Emergency vehicle hierarchical priority signal control method and device, electronic equipment and medium

Abstract

This invention relates to a method, device, electronic device, and medium for priority signal control of emergency vehicles. The method includes: determining the priority of emergency vehicles based on their type and the urgency index of the emergency event; determining the phase demand of emergency vehicles based on their priority and the current road traffic flow state; acquiring the traffic light status at the intersection downstream of the emergency vehicle's initial position; and formulating a control strategy based on the phase demand and traffic light status at the intersection downstream of the emergency vehicle's initial position. This invention improves the passage efficiency of emergency vehicles by classifying them and granting different priority rights at intersections according to the priority of different types of emergency vehicles.

Description

Technical Field

[0001] This invention relates to the field of traffic signal control technology, and in particular to a method, device, electronic equipment, and medium for emergency vehicle priority signal control. Background Technology

[0002] In recent years, with the rapid development of the economy and society, my country's urbanization process has accelerated, the population has continued to increase, and people's travel demand has also increased. The large amount of travel demand inevitably leads to a serious overload on the road traffic network, resulting in problems such as traffic congestion and parking difficulties. At the same time, while the continuous development of urbanization brings convenience to people, it also reduces people's awareness of preventing emergencies. Urbanization also constantly changes the stability of the internal structure of cities, all of which greatly increase the probability of emergencies.

[0003] The existing methods for handling emergencies have the following main drawbacks: the road network is complex, there are many private vehicles, and the routes for emergency vehicles to reach the rescue are not well planned, which can easily lead to traffic conflicts; when releasing emergency vehicle convoys at intersections near disaster sites, phase conflicts can easily occur; and there is no priority-based passage strategy for emergency vehicles, which can cause congestion and reduce rescue efficiency when multiple types of emergency vehicles arrive at the same time.

[0004] Therefore, how to conduct a graded study of emergency vehicles and grant them different priority rights at intersections based on the priority of different types of emergency vehicles, thereby improving the traffic efficiency of emergency vehicles, is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] In view of this, it is necessary to provide a method, device, electronic equipment and medium for emergency vehicle priority signal control, so as to give different priority rights at intersections according to the priority of different types of emergency vehicles, thereby improving the traffic efficiency of emergency vehicles.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a method for controlling priority signals for emergency vehicles, comprising:

[0007] The priority of emergency vehicles is determined based on the type of emergency vehicle and the urgency index of the emergency, and the phase demand of emergency vehicles is determined based on the priority of emergency vehicles and the current road traffic flow status.

[0008] Obtain the traffic light status at the intersection downstream of the initial location when the emergency vehicle arrives;

[0009] A control strategy is developed based on the phase demand of emergency vehicles and the traffic light status at the downstream intersection when the emergency vehicle arrives at its initial position.

[0010] Furthermore, the priority of the emergency vehicles is as follows: Where F is the urgency index of the emergency vehicle, T is the time it takes for the emergency vehicle to pass through the intersection, and X is the emergency vehicle's emergency response index. i To correlate influencing factors, δ is a variable parameter, m is the weight of the time it takes for emergency vehicles to pass through the intersection, and n is the weight of the influencing factors. i The weights of the influencing factors;

[0011] The emergency vehicle phase demand is: PD = 0.75P + 0.25V, where PD is the emergency vehicle phase demand, P is the emergency vehicle priority, and V is the current road traffic flow status.

[0012] Furthermore, if the traffic light at the intersection downstream of the emergency vehicle's initial position is green, the control strategy based on the emergency vehicle's phase demand and the intersection traffic light status when the emergency vehicle arrives at its initial position includes:

[0013] If the emergency vehicle's phase demand is at level one, a first green light extension control strategy will be adopted, where the first green light extension duration is: T A -T0≤g e ≤T1-T0-Σg i ;

[0014] If the emergency vehicle's phase demand is at level two, a second green light extension control strategy will be adopted. The extension of the green light for a level two signal priority is: T0' - T0 ≤ g e ≤T A -T0≤T1-T0-Σg i ;

[0015] If the emergency vehicle's phase demand is level three, a third green light extension control strategy will be adopted. The extension duration for a level three signal priority green light is: T”0 - T0 ≤ g e ≤T A -T'0≤T1-T0-Σg i , where g e To extend the green light duration, T A The time when emergency vehicles pass through the intersection at a constant maximum speed is defined as follows: T0 is the start time of the first red light cycle, T1 is the start time of the green light cycle, T'0 is the start time of the second red light cycle, T”0 is the start time of the third red light cycle, and g i This refers to the minimum green light time requirement for non-priority phases.

[0016] Furthermore, if the emergency vehicle does not pass the downstream intersection from its initial position within the extended green light period, the control strategy based on the emergency vehicle's phase demand and the intersection traffic light status when the emergency vehicle arrives at its initial position includes:

[0017] A phase-insertion control strategy is adopted for control, wherein the phase-insertion duration is: Among them, g p V1 represents the phase insertion duration, V2 represents the queuing wave velocity of social vehicles, and V2 represents the starting wave velocity of social vehicles.

[0018] Furthermore, if the traffic light at the intersection downstream of the emergency vehicle's initial position is red, the control strategy based on the emergency vehicle's phase demand and the intersection traffic light status when the emergency vehicle arrives at its initial position includes:

[0019] A red light early shutdown control strategy is adopted for control, wherein the red light early shutdown duration is: Where, r s To extend the red light interruption time, T A T0 is the start time of the first cycle of the red light, and T1 is the start time of the second cycle of the green light, representing the time when emergency vehicles pass through the intersection at a constant maximum speed. X The red light should be turned off early.

[0020] Furthermore, if the emergency vehicle does not pass the downstream intersection from its initial position within the green light duration after the red light ends prematurely, the control strategy formulated based on the emergency vehicle's phase demand and the intersection traffic light status when the emergency vehicle arrives at its initial position includes:

[0021] A phase-insertion control strategy is adopted for control, wherein the phase-insertion duration is: Among them, g p V1 represents the phase insertion duration, V2 represents the queuing wave velocity of social vehicles, and V2 represents the starting wave velocity of social vehicles.

[0022] Furthermore, the method also includes:

[0023] The control strategy is based on the established control strategy to control the status of traffic lights when the emergency vehicle arrives at the downstream intersection of the initial position.

[0024] Secondly, the present invention also provides an emergency vehicle priority signal control device, comprising:

[0025] The phase demand determination module is used to determine the priority of emergency vehicles based on the type of emergency vehicle and the urgency index of the emergency, and to determine the phase demand of emergency vehicles based on the priority of emergency vehicles and the current road traffic flow status.

[0026] The traffic light status acquisition module is used to acquire the traffic light status when the emergency vehicle arrives at the downstream intersection of the initial position;

[0027] The control strategy formulation module is used to formulate control strategies based on the phase demand of emergency vehicles and the traffic light status at the downstream intersection when the emergency vehicles arrive at their initial positions.

[0028] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps in the above-mentioned emergency vehicle priority signal control device.

[0029] Fourthly, the present invention also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the steps of the emergency vehicle priority signal control device described above.

[0030] The beneficial effects of using the above embodiments are:

[0031] This invention determines the priority, urgency index, and corresponding phase demand of emergency vehicles for different types of emergencies after they occur, and then adopts different signal control strategies based on the intersection signal status and the emergency vehicle level. By implementing a tiered priority control method for emergency vehicles passing through intersections, it improves the efficiency of emergency vehicles at intersections while ensuring the efficiency of other vehicles, reduces phase conflicts when emergency vehicles are heading to disaster sites, and improves rescue efficiency. Attached Figure Description

[0032] Figure 1 A flowchart illustrating an embodiment of the emergency vehicle priority signal control method provided by the present invention;

[0033] Figure 2(a) is a schematic diagram of a first-level priority signal control for emergency vehicles provided in an embodiment of the present invention;

[0034] Figure 2(b) is a schematic diagram of a secondary priority signal control for emergency vehicles according to an embodiment of the present invention;

[0035] Figure 2(c) is a schematic diagram of a three-level priority signal control for emergency vehicles provided in an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram illustrating an emergency vehicle not performing signal control according to an embodiment of the present invention;

[0037] Figure 4(a) is a schematic diagram of a green light extension strategy control for emergency vehicles according to an embodiment of the present invention;

[0038] Figure 4(b) is a schematic diagram of a secondary signal green light extension strategy control for emergency vehicles according to an embodiment of the present invention;

[0039] Figure 4(c) is a schematic diagram of a three-level signal green light extension strategy control for emergency vehicles provided in an embodiment of the present invention;

[0040] Figure 5(a) is a schematic diagram of a primary signal phase insertion strategy control for emergency vehicles according to an embodiment of the present invention;

[0041] Figure 5(b) is a schematic diagram of a secondary signal phase insertion strategy control for emergency vehicles according to an embodiment of the present invention;

[0042] Figure 5(c) is a schematic diagram of a three-level signal phase insertion strategy control for emergency vehicles provided in an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram illustrating another emergency vehicle that does not perform signal control, according to an embodiment of the present invention.

[0044] Figure 7(a) is a schematic diagram of an emergency vehicle's primary signal red light early termination strategy control according to an embodiment of the present invention;

[0045] Figure 7(b) is a schematic diagram of an emergency vehicle secondary signal red light early cut-off strategy control according to an embodiment of the present invention;

[0046] Figure 7(c) is a schematic diagram of an emergency vehicle three-level signal red light early cut-off strategy control according to an embodiment of the present invention;

[0047] Figure 8(a) is a schematic diagram of another emergency vehicle primary signal phase insertion strategy control provided in an embodiment of the present invention;

[0048] Figure 8(b) is a schematic diagram of another emergency vehicle secondary signal phase insertion strategy control provided in an embodiment of the present invention;

[0049] Figure 8(c) is a schematic diagram of another emergency vehicle three-level signal phase insertion strategy control provided in an embodiment of the present invention;

[0050] Figure 9 A schematic diagram of an embodiment of the emergency vehicle priority signal control device provided by the present invention;

[0051] Figure 10 A schematic diagram of the structure of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0052] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0053] In the description of this invention, 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 at least one of that feature. Furthermore, "a plurality of" means two or more, unless otherwise explicitly specified. The reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0054] This invention provides a method, device, electronic device, and medium for emergency vehicle priority signal control. By conducting a graded study of emergency vehicles in an intelligent connected environment, different priority passage rights are granted at intersections according to the priority of different types of emergency vehicles, and the entire path of different emergency vehicles is coordinated and planned to allow emergency vehicles with higher priority levels to reach disaster sites faster.

[0055] The specific embodiments are described in detail below:

[0056] Please see Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the emergency vehicle priority signal control method provided by the present invention. A specific embodiment of the present invention discloses an emergency vehicle priority signal control method, comprising:

[0057] Step S101: Determine the priority of emergency vehicles based on the type of emergency vehicle and the urgency index of the emergency event, and determine the phase demand of emergency vehicles based on the priority of emergency vehicles and the current road traffic flow status.

[0058] Step S102: Obtain the traffic light status when the emergency vehicle arrives at the downstream intersection of the initial position;

[0059] Step S103: Develop a control strategy based on the phase demand of the emergency vehicle and the traffic light status at the downstream intersection when the emergency vehicle arrives at its initial position.

[0060] This invention determines the priority, urgency index, and corresponding phase demand of emergency vehicles for different types of emergencies after they occur, and then adopts different signal control strategies based on the intersection signal status and the emergency vehicle level. By implementing a tiered priority control method for emergency vehicles passing through intersections, it improves the efficiency of emergency vehicles at intersections while ensuring the efficiency of other vehicles, reduces phase conflicts when emergency vehicles are heading to disaster sites, and improves rescue efficiency.

[0061] In one embodiment of the present invention, the priority of emergency vehicles is as follows: Where F is the urgency index of the emergency vehicle, T is the time it takes for the emergency vehicle to pass through the intersection, and X is the emergency vehicle's emergency response index. i To correlate influencing factors, δ is a variable parameter, m is the weight of the time it takes for emergency vehicles to pass through the intersection, and n is the weight of the influencing factors. i The weights of the influencing factors;

[0062] The phase demand of emergency vehicles is: PD = 0.75P + 0.25V, where PD is the phase demand of emergency vehicles, P is the priority of emergency vehicles, and V is the current road traffic flow status.

[0063] It is understood that the control method proposed in this invention adopts corresponding release rules based on different levels of emergency, and coordinates the planning of routes for different types of emergency vehicles. When an emergency vehicle with priority right-of-way passes through an intersection, the priority of the emergency vehicle is determined through vehicle network information and the current traffic flow status of the intersection. The corresponding phase demand is determined based on the priority, which is generally obtained by weighting the priority value of the emergency vehicle with the road congestion level. The priority value of the emergency vehicle is also related to the emergency index of different types of vehicles. The emergency index is calculated based on the urgency and severity of different emergency events. High urgency is assigned a value of 3, high severity is also assigned a value of 3, medium and low severity are assigned a value of 2, and no value is assigned for vehicles with no urgency or severity. Priority is divided into three levels according to the nature of the emergency and the management and use rules formulated by various emergency vehicle management departments, mainly used for route coordination and planning. The priorities and emergency indices of different emergency vehicles are shown in the table below:

[0064]

[0065]

[0066] Level 1 is the highest level of emergency, with the highest urgency index. When a Level 1 event occurs, the corresponding emergency vehicles need to reach their destination in the shortest possible time. For Levels 2 and 3, in addition to considering the travel time of emergency vehicles, it is also necessary to minimize the impact on other vehicles.

[0067] When determining the priority of emergency vehicles, not only their urgency index must be considered, but also other factors such as road conditions. Therefore, the priority value of emergency vehicles is expressed as follows: Where F is the urgency index of the emergency vehicle, T is the time it takes for the emergency vehicle to pass through the intersection, and X is the emergency vehicle's emergency response index. i To correlate influencing factors, δ is a variable parameter, m is the weight of the time it takes for emergency vehicles to pass through the intersection, and n is the weight of the influencing factors. i The weights of the influencing factors.

[0068] To facilitate information processing, the level of road congestion can be converted from the current lane traffic flow to the level of congestion at the current moment. Based on fuzzy reasoning, the congestion state is defined as: V = "Smooth", "Normal", "Congested", "Blocked", "Severely Blocked" = (0, 1, 2, 3, 4). Therefore, according to the research objective, the priority of emergency vehicles is more important; thus, the phase demand degree PD can be expressed as: PD = 0.75P + 0.25V.

[0069] It is understandable that, for emergency vehicles with high phase demand, the demand is set to 1, and a first-level emergency vehicle signal timing is adopted to ensure that emergency vehicles pass through the intersection without delay, as shown in Figure 2(a). Figure 2(a) is a schematic diagram of a first-level priority signal control for emergency vehicles provided in an embodiment of the present invention. When emergency vehicles do not have the highest phase demand, the demand is set to 0.75, which is a second-level priority signal control for emergency vehicles. When emergency vehicles arrive at the intersection, the queued vehicles have not completely dissipated, as shown in Figure 2(b). Figure 2(b) is a schematic diagram of a second-level priority signal control for emergency vehicles provided in an embodiment of the present invention. When emergency vehicles have relatively low phase demand, the demand is set to 0.5, which is a third-level priority signal control for emergency vehicles, as shown in Figure 2(c). Figure 2(c) is a schematic diagram of a third-level priority signal control for emergency vehicles provided in an embodiment of the present invention. Wherein, V1 is the wave velocity of the social vehicle queue, V2 is the wave velocity of the social vehicle starting wave, V3 is the wave velocity of the queued vehicle dissipation wave, V e Let P be the speed of the emergency vehicle, P be the intersection of the queuing wave and the starting wave, and X be the speed of the emergency vehicle. P X is the distance between the intersection of the queuing wave and the starting wave and the intersection. e X0 represents the initial position of the emergency vehicle, and X0 represents the queue length of other vehicles when the emergency vehicle passes through the initial position.

[0070] In one embodiment of the present invention, if the traffic light at the intersection downstream of the emergency vehicle's initial position is green, a control strategy is formulated based on the emergency vehicle's phase demand and the traffic light status at the intersection when the emergency vehicle arrives at its initial position, including:

[0071] If the emergency vehicle's phase demand is at level one, a first green light extension control strategy will be adopted, where the first green light extension duration is: T A -T0≤g e ≤T1-T0-∑g i ;

[0072] If the emergency vehicle's phase demand is at level two, a second green light extension control strategy will be adopted. The extension of the green light for a level two signal priority is: T'0 - T0 ≤ g e ≤T A -T0≤T1-T0-∑g i ;

[0073] If the emergency vehicle's phase demand is level three, a third green light extension control strategy will be adopted. The extension duration for a level three signal priority green light is: T”0 - T0 ≤ g e ≤T A -T'0≤T1-T0-∑g i , where g e To extend the green light duration, T A The time when emergency vehicles pass through the intersection at a constant maximum speed is defined as follows: T0 is the start time of the first red light cycle, T1 is the start time of the green light cycle, T'0 is the start time of the second red light cycle, T”0 is the start time of the third red light cycle, and g i This refers to the minimum green light time requirement for non-priority phases.

[0074] First, it should be noted that when the emergency vehicle arrives at the downstream intersection where the light is green, if the traffic light status is not controlled, such as... Figure 3 As shown, Figure 3 This is a schematic diagram of an emergency vehicle not performing signal control, provided as an embodiment of the present invention.

[0075] Understandably, when an emergency vehicle arrives at the intersection downstream of its initial position X0, and the traffic light is green, if the emergency vehicle's phase demand is at level one, a strategy of extending the first green light is adopted to allow the emergency vehicle to pass first. The extension time of the first green light is g. e ≥T A -T0 extends the green light duration of the current priority phase and compresses the green light duration of the non-priority phase, as shown in Figure 4(a). Figure 4(a) is a schematic diagram of a green light extension strategy control for emergency vehicles' primary signal provided in an embodiment of the present invention. Since this strategy compresses the green light duration of the non-priority phase, in order to ensure that emergency vehicles can pass through the intersection without delay, the minimum green light time requirement for the non-priority phase must be met, i.e.: T1-T0-g e ≥∑g iIn summary, if a Level 1 emergency vehicle passes through the initial position X0 and the traffic light at the downstream intersection is green, a strategy of extending the green light can be adopted to allow the emergency vehicle to pass first. The extended green light duration satisfies T. A -T0≤g e ≤T1-T0-∑g i .

[0076] The green light extension time under secondary signal priority is less than that under primary signal priority control. Emergency vehicles cannot pass through the intersection without any delay, therefore the green light extension time g e ≤T A -T0,g e ≥T'0-T0. As shown in Figure 4(b), Figure 4(b) is a schematic diagram of a green light extension strategy control for secondary signals of emergency vehicles provided in an embodiment of the present invention. Similarly, at this time, the minimum green light time requirement of the non-priority phase must be met, i.e., T1-T0-g. e ≥∑g i In summary, the extended green light duration for a secondary signal satisfies T'0 - T0 ≤ g. e ≤T A -T0≤T1-T0-∑g i .

[0077] The green light extension time for a Level 3 signal is shorter than that for a Level 2 signal with priority control. Emergency vehicles cannot pass through the intersection without any delay, therefore the green light extension time g... e ≤T A -T'0, g e As shown in Figure 4(c), Figure 4(c) is a schematic diagram of a three-level signal green light extension strategy control for emergency vehicles provided by an embodiment of the present invention. Similarly, at this time, the minimum green light time requirement of the non-priority phase must be met, i.e., T1-T0-g e ≥∑g i In summary, the extended green light duration for a Level 3 signal satisfies T”0-T0≤g e ≤T A -T'0≤T1-T0-∑g i .

[0078] In one embodiment of the present invention, if an emergency vehicle fails to pass the downstream intersection from its initial position within the extended green light duration, a control strategy is formulated based on the emergency vehicle's phase demand and the intersection's traffic light status when the emergency vehicle arrives at its initial position, including:

[0079] A phase-insertion control strategy is adopted for control, wherein the phase-insertion duration is: Among them, g p V1 represents the phase insertion duration, V2 represents the queuing wave velocity of social vehicles, and V2 represents the starting wave velocity of social vehicles.

[0080] It is understandable that if the extended green light time cannot meet the minimum green light time requirement for non-priority phases, i.e., T1-T0-g... e <∑g i When an emergency vehicle passes through initial position X0, and the traffic light at the downstream intersection is green, a phase insertion strategy can be adopted. The emergency vehicle's priority phase is inserted during the green light period of the previous phase, allowing the emergency vehicle to pass through the intersection before returning to the original phase. This increases the signal cycle length by g. p As shown in Figure 5(a), Figure 5(a) is a schematic diagram of an emergency vehicle primary signal phase insertion strategy control according to an embodiment of the present invention. If the phase insertion strategy is adopted, a time window needs to be inserted to clear the queued vehicles and allow emergency vehicles to pass through the intersection. The insertion time is... Because of T A The phase duration before the time step should not be less than the insertion duration g. p Therefore, T A -g p ≥T0, that is, T A -T0≥g p In summary, if an insertion phase-priority control strategy is adopted, then the insertion duration g p Need to meet The adjusted cycle duration increases by g p .

[0081] The secondary signal priority insertion phase strategy requires a period of insertion that does not completely clear the queue of vehicles in front of the emergency vehicle while still allowing the emergency vehicle to pass through the intersection, as shown in Figure 5(b). Figure 5(b) is a schematic diagram of a secondary signal phase insertion strategy control for emergency vehicles according to an embodiment of the present invention. Insertion duration Because of T A The phase duration before the time step should not be less than the insertion duration g. p Therefore, T A -g p ≥T0, that is, T A -T0≥g p In summary, if an insertion phase-priority control strategy is adopted, then the insertion duration g p Need to meet The adjusted cycle duration increases by g p .

[0082] Similarly, the three-level signal priority insertion phase strategy requires inserting a short period of time that does not completely clear the queue of vehicles in front of the emergency vehicle while still allowing the emergency vehicle to pass through the intersection. The insertion duration is... As shown in Figure 5(c), Figure 5(c) is a schematic diagram of a three-level signal phase insertion strategy control for emergency vehicles according to an embodiment of the present invention. Due to T A The phase duration before the time step should not be less than the insertion duration g. pTherefore, T A -g p ≥T0, that is, T A -T0≥g p In summary, if an insertion phase-priority control strategy is adopted, then the insertion duration g p Need to meet The adjusted cycle duration increases by g p .

[0083] It should be noted that if the emergency vehicle arrives at the downstream intersection where the traffic light is red, and the traffic light status is not controlled, such as... Figure 6 As shown, Figure 6 This is a schematic diagram of another emergency vehicle that does not perform signal control, provided as an embodiment of the present invention.

[0084] In one embodiment of the present invention, if the traffic light at the intersection downstream of the emergency vehicle's initial position is red, a control strategy is formulated based on the emergency vehicle's phase demand and the traffic light status at the intersection when the emergency vehicle arrives at its initial position, including:

[0085] A red light early shutdown control strategy is adopted for control, wherein the red light early shutdown duration is: Where, r s To extend the red light interruption time, T A For emergency vehicles with V max The time taken for the vehicle to pass through the intersection at a constant speed, T0 is the start time of the first cycle of the red light, T1 is the start time of the cycle of the green light, and T... X The red light should be turned off early.

[0086] It is understandable that when an emergency vehicle passes the initial position X0 in the later stages of a red light at an intersection, it will advance the red light of the current cycle's traffic phase by r. s At the end of the time limit, the queue of vehicles is cleared before the emergency vehicle arrives at the intersection, allowing the emergency vehicle to pass through the intersection during the green light period. Simultaneously, the green light duration of non-priority phases is shortened, as shown in Figure 7(a). Figure 7(a) is a schematic diagram of an emergency vehicle primary signal red light early termination strategy control according to an embodiment of the present invention. If the red light early termination strategy is adopted, the red light early termination time... At the same time r s The minimum green light time g that needs to satisfy other phases i That is, r s ≤r1-T0-∑g i In summary, if the emergency vehicle passes through the initial position X0, the traffic light at the downstream intersection is red, and the following conditions are met: In such cases, a strategy of turning off red lights earlier can be adopted to give priority to emergency vehicles. The duration of the earlier red light shutdown is [not specified].

[0087] For secondary signal priority, the red light should end later than the primary signal priority. If there are still a few vehicles queuing before emergency vehicles arrive at the intersection, then the red light should end later. At the same time r s The minimum green light time g that needs to satisfy other phases i That is, r s ≤T1-T0-∑g i As shown in Figure 7(b), which is a schematic diagram of an emergency vehicle secondary signal red light early termination strategy control according to an embodiment of the present invention, in summary, if the emergency vehicle passes the initial position X0, the downstream intersection signal light is red, and the following conditions are met: In such cases, a strategy of turning off red lights earlier can be adopted to give priority to emergency vehicles. The duration of the earlier red light shutdown is [not specified].

[0088] Similarly, for Level 3 signal priority, the red light must be turned off earlier than for Level 2. If there are still some vehicles queuing before emergency vehicles arrive at the intersection, the red light will turn off earlier. At the same time r s The minimum green light time g that needs to satisfy other phases i That is, r s ≤T1-T0-∑g i As shown in Figure 7(c), Figure 7(c) is a schematic diagram of an emergency vehicle's three-level signal red light early termination strategy control according to an embodiment of the present invention. In summary, if the emergency vehicle passes the initial position X0, the downstream intersection signal light is red, and the following conditions are met: In such cases, a strategy of turning off red lights earlier can be adopted to give priority to emergency vehicles. The duration of the earlier red light shutdown is [not specified].

[0089] In one embodiment of the present invention, if an emergency vehicle does not pass through the downstream intersection of its initial position within the green light duration following the early termination of the red light, a control strategy is formulated based on the emergency vehicle's phase demand and the intersection's traffic light status when the emergency vehicle arrives at its initial position, including:

[0090] A phase-insertion control strategy is adopted for control, wherein the phase-insertion duration is: Among them, g p V1 represents the phase insertion duration, V2 represents the queuing wave velocity of social vehicles, and V2 represents the starting wave velocity of social vehicles.

[0091] It is understandable that if the green light time after the early red light termination cannot meet the minimum green light time requirement for non-priority phases, i.e., T1-T0-g... e <∑g iWhen an emergency vehicle passes its initial position X0 at a red light at an intersection, a phase insertion strategy can be employed. This involves inserting the emergency vehicle's priority phase during the previous phase's green light time, allowing the emergency vehicle to pass through the intersection before returning to the original phase. This increases the signal cycle length by g. p As shown in Figure 8(a), Figure 8(a) is a schematic diagram of another emergency vehicle primary signal phase insertion strategy control according to an embodiment of the present invention. If the phase insertion strategy is adopted, a time window needs to be inserted to clear the queued vehicles and enable the emergency vehicle to pass through the intersection. The insertion time is... Because of T A The phase duration before the time step should not be less than the insertion duration g. p Therefore, T A -g p ≥T0, that is, T A -T0≥g p In summary, if an insertion phase-priority control strategy is adopted, then the insertion duration g p Need to meet The adjusted cycle duration increases by g p .

[0092] The secondary signal priority insertion phase strategy allows an emergency vehicle priority phase to be inserted during the green light time of the previous phase, so that the emergency vehicle can pass through the intersection before returning to the original phase. This increases the signal cycle length by g. p As shown in Figure 8(b), Figure 8(b) is a schematic diagram of another emergency vehicle secondary signal phase insertion strategy control according to an embodiment of the present invention. The secondary signal priority insertion phase strategy requires a period of insertion that does not completely clear the queue of vehicles while still allowing emergency vehicles to pass through the intersection. The insertion duration is... Because of T A The phase duration before the time step should not be less than the insertion duration g. p Therefore, T A -g p ≥T0, that is, T A -T0≥g p In summary, if an insertion phase-priority control strategy is adopted, then the insertion duration g p Need to meet The adjusted cycle duration increases by g p .

[0093] Similarly, the three-level signal priority insertion phase strategy requires inserting a short period of time that does not completely clear the queue of vehicles but allows emergency vehicles to pass through the intersection; the insertion duration is... As shown in Figure 8(c), Figure (8c) is a schematic diagram of another emergency vehicle three-level signal phase insertion strategy control provided by an embodiment of the present invention. Due to T A The phase duration before the time step should not be less than the insertion duration g. p Therefore, TA -g p ≥T0, that is, T A -T0≥g p In summary, if an insertion phase-priority control strategy is adopted, then the insertion duration g p Need to meet The adjusted cycle duration increases by g p .

[0094] In one embodiment of the present invention, the above method further includes:

[0095] The control strategy is based on the established control strategy to control the status of traffic lights when the emergency vehicle arrives at the downstream intersection of the initial position.

[0096] It is understandable that when an emergency vehicle arrives at its initial position, controlling the traffic light status at the intersection downstream of that position through a predetermined control strategy can prevent traffic conflicts between the emergency vehicle and other vehicles, thereby improving the operational efficiency of the emergency vehicle at the intersection.

[0097] To better implement the emergency vehicle priority signal control method in this embodiment of the invention, based on the emergency vehicle priority signal control method, please refer to the corresponding documentation. Figure 9 , Figure 9 This is a schematic diagram of an embodiment of the emergency vehicle priority signal control device provided by the present invention. The embodiment of the present invention provides an emergency vehicle priority signal control device 900, comprising:

[0098] The phase demand determination module 901 is used to determine the priority of emergency vehicles based on the type of emergency vehicle and the emergency index of the emergency, and to determine the phase demand of emergency vehicles based on the priority of emergency vehicles and the current road traffic flow status.

[0099] The traffic light status acquisition module 902 is used to acquire the traffic light status when the emergency vehicle arrives at the downstream intersection of the initial position.

[0100] The control strategy formulation module 903 is used to formulate a control strategy based on the phase demand of the emergency vehicle and the traffic light status when the emergency vehicle arrives at the downstream intersection of the initial position.

[0101] It should be noted that the device 900 provided in the above embodiments can implement the technical solutions described in the above method embodiments. The specific implementation principles of the above modules or units can be found in the corresponding content in the above method embodiments, and will not be repeated here.

[0102] Based on the above-described emergency vehicle priority signal control method, this invention also provides an electronic device, including: a processor and a memory, and a computer program stored in the memory and executable on the processor; when the processor executes the computer program, it implements the steps in the emergency vehicle priority signal control method of the above embodiments.

[0103] Figure 10 The diagram shows a structural schematic of an electronic device 1000 suitable for implementing embodiments of the present invention. The electronic device in the embodiments of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 10 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0104] The electronic device includes a memory and a processor, wherein the processor may be referred to as processing device 1001 below, and the memory may include at least one of read-only memory (ROM) 1002, random access memory (RAM) 1003 and storage device 1008 below, as detailed below:

[0105] like Figure 10 As shown, the electronic device 1000 may include a processing unit (e.g., a central processing unit, a graphics processor, etc.) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1008 into a random access memory (RAM) 1003. The RAM 1003 also stores various programs and data required for the operation of the electronic device 1000. The processing unit 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0106] Typically, the following devices can be connected to the I / O interface 1005: input devices 1006 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1007 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1008 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows electronic device 1000 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 10An electronic device 1000 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0107] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 1009, or installed from a storage device 1008, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, it performs the functions defined in the methods of the embodiments of the present invention.

[0108] Based on the above-described emergency vehicle priority signal control method, this embodiment of the invention also provides a computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the steps in the emergency vehicle priority signal control method of the above embodiments.

[0109] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0110] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for graded priority signal control for emergency vehicles, characterized in that, include: Emergency vehicle priorities are determined based on emergency vehicle type and the urgency index of the emergency event. Furthermore, the phase demand degree of emergency vehicles is determined based on their priorities and the current road traffic flow status. The priorities of the emergency vehicles are as follows: ,in, This refers to the emergency index of emergency vehicles. The time it takes for emergency vehicles to pass through the intersection. For other road conditions, For variable parameters, Weighting the time taken for emergency vehicles to pass through the intersection. The weights for other road conditions are: The phase demand of the emergency vehicle is: ,in, Phase requirement for emergency vehicles. Prioritize emergency vehicles. The current road traffic flow status is represented by the urgency index, which is calculated based on the urgency and severity of different emergency events. The road congestion level is the current lane traffic flow converted into the congestion level of the traffic flow at the current moment. Based on fuzzy reasoning, the congestion status is defined as smooth, normal, congested, blocked, and severely blocked. Obtain the traffic light status at the intersection downstream of the initial location when the emergency vehicle arrives; A control strategy is developed based on the phase demand of emergency vehicles and the traffic light status at the downstream intersection when the emergency vehicle arrives at its initial position.

2. The emergency vehicle priority signal control method according to claim 1, characterized in that, If the traffic light at the intersection downstream of the emergency vehicle's initial position is green, the control strategy based on the emergency vehicle's phase demand and the intersection's traffic light status upon the emergency vehicle's arrival at its initial position includes: If the emergency vehicle's phase demand is at level one, a first green light extension control strategy will be adopted, wherein the first green light extension duration is: ; If the phase demand of emergency vehicles is at level two, a second green light extension control strategy will be adopted. The extension of the green light for level two signals is as follows: ; If the emergency vehicle's phase demand is level three, a third green light extension control strategy will be adopted. The extension duration for a level three signal priority green light is as follows: ,in, To extend the green light duration, The time when an emergency vehicle passes through the intersection at a constant maximum speed. This marks the start of the first red light cycle. The start time of the green light cycle. This marks the start of the second red light cycle. This marks the start of the third red light cycle. This refers to the minimum green light time requirement for non-priority phases.

3. The emergency vehicle priority signal control method according to claim 2, characterized in that, If the emergency vehicle does not pass the downstream intersection from its initial position within the extended green light period, the control strategy formulated based on the emergency vehicle's phase demand and the intersection traffic light status when the emergency vehicle arrives at its initial position includes: A phase-insertion control strategy is adopted for control, wherein the phase-insertion duration is: ,in, For phase insertion duration, To facilitate the queuing speed of social vehicles, The starting wave speed of social vehicles.

4. The emergency vehicle priority signal control method according to claim 1, characterized in that, If the traffic light at the intersection downstream of the emergency vehicle's initial position is red, the control strategy based on the emergency vehicle's phase demand and the intersection traffic light status when the emergency vehicle arrives at its initial position includes: A red light early shutdown control strategy is adopted for control, wherein the red light early shutdown duration is: ,in, To extend the red light time, The time when an emergency vehicle passes through the intersection at a constant maximum speed. This marks the start of the first red light cycle. The start time of the green light cycle. The red light should be turned off early.

5. The emergency vehicle priority signal control method according to claim 4, characterized in that, If an emergency vehicle does not pass the downstream intersection from its initial position within the green light duration following the early termination of the red light, the control strategy formulated based on the emergency vehicle's phase demand and the intersection's traffic light status when the emergency vehicle arrives at its initial position includes: A phase-insertion control strategy is adopted for control, wherein the phase-insertion duration is: ,in, For phase insertion duration, To facilitate the queuing speed of social vehicles, The starting wave speed of social vehicles.

6. The emergency vehicle priority signal control method according to claim 1, characterized in that, The method further includes: The established control strategy controls the traffic light status when the emergency vehicle arrives at the downstream intersection from its initial position.

7. An emergency vehicle priority signal control device, characterized in that, include: The phase demand determination module is used to determine the priority of emergency vehicles based on the type of emergency vehicle and the urgency index of the emergency, and to determine the phase demand of emergency vehicles based on the priority of emergency vehicles and the current road traffic flow status. The priority of the emergency vehicles is as follows: ,in, This refers to the emergency index of emergency vehicles. The time it takes for emergency vehicles to pass through the intersection. For other road conditions, For variable parameters, Weighting the time taken for emergency vehicles to pass through the intersection. The weights for other road conditions are: The phase demand of the emergency vehicle is: ,in, Phase requirement for emergency vehicles. Prioritize emergency vehicles. The current road traffic flow status is represented by the urgency index, which is calculated based on the urgency and severity of different emergency events. The road congestion level is the current lane traffic flow converted into the congestion level of the traffic flow at the current moment. Based on fuzzy reasoning, the congestion status is defined as smooth, normal, congested, blocked, and severely blocked. The traffic light status acquisition module is used to acquire the traffic light status when the emergency vehicle arrives at the downstream intersection of the initial position; The control strategy formulation module is used to formulate control strategies based on the phase demand of emergency vehicles and the traffic light status when the emergency vehicles arrive at the downstream intersection from their initial position.

8. An electronic device, characterized in that, The system includes a memory and a processor, wherein the memory is used to store a program; and the processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the emergency vehicle priority signal method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, Used to store computer-readable programs or instructions, which, when executed by a processor, are capable of implementing the steps in the emergency vehicle priority signal method according to any one of claims 1 to 6.

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