first target time, the second target time, the second target speed corresponding to the second target time, the second speed, the second time, and the safety distance calculation model, the avoidance intention of the target vehicle is determined.

[0148] In one embodiment of this application, the determining module 1103 is further configured to:

[0149] If the avoidance intention instruction does not yield to the emergency vehicle, then at least one determination process is performed until the avoidance intention instruction is updated to yield to the emergency vehicle, or the second update speed of the target vehicle is zero, and the target avoidance intention is obtained.

[0150] The determination process in the i-th step includes:

[0151] Control the target vehicle to decelerate at a preset acceleration to obtain the target vehicle's second updated speed;

[0152] Obtain the first updated position of multiple other vehicles within a second preset range around the target vehicle, the first updated speed of the other vehicles, the second updated position of the target vehicle, and the updated position of the merging point;

[0153] Based on multiple first update locations, multiple first update speeds, second update speeds, second update locations, convergence point locations, and a preset safe distance calculation model, the update avoidance intention of the target vehicle is determined.

[0154] Where i is a positive integer greater than or equal to 1.

[0155] The sending module 1101 is also used to: send the target avoidance intention to the emergency vehicle so that the emergency vehicle can make a decision and plan according to the target avoidance intention.

[0156] In another embodiment of this application, an electronic device is also provided, the internal structure of which is as follows: Figure 4 As shown, the electronic device includes a processor and a memory connected via a system bus. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. When the computer program is executed by the processor, it describes the aforementioned emergency vehicle passage method.

[0157] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0158] In another embodiment of this application, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the above-described method for the passage of emergency vehicles.

[0159] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device containing one or more servers, data centers, etc., that can be integrated with the medium. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks, SSDs).

[0160] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0161] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method of passing an emergency vehicle, characterized by, Applied to a target vehicle, wherein the target vehicle is a vehicle within a first preset range ahead of the lane where the emergency vehicle is located, the method includes: After receiving the emergency driving intention sent by the emergency vehicle, the system obtains the first position of multiple other vehicles within a second preset range around the target vehicle, the first speed of the multiple other vehicles, the second speed of the target vehicle, the second position of the target vehicle, and the convergence point position, wherein the convergence point is a position at a preset distance in front of the second position. Based on multiple first positions, multiple first speeds, second speeds, second positions, the merging point position, and a preset safe distance calculation model, the avoidance intention of the target vehicle is determined, and the avoidance intention is used to indicate whether to give way to the emergency vehicle; The avoidance intention is sent to the emergency vehicle so that the emergency vehicle can make a decision and plan accordingly. If the avoidance intention indicates not to yield to the emergency vehicle, then at least one determination process is performed until the updated avoidance intention indicates to yield to the emergency vehicle, or the second update speed of the target vehicle is zero, to obtain the target avoidance intention; The i-th determination process includes: controlling the target vehicle to decelerate at a preset acceleration to obtain the second updated speed of the target vehicle; acquiring the first updated positions, first updated speeds, second updated positions, and merge point updated positions of multiple other vehicles within a second preset range around the target vehicle; determining the updated avoidance intention of the target vehicle based on the multiple first updated positions, multiple first updated speeds, second updated speeds, second updated positions, merge point positions, and a preset safety distance calculation model; where i is a positive integer greater than or equal to 1; and sending the target avoidance intention to the emergency vehicle so that the emergency vehicle can make a decision-making plan based on the target avoidance intention.

2. The method of claim 1, wherein, The step of determining the avoidance intention of the target vehicle based on multiple first positions, multiple first speeds, second speeds, second positions, the merging point position, and a preset safe distance calculation model includes: Based on multiple first and second positions, determine a first number of other vehicles located in the left lane of the target vehicle and a second number of other vehicles located in the right lane of the target vehicle; The lane to which the target vehicle is to enter is determined based on the first quantity and the second quantity; Identify multiple other target vehicles located in the lane to be entered from among multiple other vehicles; The avoidance intention of the target vehicle is determined based on the first target position of multiple other target vehicles, the first target speed of multiple other target vehicles, the second speed, the second position, the merging point position, and the safe distance calculation model.

3. The method according to claim 2, characterized in that, The step of determining the avoidance intention of the target vehicle based on the first target positions of multiple other target vehicles, the first target speeds of multiple other target vehicles, the second speeds, the second positions, the merging point positions, and a preset safe distance calculation model includes: The first time when each of the other target vehicles arrives at the merging point is determined based on the first target location and the first target speed. The second time when the target vehicle travels to the merging point is determined based on the second position and the second speed; Based on multiple first times and second times, a first target time and a second target time are determined, wherein the second time is greater than the second target time and less than the first target time; The avoidance intention of the target vehicle is determined based on the first target time, the first target speed corresponding to the first target time, the second target time, the second target speed corresponding to the second target time, the second speed, the second time, and the safe distance calculation model.

4. The method according to claim 3, characterized in that, The step of determining the avoidance intention of the target vehicle based on the first target time, the first target speed corresponding to the first target time, the second target time, the second target speed corresponding to the second target time, the second speed, the second time, and the safe distance calculation model includes: The first target speed corresponding to the first target time and the second target speed corresponding to the second target time are input into the safe distance calculation model to determine the safe distance of the target space into which the target vehicle is to change lanes. The target space consists of the rear of other target vehicles corresponding to the first target time and the front of other target vehicles corresponding to the second target time. The avoidance intention of the target vehicle is determined based on the safe distance, the second time, the second speed, the first target time, and the second target time.

5. The method of claim 4, wherein, Determining the avoidance intention of the target vehicle based on the safe distance, the second time, the second speed, the first target time, and the second target time includes: Based on the second time, the second speed, the first target time, and the second target time, determine the actual distance the target vehicle travels into the target space at the second speed; The avoidance intention of the target vehicle is determined based on the actual distance and the safe distance.

6. The method of claim 1, wherein, Sending the avoidance intention to the emergency vehicle includes: The avoidance intention is sent to the emergency vehicle via V2X; Alternatively, the avoidance intention can be sent to a roadside unit, which can then forward the avoidance intention to the emergency vehicle.

7. An emergency vehicle passage device, characterized in that, Located at the target vehicle, which is a vehicle within a first preset range ahead of the lane where the emergency vehicle is located, the device includes: The acquisition module is used to acquire, after receiving the emergency driving intention sent by the emergency vehicle, the first position of a plurality of other vehicles within a second preset range around the target vehicle, the first speed of the plurality of other vehicles, the second speed of the target vehicle, the second position of the target vehicle, and the merging point position, wherein the merging point is a position at a preset distance in front of the second position; The determination module is used to determine the avoidance intention of the target vehicle based on multiple first positions, multiple first speeds, second speeds, second positions, the merging point position, and a preset safety distance calculation model. The avoidance intention is used to indicate whether to give way to the emergency vehicle. A sending module is used to send the avoidance intention to the emergency vehicle, so that the emergency vehicle can make a decision and plan according to the avoidance intention; The determining module is further configured to: if the avoidance intention indication does not yield to the emergency vehicle, perform at least one determining process until the updated avoidance intention indication yields to the emergency vehicle, or the second update speed of the target vehicle is zero, to obtain the target avoidance intention; The i-th determination process includes: controlling the target vehicle to decelerate at a preset acceleration to obtain the second updated speed of the target vehicle; acquiring the first updated positions, first updated speeds, second updated positions, and merge point updated positions of multiple other vehicles within a second preset range around the target vehicle; determining the updated avoidance intention of the target vehicle based on the multiple first updated positions, multiple first updated speeds, second updated speeds, second updated positions, merge point positions, and a preset safety distance calculation model; where i is a positive integer greater than or equal to 1; and sending the target avoidance intention to the emergency vehicle so that the emergency vehicle can make a decision-making plan based on the target avoidance intention.

8. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program that, when executed by the processor, implements the emergency vehicle passage method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the emergency vehicle passage method according to any one of claims 1 to 6.

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