Vehicle cooperative control method for emergency vehicles

Abstract

The invention belongs to the technical field of vehicle-road cooperation, discloses a vehicle cooperative control method for an emergency vehicle, and solves the problem that local traffic jam is easily caused due to the lack of precise linkage because the driving state of social vehicles around the emergency vehicle is not considered in a traditional scheme. Therefore, the influence on other social vehicles is reduced while the emergency vehicle passing efficiency is guaranteed. According to the scheme, the traffic data information of the emergency vehicle and the social vehicles around the emergency vehicle is obtained in real time, and when it is judged that the emergency vehicle is currently driven on the lane, the dynamic interval of the emergency vehicle is established according to the current lane where the emergency vehicle is located and the current traffic data information of the emergency vehicle; when other social vehicles in the dynamic interval are judged to meet the lane changing condition, lane changing guiding information is sent to the corresponding social vehicles; when the emergency vehicle arrives at the intersection detection area, traffic light control is executed according to the current traffic data of the emergency vehicle, the length of the intersection detection area and the length of the intersection in combination with the current traffic light state; and finally, after the emergency vehicle arrives at a designated position, ending the vehicle-road cooperative control algorithm.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle-road collaboration, and specifically relates to a vehicle collaborative control method for emergency vehicles. Background Art

[0002] With the continuous development of the economy and society, emergency vehicles (such as ambulances, fire trucks, fault handling vehicles, etc.) have become an indispensable and important guarantee tool in the production and life of major cities. However, various traffic problems such as vehicle jams, traffic accidents and arbitrary lane changes in urban traffic make it difficult for emergency vehicles to reach the scene in the first time during the execution of their tasks, which in turn affects the efficiency of emergency vehicle task execution.

[0003] In traditional solutions, in order to improve the traffic efficiency of emergency vehicles, the solution usually adopted is to directly command and guide other social vehicles around the emergency vehicles to change lanes, or to extend the green light time at the intersections where emergency vehicles pass. However, it lacks the precise linkage between emergency vehicles and other social vehicles. While achieving the rapid passage of emergency vehicles, it lacks attention to other social vehicles, which can easily cause local congestion problems. For example, if those social vehicles that have little impact on emergency vehicles are guided to change lanes forcibly, it may cause greater interference and easily lead to local traffic jams. Summary of the invention

[0004] The technical problem to be solved by the present invention is to propose a vehicle cooperative control method for emergency vehicles, so as to solve the problem that traditional solutions do not take into account the driving status of social vehicles around the emergency vehicles and lack precise linkage, which easily leads to local traffic jams, thereby ensuring the traffic efficiency of emergency vehicles while reducing the impact on other social vehicles.

[0005] The technical solution adopted by the present invention to solve the above technical problems is:

[0006] A vehicle cooperative control method for emergency vehicles includes: when a traffic command center receives an emergency task response request from an emergency vehicle, executing a vehicle-road cooperative control algorithm according to the following steps:

[0007] S1. Obtain traffic data information of emergency vehicles and surrounding social vehicles in real time;

[0008] S2, judging whether the emergency vehicle is currently traveling in the lane according to the current traffic data information and lane position point information of the emergency vehicle, if so, proceeding to step S3, otherwise, returning to step S1;

[0009] S3, establishing a dynamic range of the emergency vehicle according to the lane the emergency vehicle is currently in and the current traffic data information of the emergency vehicle;

[0010] S4. When it is determined based on the traffic data information of social vehicles around the emergency vehicle that other social vehicles in the dynamic range meet the lane change conditions, a lane change guidance information is sent to the corresponding social vehicles;

[0011] S5, when it is determined that the emergency vehicle has arrived at the intersection detection area according to the current traffic data of the emergency vehicle, the traffic light control is performed according to the current traffic data of the emergency vehicle, the length of the intersection detection area, the length of the intersection, and the current traffic light state;

[0012] S6: After the emergency vehicle arrives at the designated location, the vehicle-road cooperative control algorithm ends.

[0013] Furthermore, in step S1, the traffic data information of the emergency vehicle obtained includes the instantaneous speed v of the emergency vehicle. Y and real-time location P Y , where the superscript Y represents an emergency vehicle;

[0014] The traffic data information of social vehicles around the emergency vehicle includes the instantaneous speed v of social vehicles S and real-time location P S , where the superscript S represents social vehicles.

[0015] Furthermore, in step S2, the method for determining whether the emergency vehicle is currently traveling in the lane according to the current traffic data information and lane position point information of the emergency vehicle includes:

[0016] Get the coordinates of the lane position points near the emergency vehicle represents the coordinates of the i-th lane position point, and m represents the total number of lane position points near the emergency vehicle;

[0017] The lane detection factor ΔD is calculated according to the following formula:

[0018]

[0019] Among them, x Y Indicates the x-axis coordinate position of the emergency vehicle, y Y Indicates the y-axis coordinate position of the emergency vehicle; Indicates the coordinates of the i-th lane position point The x-axis coordinate of Indicates the coordinates of the i-th lane position point The y-axis coordinate of the lane; the y-axis is the lane direction, and the x-axis is the direction perpendicular to the lane;

[0020] It is determined whether the lane detection factor ΔD is less than or equal to a preset lane detection threshold α. If so, it is determined that the emergency vehicle is currently traveling on the lane.

[0021] Furthermore, in step S3, according to the lane where the emergency vehicle is currently located and the current traffic data information of the emergency vehicle, the method for establishing the dynamic range of the emergency vehicle includes:

[0022] Determine the length R of the lane the emergency vehicle is currently in, combined with the current instantaneous speed v of the emergency vehicle Y , then:

[0023] R<100, B=0

[0024]

[0025] R≥500, B=200

[0026] Where B is the length of the dynamic range of the emergency vehicle, t 1 The unit time is 1 second; the length of the lane refers to the distance between the two intersections in front and behind the lane where the emergency vehicle is located.

[0027] Furthermore, in step S4, the method of judging whether other social vehicles in the dynamic range meet the lane change condition according to the traffic data information of social vehicles around the emergency vehicle includes:

[0028] According to the traffic data information of social vehicles around the emergency vehicle, if a social vehicle is currently in the dynamic range, it will be marked as Flag = 1, otherwise it will be marked as Flag = 0; for social vehicles marked as Flag = 1, a hierarchical lane change algorithm is used to calculate whether it meets the lane change conditions.

[0029] Furthermore, the hierarchical lane changing algorithm includes:

[0030] If the current social vehicle s with Flag = 1 i In front of the emergency vehicle, there are:

[0031] (1) Calculate social vehicle s i The distance between the front and rear vehicles corresponding to the weakly controlled lane. If the distance is greater than the preset safety distance threshold ΔLen, the first-level lane change score F is set. 1 is 1, otherwise set the first-level lane change score F 1 is 0; the weakly controlled lane refers to the lane adjacent to the lane where the emergency vehicle is currently located;

[0032] (2) Calculate the secondary lane change score F 2 :

[0033]

[0034] others,F 2 =0

[0035] Wherein, Δt represents the preset lane change period, Represents social vehicles i The y-axis coordinate of Represents social vehicles i The instantaneous speed, Represents social vehicles i The acceleration of Represents social vehicles i+1 That is, with social vehicles i The y-axis coordinate of the first social vehicle ahead in the strongly controlled lane, ε represents the preset safe lane change parameter; the strongly controlled lane refers to the lane where the emergency vehicle is currently located;

[0036] (3) Calculate the comprehensive lane change score F:

[0037] F=F 1 +F 2 If the value of the comprehensive lane change score F is 2, then the social vehicle s i Satisfy lane change conditions;

[0038] If the current social vehicle s with Flag = 1 i Behind the emergency vehicle:

[0039] (1) Calculate social vehicle s i The distance between the front and rear vehicles corresponding to the weakly controlled lane. If the distance is greater than the preset safety distance threshold ΔLen, the first-level lane change score F is set. 1 is 1, otherwise set the first-level lane change score F 1 is 0;

[0040] (2) Calculate the secondary lane change score F 2 :

[0041]

[0042] others,F 2 =0

[0043] Wherein, Δt represents the preset lane change period, Represents social vehicles i-1 That is, with social vehicles i The y-axis coordinate of the first social vehicle behind the strongly controlled lane, Represents social vehicles i-1 The instantaneous speed, Represents social vehicles i-1 The acceleration of ε represents the preset safe lane change parameter;

[0044] (3) Calculate the comprehensive lane change score F:

[0045] F=F 1 +F 2 If the value of the comprehensive lane change score F is 2, then the social vehicle s i Satisfy the lane change conditions.

[0046] Furthermore, in step S4, the sending of the lane change guidance information to the corresponding social vehicle includes:

[0047] According to the distance from the social vehicles meeting the lane change conditions to the emergency vehicle, a priority order from high to low is set, and a lane change guidance message is sent to the corresponding social vehicles according to the priority order.

[0048] Furthermore, in step S5, the method for determining whether the emergency vehicle has reached the intersection detection area according to the current traffic data of the emergency vehicle includes:

[0049] Get the real-time location of emergency vehicles in real time Y ;

[0050] Initialize the center coordinates of the edge of the intersection detection area close to the emergency vehicle [x β ,y β ];

[0051] According to the real-time position of the emergency vehicle P Y and the center coordinates of the edge of the intersection detection area near the emergency vehicle [x β ,y β ], and continuously calculate and update the intersection detection factor Δβ:

[0052]

[0053] When the intersection detection factor Δβ reaches a local minimum, Δβ i -Δβ i-1 Less than 0 and Δβ i -Δβ i+1 If it is less than 0, it is determined that the emergency vehicle has entered the intersection detection area;

[0054] Δβ i , Δβ i-1 , Δβ i+1 They represent the calculated i-th, i-1-th, and i+1-th intersection detection factors respectively;

[0055]

[0056] in, Represents the coordinates of the i-th position of the emergency vehicle The x-axis coordinate of Represents the coordinates of the i-th position of the emergency vehicle The y-axis coordinate of .

[0057] Furthermore, in step S5, the method of performing traffic light control according to the current traffic data of the emergency vehicle, the length of the intersection detection area, and the length of the intersection in combination with the current traffic light state includes:

[0058] S51: Determine whether there is a private vehicle in front of the emergency vehicle. If not, proceed to step S52. Otherwise, calculate the average speed of all private vehicles passing through the intersection detection area within 5 seconds before the emergency vehicle arrives at the intersection detection area.

[0059]

[0060] Where N is the total number of social vehicles passing through the edge of the intersection detection area within 5 seconds, γ 1 ,...,γ N represents the fitting coefficient, which is 1 / N;

[0061] S52: Determine the current traffic light status of the strong control lane and execute corresponding traffic light control:

[0062] If the current light is red, get the remaining time of the red light: if the remaining time of the red light is greater than or equal to 6 seconds, end the red light 3 seconds in advance; if the remaining time of the red light is less than 6 seconds, execute as scheduled;

[0063] If the current light is green, get the remaining time of the green light: If the remaining time of the green light is t w If the remaining time of the green light is greater than or equal to 5 seconds, it will be executed as scheduled; if the remaining time of the green light is t w If it is less than 5 seconds, the predicted travel time t is calculated. u , control the green light maintenance time to (t w +t u )Second.

[0064] Furthermore, the predicted travel time t u The calculation methods include:

[0065]

[0066] Among them, ρ 1 and ρ 2 is the proportionality coefficient, if is 0, then ρ 1 Take 1, ρ 2 Take 0, otherwise ρ 1 =ρ 2 =0.5, Z 1 Represents the length of the intersection detection area, Z 2 represents the length of the intersection, v Y-β Indicates the instantaneous speed of the emergency vehicle when it passes the edge of the intersection detection area.

[0067] The beneficial effects of the present invention are:

[0068] (1) The present invention establishes a dynamic range through the current lane of the emergency vehicle and the current traffic data information of the emergency vehicle, and only guides social vehicles in the dynamic range of the emergency vehicle to change lanes, thereby minimizing the impact on other social vehicles.

[0069] (2) When judging whether a social vehicle that needs to change lanes meets the lane change conditions, a hierarchical lane change algorithm is adopted. The calculation of the first-level lane change score takes into account the distance between the social vehicle that needs to change lanes and the vehicles in front and behind it in the weakly controlled lane, while the calculation of the second-level lane change score takes into account the distance between the social vehicle that needs to change lanes and the vehicles in front and behind it in the strongly controlled lane. The decision on whether the lane change conditions are met is made based on the comprehensive calculation of the two-level lane change scores. If the conditions are not met at any level, no lane change guidance is performed, thereby ensuring the safety of lane changes and avoiding the impact of incorrect lane changes on other social vehicles.

[0070] (3) The present invention designs a traffic light control algorithm based on adaptive speed by analyzing different situations of emergency vehicles passing through the intersection detection area, which can reduce interference to other social vehicles and thus improve the traffic efficiency of emergency vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 is a flow chart of a vehicle cooperative control method for emergency vehicles in an embodiment of the present invention;

[0072] Figure 2 Schematic diagram of the established dynamic interval;

[0073] Figure 3 This is a schematic diagram of strong and weak control lanes;

[0074] Figure 4 A schematic diagram of the edge of the detection area when an emergency vehicle passes through an intersection. DETAILED DESCRIPTION

[0075] The present invention aims to provide a vehicle cooperative control method for emergency vehicles, so as to solve the problem that traditional solutions do not take into account the driving status of social vehicles around the emergency vehicles and lack precise linkage, which easily leads to local traffic jams, thereby ensuring the traffic efficiency of emergency vehicles while reducing the impact on other social vehicles. The core idea is: to establish the dynamic range of the emergency vehicle through the lane where the emergency vehicle is located and the instantaneous speed of the emergency vehicle, and to mark the social vehicles in the dynamic range, and only guide the marked social vehicles to change lanes, so as to minimize the impact on other social vehicles; a hierarchical lane changing algorithm is used in the judgment of lane changing conditions, in which the calculation of the first-level lane changing score takes into account the distance between the social vehicle that needs to change lanes and the vehicles in front and behind the weak control lane, while the calculation of the second-level lane changing score takes into account the distance between the social vehicle that needs to change lanes and the vehicles in front and behind in the strong control lane. The decision on whether the lane changing condition is met is made based on the comprehensive calculation of the two-level lane changing scores, so as to achieve accurate lane changing condition judgment and avoid the impact of erroneous lane changes; when judging that the emergency vehicle has arrived at the intersection detection area, the instantaneous speed of the emergency vehicle and the length of the intersection detection area are used to design a traffic light control algorithm based on adaptive speed, and the green light maintenance time is calculated, so as to minimize the impact on other social vehicles while ensuring the traffic efficiency of the emergency vehicle.

[0076] The scheme of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0077] Example

[0078] See also Figure 1 The vehicle cooperative control method for emergency vehicles provided in this embodiment includes the following implementation steps:

[0079] S1. Obtain traffic data information of emergency vehicles and surrounding social vehicles in real time;

[0080] In this step, this embodiment uses the time when the traffic command center receives the emergency task response request from the emergency vehicle as the starting condition for initiating the vehicle-road cooperative control algorithm. After the cooperative control strategy starts to be executed, the traffic data information of the emergency vehicle and the social vehicles around it is obtained in real time, wherein the traffic data information of the emergency vehicle obtained includes the instantaneous speed v of the emergency vehicle Y and real-time location P Y , the superscript Y represents the emergency vehicle; the traffic data information of social vehicles around the emergency vehicle includes the instantaneous speed v of social vehicles S and real-time location P S , the superscript S represents social vehicles.

[0081] S2, judging whether the emergency vehicle is currently traveling in the lane according to the current traffic data information and lane position point information of the emergency vehicle, if so, proceeding to step S3, otherwise, returning to step S1;

[0082] In this step, the method for determining whether the emergency vehicle is currently traveling in the lane includes:

[0083] Get the coordinates of the lane position points near the emergency vehicle represents the coordinates of the i-th lane position point, and m represents the total number of lane position points near the emergency vehicle; it should be noted that the lane position points in this embodiment are virtual points, which are set at a certain distance (such as 5 meters) to facilitate judging whether the vehicle is on the road based on the position points and the current position of the vehicle.

[0084] Then, the lane detection factor ΔD is calculated according to the following formula:

[0085]

[0086] Among them, x Y Indicates the x-axis coordinate position of the emergency vehicle, y Y Indicates the y-axis coordinate position of the emergency vehicle; Indicates the coordinates of the i-th lane position point The x-axis coordinate of Indicates the coordinates of the i-th lane position point The y-axis coordinate of the lane; the y-axis is the lane direction, and the x-axis is the direction perpendicular to the lane;

[0087] It is determined whether the lane detection factor ΔD is less than or equal to the preset lane detection threshold α. If so, it is determined that the emergency vehicle is currently traveling on the lane and the next step is entered. Otherwise, it returns to step S1 to continue monitoring.

[0088] For ease of description, in this embodiment, the lane where the emergency vehicle is located is called a strong control lane, and the lane adjacent to the strong control lane is called a weak control lane. Figure 3 .

[0089] S3, establishing a dynamic range of the emergency vehicle according to the lane the emergency vehicle is currently in and the current traffic data information of the emergency vehicle;

[0090] In this step, the purpose of establishing a dynamic interval is to ensure that there is as much space as possible between the social vehicles in front and behind the emergency vehicle and the emergency vehicle, to ensure that the emergency vehicle has the highest possible driving speed while meeting the safety distance, and to meet the requirements of the traffic command center to monitor the position changes of the emergency vehicle in real time.

[0091] The length of the dynamic interval is determined by the speed of the emergency vehicle and the length of the lane. The emergency vehicle is located in the center of the dynamic interval. Figure 2If the lane length is too short, less than 100 meters, then considering the vehicle speed, if the dynamic interval is divided, the vehicle lane change in the guidance interval may have safety hazards, so the dynamic interval is set to 0; if the lane length is in a certain interval of 100 to 500 meters, the dynamic interval is one-fifth of the lane length and the product of 3 times the unit time and speed; if the lane length is greater than 500 meters, the dynamic interval is a fixed 200 meters, and the specific expression is as follows:

[0092] R<100, B=0

[0093]

[0094] R≥500, B=200

[0095] Among them, t 1 is the unit time, usually 1 second, v Y is the current instantaneous speed of the emergency vehicle.

[0096] It should be noted that the length of the lane refers to the distance between the two intersections in front and behind the lane where the emergency vehicle is located.

[0097] S4. When it is determined based on the traffic data information of social vehicles around the emergency vehicle that other social vehicles in the dynamic range meet the lane change conditions, a lane change guidance information is sent to the corresponding social vehicles;

[0098] In this step, in order to better monitor the social vehicles in the dynamic range, according to the traffic data information of the social vehicles around the emergency vehicle, if there is a social vehicle currently in the dynamic range, it will be marked as Flag=1, otherwise it will be marked as Flag=0; for the social vehicle marked as Flag=1, it will be marked as Flag=0 only after leaving the dynamic range.

[0099] For social vehicles marked with Flag = 1, a hierarchical lane change algorithm is used to calculate whether they meet the lane change conditions, and guide them to change lanes when the lane change conditions are met. The details are as follows:

[0100] 1. If the current social vehicle s with Flag = 1 i In front of the emergency vehicle, there are:

[0101] (1) Calculate social vehicle s i The distance between the front and rear vehicles corresponding to the weakly controlled lane. If the distance is greater than the preset safety distance threshold ΔLen, the first-level lane change score F is set. 1 is 1, otherwise set the first-level lane change score F 1 is 0; the weakly controlled lane refers to the lane adjacent to the lane where the emergency vehicle is currently located;

[0102] (2) Calculate the secondary lane change score F 2 :

[0103]

[0104] others,F 2 =0

[0105] Wherein, Δt represents the preset lane change period, Represents social vehicles i The y-axis coordinate of Represents social vehicles i The instantaneous speed, Represents social vehicles i The acceleration of Represents social vehicles i+1 That is, with social vehicles i The y-axis coordinate of the first social vehicle ahead in the strongly controlled lane, ε represents the preset safe lane change parameter; the strongly controlled lane refers to the lane where the emergency vehicle is currently located;

[0106] (3) Calculate the comprehensive lane change score F:

[0107] F=F 1 +F 2 If the value of the comprehensive lane change score F is 2, then the social vehicle s i Satisfy lane change conditions;

[0108] 2. If the current Flag = 1, the social vehicle s i Behind the emergency vehicle:

[0109] (1) Calculate social vehicle s i The distance between the front and rear vehicles corresponding to the weakly controlled lane. If the distance is greater than the preset safety distance threshold ΔLen, the first-level lane change score F is set. 1 is 1, otherwise set the first-level lane change score F 1 is 0;

[0110] (2) Calculate the secondary lane change score F 2 :

[0111]

[0112] others,F 2 =0

[0113] Wherein, Δt represents the preset lane change period, Represents social vehicles i-1 That is, with social vehicles i The y-axis coordinate of the first social vehicle behind the strongly controlled lane, Represents social vehicles i-1 The instantaneous speed, Represents social vehicles i-1 The acceleration of ε represents the preset safe lane change parameter;

[0114] (3) Calculate the comprehensive lane change score F:

[0115] F=F 1 +F 2 If the value of the comprehensive lane change score F is 2, then the social vehicle s i Satisfy the lane change conditions.

[0116] Based on the above-mentioned hierarchical lane changing algorithm, the calculation of the first-level lane changing score takes into account the distance between the social vehicle that needs to change lanes and the vehicles in the front and rear of the weakly controlled lane, while the calculation of the second-level lane changing score takes into account the distance between the social vehicle that needs to change lanes and the vehicles in the front and rear in the strongly controlled lane. The decision on whether the lane changing conditions are met is made based on the comprehensive calculation of the two-level lane changing scores. When the conditions are not met at any level, the lane change guidance is not performed, thereby ensuring the safety of the lane change and avoiding the impact of the wrong lane change on other social vehicles.

[0117] Finally, a priority order is set from high to low according to the distance from the social vehicles that meet the lane changing conditions to the emergency vehicle, and a guiding lane changing message is sent to the corresponding social vehicles according to the priority order. That is, the social vehicles that meet the lane changing conditions are closer to the emergency vehicle and will receive the lane changing guidance message from the traffic command center earlier, so that they can change lanes earlier.

[0118] S5, when it is determined that the emergency vehicle has arrived at the intersection detection area according to the current traffic data of the emergency vehicle, the traffic light control is performed according to the current traffic data of the emergency vehicle, the length of the intersection detection area, the length of the intersection, and the current traffic light state;

[0119] In this step, the intersection detection area can be understood as a virtual area set in front of the sidewalk at the intersection. Its purpose is to determine whether the emergency vehicle can pass through the intersection ahead smoothly based on its current speed and current traffic light status, thereby performing corresponding control on the traffic lights and minimizing the decrease in traffic efficiency due to social vehicles stuck in front.

[0120] In specific implementation, the method for determining whether the emergency vehicle has reached the intersection detection area includes:

[0121] Get the real-time location of emergency vehicles in real time Y ;

[0122] Initialize the center coordinates of the edge of the intersection detection area close to the emergency vehicle [x β ,y β ];

[0123] According to the real-time position of the emergency vehicle P Y and the center coordinates of the edge of the intersection detection area near the emergency vehicle [x β ,y β ], and continuously calculate and update the intersection detection factor Δβ:

[0124]

[0125] When the intersection detection factor Δβ reaches a local minimum, Δβ i -Δβ i-1 Less than 0 and Δβ i -Δβ i+1 If it is less than 0, it is determined that the emergency vehicle has entered the intersection detection area;

[0126] Δβ i , Δβ i-1 , Δβ i+1 They represent the calculated i-th, i-1-th, and i+1-th intersection detection factors respectively;

[0127]

[0128] in, Represents the coordinates of the i-th position of the emergency vehicle The x-axis coordinate of Represents the coordinates of the i-th position of the emergency vehicle The y-axis coordinate of .

[0129] That is, the above method is to determine whether the emergency vehicle has reached the intersection detection area based on the edge line of the intersection detection area that is closest to the real-time position of the emergency vehicle. The schematic diagram of the emergency vehicle approaching the edge line and passing the edge line is shown in FIG. Figure 4 .

[0130] When it is determined based on the above process that the emergency vehicle arrives at the intersection detection area, the traffic light is controlled accordingly through the traffic light control algorithm with adaptive speed, as follows:

[0131] S51: Determine whether there is a private vehicle in front of the emergency vehicle. If not, proceed to step S52. Otherwise, calculate the average speed of all private vehicles passing through the intersection detection area within 5 seconds before the emergency vehicle arrives at the intersection detection area.

[0132]

[0133] Where N is the total number of social vehicles passing through the edge of the intersection detection area within 5 seconds, γ 1 ,...,γ Nrepresents the fitting coefficient, which is 1 / N. For example, if the total number of social vehicles N passing the edge of the intersection detection area within 5 seconds is 2, then γ 1 , γ 2 The value is 0.5; if the total number of social vehicles N passing the edge of the intersection detection area within 5 seconds is 4, then γ 1 , γ 2 , γ 3 , γ 4 The average value is 0.25.

[0134] S52: Determine the current traffic light status of the strong control lane and execute corresponding traffic light control:

[0135] If the current light is red, obtain the remaining time of the red light: In order to ensure the passage of emergency vehicles as much as possible while ensuring the passage of other vehicles, when the remaining time of the red light is greater than 6 seconds, it is assumed that there are vehicles passing through the cross lane in the urban environment. If the color of the traffic light is updated immediately, it is easy to cause traffic accidents. Therefore, it is necessary to end the red light state early under the premise of meeting the traffic light prompt, such as ending the red light 3 seconds in advance; if the remaining time of the red light is less than 6 seconds, vehicles in the cross lane may accelerate, so it is executed as scheduled.

[0136] If it is a green light, get the remaining time of the green light. If the remaining time of the green light is t w If the remaining time of the green light is greater than 5 seconds, emergency vehicles can pass normally, so it is executed as scheduled; w If it is less than 5 seconds, the predicted travel time t is calculated. u , control the green light maintenance time to (t w +t u ) seconds to appropriately extend the green light maintenance time.

[0137] The predicted travel time t u It is related to the instantaneous speed of the emergency vehicle, the length of the intersection detection area, and the length of the intersection, and is calculated as follows:

[0138]

[0139] Among them, ρ 1 and ρ 2 is the proportionality coefficient, if is 0, then ρ 1 Take 1, ρ 2 Take 0, otherwise ρ 1 =ρ 2 =0.5, Z 1 Represents the length of the intersection detection area, Z 2 represents the length of the intersection, v Y-β Indicates the instantaneous speed of the emergency vehicle when it passes the edge of the intersection detection area.

[0140] S6: After the emergency vehicle arrives at the designated location, the vehicle-road cooperative control algorithm ends.

[0141] In this step, when the emergency vehicle reaches its target location, it sends a signal to the traffic command center to end the vehicle-road collaboration algorithm.

[0142] Finally, it should be noted that the above embodiments are only preferred implementations and are not intended to limit the present invention. It should be pointed out that for those skilled in the art, several modifications, equivalent replacements, improvements, etc. can be made without departing from the scope of the present invention and the scope of protection of the claims, and all of these should be included in the protection scope of the present invention.

Claims

1. A vehicle cooperative control method for emergency vehicles, characterized in that: include: When the traffic command center receives an emergency task response request from an emergency vehicle, it executes the vehicle-road cooperative control algorithm according to the following steps: S1. Obtain traffic data information of emergency vehicles and surrounding social vehicles in real time; S2, judging whether the emergency vehicle is currently traveling in the lane according to the current traffic data information and lane position point information of the emergency vehicle, if so, proceeding to step S3, otherwise, returning to step S1; S3, establishing a dynamic range of the emergency vehicle according to the lane the emergency vehicle is currently in and the current traffic data information of the emergency vehicle; S4. When it is determined based on the traffic data information of social vehicles around the emergency vehicle that other social vehicles in the dynamic range meet the lane change conditions, a lane change guidance information is sent to the corresponding social vehicles; S5, when it is determined that the emergency vehicle has arrived at the intersection detection area according to the current traffic data of the emergency vehicle, the traffic light control is performed according to the current traffic data of the emergency vehicle, the length of the intersection detection area, the length of the intersection, and the current traffic light state; S6: After the emergency vehicle arrives at the designated location, the vehicle-road cooperative control algorithm ends.

2. A vehicle cooperative control method for emergency vehicles as claimed in claim 1, characterized in that: In step S1, the traffic data information of the emergency vehicle obtained includes the instantaneous speed v of the emergency vehicle Y and real-time location P Y , where the superscript Y represents an emergency vehicle; The traffic data information of social vehicles around the emergency vehicle obtained includes the instantaneous speed v of social vehicles S and real-time location P S , where the superscript S represents social vehicles.

3. The vehicle cooperative control method for emergency vehicles according to claim 1, characterized in that: In step S2, the method for determining whether the emergency vehicle is currently traveling in the lane according to the current traffic data information and lane position point information of the emergency vehicle includes: Get the coordinates of the lane position points near the emergency vehicle represents the coordinates of the i-th lane position point, and m represents the total number of lane position points near the emergency vehicle; The lane detection factor ΔD is calculated according to the following formula: Among them, x Y Indicates the x-axis coordinate position of the emergency vehicle, y Y Indicates the y-axis coordinate position of the emergency vehicle; Indicates the coordinates of the i-th lane position point The x-axis coordinate of Indicates the coordinates of the i-th lane position point The y-axis is the lane direction, and the x-axis is the direction perpendicular to the lane; It is determined whether the lane detection factor ΔD is less than or equal to a preset lane detection threshold α. If so, it is determined that the emergency vehicle is currently traveling on the lane.

4. The vehicle cooperative control method for emergency vehicles according to claim 1, characterized in that: In step S3, according to the lane where the emergency vehicle is currently located and the current traffic data information of the emergency vehicle, the method for establishing the dynamic range of the emergency vehicle includes: Determine the length R of the lane the emergency vehicle is currently in, combined with the current instantaneous speed v of the emergency vehicle Y , then: R<100, B=0 100≤R<500， R≥500, B=200 Among them, B is the length of the dynamic range of the emergency vehicle, t1 is the unit time, which is 1 second; the length of the lane refers to the distance between the front and rear intersections of the lane where the emergency vehicle is located.

5. The vehicle cooperative control method for emergency vehicles according to claim 1, characterized in that: In step S4, the method of judging whether other social vehicles in the dynamic range meet the lane change condition according to the traffic data information of social vehicles around the emergency vehicle includes: According to the traffic data information of social vehicles around the emergency vehicle, if a social vehicle is currently in the dynamic range, it will be marked as Flag = 1, otherwise it will be marked as Flag = 0; for social vehicles marked as Flag = 1, a hierarchical lane change algorithm is used to calculate whether it meets the lane change conditions.

6. A vehicle cooperative control method for emergency vehicles as claimed in claim 5, characterized in that: The hierarchical lane change algorithm includes: If the current social vehicle s with Flag = 1 i In front of the emergency vehicle, there are: (1) Calculate social vehicle s i The distance between the front vehicle and the rear vehicle at the position corresponding to the weakly controlled lane, if the distance is greater than the preset safety distance threshold ΔLen, the first-level lane change score F1 is set to 1, otherwise the first-level lane change score F1 is set to 0; the weakly controlled lane refers to the lane adjacent to the lane where the emergency vehicle is currently located; (2) Calculate the secondary lane change score F2: others,F2=0 Wherein, Δt represents the preset lane change period, Represents social vehicles i The y-axis coordinate of Represents social vehicles i The instantaneous speed, Represents social vehicles i The acceleration of Represents social vehicles i+1 That is, with social vehicles i The y-axis coordinate of the first social vehicle ahead in the strongly controlled lane, ε represents the preset safe lane change parameter; the strongly controlled lane refers to the lane where the emergency vehicle is currently located; (3) Calculate the comprehensive lane change score F: F = F1 + F2. If the value of the comprehensive lane change score F is 2, then the social vehicle s i Satisfy lane change conditions; If the current social vehicle s with Flag = 1 i Behind the emergency vehicle: (1) Calculate social vehicle s i The distance between the front vehicle and the rear vehicle at the position corresponding to the weakly controlled lane, if the distance is greater than the preset safety distance threshold ΔLen, the first-level lane change score F1 is set to 1, otherwise the first-level lane change score F1 is set to 0; (2) Calculate the secondary lane change score F2: others,F2=0 Wherein, Δt represents the preset lane change period, Represents social vehicles i-1 That is, with social vehicles i The y-axis coordinate of the first social vehicle behind the strongly controlled lane, Represents social vehicles i-1 The instantaneous speed, Represents social vehicles i-1 The acceleration of ε represents the preset safe lane change parameter; (3) Calculate the comprehensive lane change score F: F = F1 + F2. If the value of the comprehensive lane change score F is 2, then the social vehicle s i Satisfy the lane change conditions.

7. The vehicle cooperative control method for emergency vehicles according to claim 1, characterized in that: In step S4, the sending of lane change guidance information to the corresponding social vehicle includes: According to the distance from the social vehicles meeting the lane change conditions to the emergency vehicle, a priority order from high to low is set, and a lane change guidance message is sent to the corresponding social vehicles according to the priority order.

8. The vehicle cooperative control method for emergency vehicles according to claim 1, characterized in that: In step S5, the method for determining whether the emergency vehicle has reached the intersection detection area according to the current traffic data of the emergency vehicle includes: Get the real-time location of emergency vehicles in real time Y ; Initialize the center coordinates of the edge of the intersection detection area close to the emergency vehicle [x β ,y β ]; According to the real-time position of the emergency vehicle P Y and the center coordinates of the edge of the intersection detection area near the emergency vehicle [x β ,y β ], and continuously calculate and update the intersection detection factor Δβ: When the intersection detection factor Δβ reaches a local minimum, Δβ i -Δβ i-1 Less than 0 and Δβ i -Δβ i+1 If it is less than 0, it is determined that the emergency vehicle has entered the intersection detection area; Δβ i , Δβ i-1 , Δβ i+1 They represent the calculated i-th, i-1-th, and i+1-th intersection detection factors respectively; in, Represents the coordinates of the i-th position of the emergency vehicle The x-axis coordinate of Represents the coordinates of the i-th position of the emergency vehicle The y-axis coordinate of .

9. A vehicle cooperative control method for emergency vehicles as claimed in claim 8, characterized in that: In step S5, the method for executing traffic light control according to the current traffic data of the emergency vehicle, the length of the intersection detection area, the length of the intersection, and the current traffic light state includes: S51: Determine whether there is a private vehicle in front of the emergency vehicle. If not, proceed to step S52. Otherwise, calculate the average speed of all private vehicles passing through the intersection detection area within 5 seconds before the emergency vehicle arrives at the intersection detection area. Where N is the total number of social vehicles passing through the edge of the intersection detection area within 5 seconds, γ1,...,γ N represents the fitting coefficient, which is 1 / N; S52: Determine the current traffic light status of the strong control lane and execute corresponding traffic light control: If the current light is red, get the remaining time of the red light: if the remaining time of the red light is greater than or equal to 6 seconds, end the red light 3 seconds in advance; if the remaining time of the red light is less than 6 seconds, execute as scheduled; If the current light is green, get the remaining time of the green light: If the remaining time of the green light is t w If the remaining time of the green light is greater than or equal to 5 seconds, it will be executed as scheduled; if the remaining time of the green light is t w If it is less than 5 seconds, the predicted travel time t is calculated. u , control the green light maintenance time to (t w +t u )Second.

10. The vehicle cooperative control method for emergency vehicles according to claim 9, characterized in that: The predicted travel time t u The calculation methods include: Among them, ρ1 and ρ2 are proportional coefficients. If is 0, then ρ1 is 1 and ρ2 is 0, otherwise ρ1=ρ2=0.5, Z1 represents the length of the intersection detection area, Z2 represents the length of the intersection, v Y-β Indicates the instantaneous speed of the emergency vehicle when it passes the edge of the intersection detection area.

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