Emergency vehicle priority passing control method in network connection environment

Abstract

The invention provides an emergency vehicle priority passing control method in a network connection environment, which can be suitable for emergency vehicle priority passing in various density states, does not need to change lanes for social vehicles, has small influence on traffic operation efficiency, and can effectively guarantee the emergency vehicle priority passing. Comprising the steps of delineating two nearest social vehicles in two lanes in front of an emergency vehicle, and judging whether the social vehicles need to be guided to adjust the speed or not according to the transverse distance between vehicle heads and the longitudinal distance between the heads and the tails of the two social vehicles; if yes, corresponding speed guidance is carried out on vehicles in the delineated society according to the shortest adjustment time and the adjustment speed obtained through calculation, and the emergency vehicles follow the vehicles to run at a low speed; if not, the emergency vehicle gives an alarm normally to realize priority passing; and finally, after the emergency vehicle passes through the two delineated social vehicles, repeatedly judging the speed and guiding until the emergency vehicle drives away from the congested road section, and obtaining the shortest travel time of the emergency vehicle passing through the congested road section.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle passage control, and in particular to a method for controlling emergency vehicle priority passage in a networked environment. Background Art

[0002] Priority passage for emergency vehicles is crucial to maintaining traffic order and protecting people's lives and property. The existing priority passage control methods are: path optimization, signal preemption, and road section reservation; path optimization refers to the dynamic selection of the best route by emergency vehicles during driving to obtain the shortest response time; signal preemption is to adjust traffic lights to give emergency vehicles priority passage; road section reservation refers to guiding social vehicles to change lanes in advance to provide emergency vehicles with a fast driving channel; the first two are traditional research methods with many research results, but with the continuous development of V2X technology, vehicle interactions are becoming more and more frequent. With the help of road section reservation technology, multi-vehicle collaborative control and the realization of road section reservation will become a research hotspot in recent years.

[0003] The road section reservation method can be generally divided into two categories according to the adjustment object: emergency vehicles and social vehicles; based on the road section reservation method, emergency vehicles are adjusted to achieve priority passage, such as Figure 1 As shown, it includes the following three steps:

[0004] Step 1: The emergency vehicle detects the density of the lane ahead, determines the lane with the lowest density, and determines whether a lane change is required;

[0005] Step 2: If lane changing is required, adjust the distance between the vehicles in the lane to be changed so that it is large enough for the emergency vehicle to change lanes; if lane changing is not required, drive normally;

[0006] Step 3: After the emergency vehicle completes the lane change and follows the vehicle for a while, it detects the density of the lane ahead again and repeats the first step;

[0007] The above-mentioned method of adjusting emergency vehicles to achieve priority passage has reduced the delay of social vehicles to a certain extent, but frequent lane changes have increased the braking and reaction time of emergency vehicles, and has not taken into account the adjustment time of social vehicles in low-density lanes that provide space for emergency vehicles to make way;

[0008] Adjust social vehicles to achieve priority passage based on road section reservation, such as Figure 2 As shown, it includes the following three steps:

[0009] Step 1: When the emergency vehicle is a certain distance away from the congested section, it sends a yield alert to the private vehicles in the congested section;

[0010] Step 2: Use the algorithm to calculate the adjustment speed of each vehicle and send it to social vehicles;

[0011] Step 3: After receiving the adjustment alarm and instruction, the private vehicle changes lanes to the lane without emergency vehicles, while the emergency vehicle maintains the original speed through the road section;

[0012] The above-mentioned method of adjusting social vehicles to achieve priority passage does not affect emergency vehicles, but how to obtain enough space in the lane during the lane change process is a difficult problem. The current research literature adopts two strategies, one is to assume that there is enough space, and the other is to control the acceleration and deceleration of the vehicle in front; specifically, the deceleration strategy refers to the first social vehicle slowing down to make enough space for the adjustment of the remaining social vehicles; the acceleration strategy means that when an emergency vehicle enters, the vehicles nearby or in the entire road section accelerate to leave the area, but the deceleration strategy will cause a large delay, and the acceleration strategy ignores the remaining space in the lane;

[0013] In summary, no matter whether the adjustment object is an emergency vehicle or a social vehicle, there are two problems:

[0014] (1) It is only applicable to congested roads that can provide sufficient space for lane changes (not too dense);

[0015] (2) Lane changing has a significant impact on traffic efficiency (unreasonable way of giving way), and the travel time of emergency vehicles through congested sections is unpredictable. Summary of the invention

[0016] In response to the above problems, the present invention provides a method for controlling emergency vehicle priority passage in a networked environment, which can be applied to emergency vehicle priority passage under various density conditions, and does not require social vehicles to change lanes. It has relatively little impact on traffic operation efficiency and can effectively ensure the priority passage of emergency vehicles.

[0017] The present invention adopts the following technical solution, a method for controlling the priority passage of emergency vehicles in a networked environment, comprising the following steps:

[0018] S1. Collect basic information of congested sections in the communication area, including lane width and section length, and determine the priority control area of ​​the section;

[0019] S2. Circle the two most adjacent social vehicles in the two lanes in front of the emergency vehicle, and obtain the lateral distance between the front and rear of the two circled social vehicles, and then determine whether it is necessary to guide the social vehicles to adjust their speed based on the lateral distance between the front and rear of the vehicles. If necessary, guide the circled social vehicles to adjust their speed accordingly by calculating the shortest adjustment time and adjustment speed, and during the adjustment process, the emergency vehicle follows the vehicle at a low speed; if not necessary, the emergency vehicle will sound a normal alarm to achieve priority passage;

[0020] S3. After the adjustment is completed, the emergency vehicle resumes its original speed until it passes the two circled private vehicles, and then repeats step S2 again until the emergency vehicle leaves the congested section and obtains the shortest travel time for the emergency vehicle to pass the congested section.

[0021] Furthermore, in step S2, if there is no need to adjust the speed of the two circled vehicles, the emergency vehicle will guide the vehicles to pull over by the side of the road through its own alarm, and the emergency vehicle will go straight through normally;

[0022] Furthermore, in step S2, if it is necessary to adjust the speed of the two circled social vehicles, the following steps are also included:

[0023] S2.1. Based on the vehicle status, obtain the position and speed information of emergency vehicles and social vehicles in the lanes of the controlled area section;

[0024] S2.2. Construct a dual-objective constraint model so that the lateral distance between the front and rear of the two social vehicles identified meet the traffic requirements of emergency vehicles;

[0025] S2.3. Update the positions of emergency vehicles and social vehicles according to vehicle status transfer;

[0026] Furthermore, in step S2.2, a dual-objective constraint model consisting of constraint equations (1) to (6) is constructed, namely:

[0027]

[0028] Among them, Lgmin represents the minimum lateral distance between the front of the vehicle; L represents the longitudinal distance between the front and rear;

[0029] V min Indicates the lower limit of social vehicle speed adjustment; V max Indicates the upper limit of the adjusted speed of social vehicles;

[0030] min means minimization; J is a synonym for the objective function;

[0031] It indicates that the social vehicle i is located in the left lane in front of the emergency vehicle at t+Δt k The speed of the moment;

[0032] It means that the social vehicle j is in the right lane in front of the emergency vehicle at t+Δt k The speed of the moment;

[0033] It indicates that the social vehicle i is located in the left lane in front of the emergency vehicle at t+Δt k The location at the moment;

[0034] It means that the social vehicle j is in the right lane in front of the emergency vehicle at t+Δt k The location at the moment;

[0035] It means that the private vehicle i+1 in the left lane in front of the emergency vehicle at t+Δt k The location at the moment;

[0036] It means that the social vehicle j+1 in the right lane in front of the emergency vehicle at t+Δt k Position at a moment; Δv i represents the speed change of the i-th private vehicle in the left lane in front of the emergency vehicle during the adjustment process;

[0037] Δv j represents the speed change of the jth private vehicle in the right lane in front of the emergency vehicle during the adjustment process;

[0038] Δt k Indicates the kth adjustment time, k≥1;

[0039] Constraints (1) and (2) indicate that the adjusted speed of social vehicles meets the upper and lower speed limits;

[0040] Constraint (3) indicates that when the social vehicle adjustment is completed, the head-to-tail longitudinal spacing meets the requirements;

[0041] Constraints (4) and (5) indicate that the two private vehicles in the left and right lanes in front of the emergency vehicle meet the minimum lateral spacing requirements for the front of the vehicle during the adjustment process;

[0042] Constraint (6) indicates that if there is no solution, the velocity change Δv cannot be obtained. i , speed change Δv j , then adjust the time Δt k After adding a unit time length, the result is inserted into the objective function and constraint equations (1) to (5), and the calculation is repeated. If there is a solution, the process proceeds to step S2.3 to update the positions of the emergency vehicle and the social vehicle.

[0043] Furthermore, in step S2.3, the vehicle state transfer calculation formula is:

[0044]

[0045] in, represents the position of social vehicle i in the left lane in front of the emergency vehicle at time t;

[0046] represents the position of the private vehicle j in the right lane in front of the emergency vehicle at time t;

[0047] represents the speed of private vehicle i in the left lane in front of the emergency vehicle at time t;

[0048] represents the speed of the private vehicle j in the right lane in front of the emergency vehicle at time t;

[0049] y(t+1) represents the position of the emergency vehicle at time t+1; y(t) represents the position of the emergency vehicle at time t;

[0050] V E Indicates the speed of the emergency vehicle;

[0051] Furthermore, in step S3, it also includes:

[0052] After the social vehicle speed adjustment is completed, the emergency vehicle resumes its original speed for one unit of time, and the travel time of the emergency vehicle is updated to:

[0053] t=t+Δt k +1

[0054] Then, the adjustment time Δt obtained by iteratively calculating the dual-objective constraint model is k , speed change Δv i , speed change Δv j Substitute it into the state transition equation y(t+1) of the emergency vehicle to determine whether the emergency vehicle has left the congested section;

[0055] Furthermore, the judgment formula for the emergency vehicle to leave the congested road section is: y(t)≥l,

[0056] If the judgment formula is satisfied, it means that the emergency vehicle has left the congested road section;

[0057] If the judgment formula is not satisfied, it means that the emergency vehicle has not yet left the congested section, then the updated emergency vehicle travel time value is substituted into the dual-objective constraint model of step S2.2, and the detection and adjustment are repeated;

[0058] Where l represents the length of the congested road section.

[0059] Furthermore, when the emergency vehicle leaves the congested road section, according to the formula:

[0060] min t = arg[y(t)]

[0061] Obtain the shortest travel time for emergency vehicles to pass through congested road sections;

[0062] Here, arg represents the inverse function.

[0063] The beneficial effect of the present invention is that when an emergency vehicle needs to pass through a congested section of road, there is no need for other vehicles to change lanes, and the impact on traffic operation efficiency is relatively small. The present invention can judge and guide other vehicles to adjust their speed based on the lateral spacing between the front of the vehicle and the longitudinal spacing between the front and rear of the vehicle, so as to meet the emergency vehicle's passage requirements in the shortest possible time, effectively guarantee the priority passage of emergency vehicles, and predict the time it takes for emergency vehicles to pass through congested sections. It can be applied to the priority passage of emergency vehicles under various density conditions, and has good practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 It is a schematic diagram of the existing adjustment of emergency vehicles to achieve priority passage based on road section reservation;

[0065] Figure 2 It is a schematic diagram of the existing adjustment of social vehicles to achieve priority passage based on road section reservation;

[0066] Figure 3 It is a schematic diagram of the process of the present invention;

[0067] Figure 4 It is a schematic diagram of normal passage of emergency vehicles in the present invention;

[0068] Figure 5 It is a schematic diagram of the social vehicle circled in the present invention;

[0069] Figure 6 It is a speed guidance map for social vehicles in the present invention;

[0070] Figure 7 is a schematic diagram of a detour for emergency vehicles in the present invention;

[0071] Figure 8 is a space-time diagram under a non-uniform density state in an embodiment of the present invention;

[0072] Fig. 9 It is a curve diagram of the relationship between the initial distance between social vehicles and the travel time of emergency vehicles in the present invention. DETAILED DESCRIPTION

[0073] like Figure 3 to Figure 9 As shown, a method for controlling emergency vehicle priority passage in a networked environment in the present invention comprises the following steps:

[0074] S1. Collect basic information of congested sections in the communication area, including lane width and section length, and determine the priority control area of ​​the section;

[0075] S2. Circle the two most adjacent social vehicles in the two lanes in front of the emergency vehicle, and obtain the lateral distance between the front and rear of the two social vehicles. Then, judge whether the emergency vehicle can pass through the gap formed by the two circled social vehicles based on the lateral distance between the front and rear of the vehicles. If the emergency vehicle cannot pass through, adjust the speed of the social vehicle, and guide the circled social vehicle to a corresponding speed by calculating the shortest adjustment time and adjustment speed. At this time, the emergency vehicle follows the vehicle at a low speed during the speed adjustment stage. If the emergency vehicle can pass through, there is no need to adjust the speed of the two circled social vehicles. After guiding the social vehicle to pull over through the alarm of the emergency vehicle itself, the emergency vehicle can pass through normally and achieve priority passage.

[0076] Specifically, in step S2, if it is necessary to adjust the speed of the two circled social vehicles, the following steps are also included:

[0077] S2.1. Based on the vehicle status, obtain the position and speed information of emergency vehicles and social vehicles in the lanes of the controlled area section;

[0078] S2.2. Construct a dual-objective constraint model so that the lateral distance between the front and rear of the two social vehicles identified meet the traffic requirements of emergency vehicles;

[0079] Specifically, a dual-objective constraint model consisting of constraint equations (1) to (6) is constructed, namely:

[0080]

[0081] Among them, L gmin Indicates the minimum transverse distance between the front and rear of the vehicle; L indicates the longitudinal distance between the front and rear of the vehicle;

[0082] V min Indicates the lower limit of social vehicle speed adjustment; V max Indicates the upper limit of the adjusted speed of social vehicles;

[0083] min means minimization; J is the abbreviation of the objective function. The objective function in optimal control is often represented by J. That is to say, for the objective function Take the minimum value;

[0084] It indicates that the social vehicle i is located in the left lane in front of the emergency vehicle at t+Δt k The speed of the moment;

[0085] It means that the social vehicle j is in the right lane in front of the emergency vehicle at t+Δt k The speed of the moment;

[0086] It indicates that the social vehicle i is located in the left lane in front of the emergency vehicle at t+Δt k The location at the moment;

[0087] It means that the social vehicle j is in the right lane in front of the emergency vehicle at t+Δt k The location at the moment;

[0088] It means that the private vehicle i+1 in the left lane in front of the emergency vehicle at t+Δt k The location at the moment;

[0089] It means that the social vehicle j+1 in the right lane in front of the emergency vehicle at t+Δt k The location at the moment;

[0090] Δv i represents the speed change of the i-th private vehicle in the left lane in front of the emergency vehicle during the adjustment process;

[0091] Δv j represents the speed change of the jth private vehicle in the right lane in front of the emergency vehicle during the adjustment process;

[0092] Δt k Indicates the kth adjustment time, k≥1;

[0093] Constraints (1) and (2) indicate that the adjusted speed of social vehicles meets the upper and lower speed limits;

[0094] Constraint (3) indicates that when the social vehicle adjustment is completed, the head-to-tail longitudinal spacing meets the requirements;

[0095] Constraints (4) and (5) indicate that the two private vehicles in the left and right lanes in front of the emergency vehicle meet the minimum lateral spacing requirements for the front of the vehicle during the adjustment process;

[0096] Constraint (6) indicates that if there is no solution, the velocity change Δv cannot be obtained. i , speed change Δv j , then adjust the time Δt k Add a unit time (because it is a discrete time system, the unit time of each update is 1) and insert it into the objective function and constraint equations (1) to (5), calculate again, and if there is a solution, go to step S2.3 to update the positions of emergency vehicles and social vehicles;

[0097] In linear programming, st is the abbreviation of subject to, which is used before constraints;

[0098] S2.3. Update the positions of emergency vehicles and social vehicles according to vehicle status transfer;

[0099] Specifically, in step S2.3, the vehicle state transfer calculation formula is:

[0100]

[0101] in, represents the position of social vehicle i in the left lane in front of the emergency vehicle at time t;

[0102] represents the position of the private vehicle j in the right lane in front of the emergency vehicle at time t;

[0103] represents the speed of private vehicle i in the left lane in front of the emergency vehicle at time t;

[0104] represents the speed of the private vehicle j in the right lane in front of the emergency vehicle at time t;

[0105] y(t+1) represents the position of the emergency vehicle at time t+1; y(t) represents the position of the emergency vehicle at time t;

[0106] V E Indicates the speed of the emergency vehicle;

[0107] According to the constructed dual-objective constraint model, speed guidance is performed, which is described in the following embodiment:

[0108] Make your first speed adjustment:

[0109] In the first iteration, it is assumed that the initial Δt1 = 0, which means that the initial time of the first adjustment is 0;

[0110] Substitute Δt1=0 into the objective function and constraints (1) to (5);

[0111] If we can solve for the velocity change Δv i , speed change Δv j , then the iteration stops, and Δt1=0;

[0112] If the solution cannot be found, the second iteration is entered;

[0113] In the second iteration, Δt1=0+1=1 is taken, and Δt1=1 is substituted into the objective function and constraint equations (1) to (5) again;

[0114] If we can solve for the velocity change Δv i , speed change Δv j, then the iteration stops, and Δt1=1;

[0115] If the solution cannot be found, the third iteration is entered;

[0116] Repeat the above iterative operation until the velocity change Δv can be solved. i , speed change Δv j ,At this point, the first speed adjustment is completed, and then the positions of emergency vehicles and social vehicles are updated;

[0117] S3, after the adjustment is completed, the emergency vehicle resumes its original speed until it passes the two circled vehicles, and then repeats step S2 again, that is, it is detected again whether speed adjustment is needed, and when speed adjustment is needed, the iterative operation in the above speed adjustment process is repeated to complete the corresponding number of speed adjustments until the emergency vehicle leaves the congested section and the shortest travel time of the emergency vehicle through the congested section is obtained;

[0118] Furthermore, in step S3, it also includes:

[0119] After the social vehicle speed adjustment is completed, the emergency vehicle resumes its original speed for one unit of time, and the travel time of the emergency vehicle is updated to:

[0120] t=t+Δt k +1

[0121] Then, the adjustment time Δt obtained by iteratively calculating the dual-objective constraint model is k , speed change Δv i , speed change Δv j Substitute it into the state transition equation y(t+1) of the emergency vehicle to determine whether the emergency vehicle has left the congested section;

[0122] Furthermore, the judgment formula for the emergency vehicle to leave the congested road section is: y(t)≥l,

[0123] If the judgment formula is satisfied, it means that the emergency vehicle has left the congested section, and according to the formula:

[0124] min t = arg[y(t)]

[0125] Obtain the shortest travel time for emergency vehicles to pass through congested road sections;

[0126] Among them, arg represents the inverse function;

[0127] The objective function of travel time is: t=arg[y(t)], that is, the minimum value of the objective function of travel time is the shortest travel time.

[0128] If the judgment formula is not satisfied, it means that the emergency vehicle has not yet left the congested section, then the updated emergency vehicle travel time value is substituted into the dual-objective constraint model of step S2.2, and the detection and adjustment are repeated;

[0129] Where l represents the length of the congested road section.

[0130] In the present invention, when an emergency vehicle needs to pass through a congested road section, the travel time of the emergency vehicle can be predicted, and by guiding other vehicles to adjust their speed, other vehicles can give up enough space for the emergency vehicle in the shortest possible time to allow the emergency vehicle to bypass and pass.

[0131] The present invention is described in the following examples. The following table predicts the travel time of emergency vehicles under different density conditions and performs corresponding verification:

[0132]

[0133] In the above table, the high-density state of case 1 is used for explanation:

[0134] A 2-km long one-way two-lane road section was selected. Using the existing software python simulation, the vehicle arrival obeyed the Poisson distribution and generated vehicles with an average headway distance (headway distance here refers to the distance between the front and rear vehicles in a single lane) of 25.6m. Finally, 154 vehicles were generated in the 2-km two-lane road section, so the single lane density was 39 vehicles / km, which was regarded as a high-density state.

[0135] The initial spacing in the table refers to the longitudinal spacing between the front of the first social vehicle in the left lane and the first social vehicle in the right lane of the congested road section at the initial time (t=0) (i.e., the distance between the front of the first social vehicle in the left lane and the front of the first social vehicle in the right lane). If the initial spacing is 7m, the shortest travel time of the emergency vehicle is 200s;

[0136] Figure 8 This is the time-space diagram when the initial spacing is 38m in the embodiment of the present invention (case 4). Figure 8The part pointed out by the black arrow is a schematic diagram of the enlarged part; the black solid line in the figure represents the social vehicle on the left, the black dotted line represents the social vehicle on the right, and the red solid line represents the emergency vehicle; the two social vehicles in front of the emergency vehicle are guided to adjust the speed, the rose-red line indicates that the speed of the social vehicle on the right changes, and the slope of the rose-red line is the adjustment speed; the blue line indicates that the speed of the left vehicle changes; the rose-red and blue lines show that the slope of the social vehicle in the space-time diagram changes, indicating that the social vehicle is successfully controlled, which shows that the control method of the present invention has an obvious control effect on the social vehicle and can quickly solve the problem of insufficient lateral spacing in front of the emergency vehicle.

[0137] The uneven density in situation 4 (high on the left and medium on the right) means that the left lane is in a high-density state, while the right lane is in a medium-density state.

[0138] Fig. 9 The horizontal axis in represents the initial distance between social vehicles, and the vertical axis represents the travel time of emergency vehicles. Fig. 9 As shown, under high-density conditions, the travel time of emergency vehicles is not affected by the initial spacing; under medium and low-density conditions, the larger the initial spacing, the shorter the travel time of emergency vehicles; therefore, the priority traffic control method of the present invention is applicable to various density conditions.

[0139] Figure 4 It is a schematic diagram of the emergency vehicle passing normally straight through after the emergency vehicle uses its own alarm to guide the private vehicles to pull over, when the lateral distance between the fronts of the two private vehicles circled in front of the emergency vehicle is sufficient (in this case, no speed adjustment is required);

[0140] Figure 5 It is a schematic diagram of delineating social vehicles in front of an emergency vehicle when the lateral distance between the front ends of the two social vehicles delineated in front of the emergency vehicle is insufficient. The two vehicles framed in the figure are the two delineated social vehicles.

[0141] Figure 6 It is a schematic diagram of guiding the speed of two social vehicles circled in front of the emergency vehicle when the lateral distance between the front of the two social vehicles is insufficient, so as to leave enough space for the emergency vehicle to pass;

[0142] Figure 7 It is a schematic diagram of a situation where the lateral distance between the front ends of two private vehicles circled in front of the emergency vehicle is insufficient, and the emergency vehicle bypasses after the two private vehicles have made sufficient space.

[0143] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0144] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A method for controlling emergency vehicle priority passage in a networked environment, characterized in that: The following steps are involved: S1. Collect basic information of congested sections in the communication area, including lane width and section length, and determine the priority control area of ​​the section; S2. Circle the two most adjacent social vehicles in the two lanes in front of the emergency vehicle, and obtain the lateral distance between the front and rear of the two social vehicles. Then, determine whether it is necessary to guide the social vehicle to adjust its speed based on the lateral distance between the front and rear of the two social vehicles. If necessary, guide the social vehicle to adjust its speed accordingly by calculating the shortest adjustment time and adjustment speed. During the adjustment process, the emergency vehicle follows the vehicle and drives at a low speed. If not required, the emergency vehicle will sound the alarm normally to achieve priority passage; S3. After the adjustment is completed, the emergency vehicle resumes its original speed until it passes the two circled private vehicles, and then repeats step S2 again until the emergency vehicle leaves the congested section and obtains the shortest travel time for the emergency vehicle to pass the congested section.

2. According to the method for controlling the priority passage of emergency vehicles in a networked environment as described in claim 1, it is characterized by: In step S2, if there is no need to adjust the speed of the two circled private vehicles, the emergency vehicle will use its own alarm to guide the private vehicles to pull over, and then the emergency vehicle will go straight through normally.

3. The method for controlling emergency vehicle priority passage in a networked environment according to claim 1, characterized in that: In step S2, if it is necessary to adjust the speed of the two circled social vehicles, the following steps are also included: S2.

1. Based on the vehicle status, obtain the position and speed information of emergency vehicles and social vehicles in the lanes of the controlled area section; S2.

2. Construct a dual-objective constraint model so that the lateral distance between the front and rear of the two social vehicles identified meet the traffic requirements of emergency vehicles; S2.

3. Update the positions of emergency vehicles and social vehicles according to vehicle status transfer.

4. The method for controlling emergency vehicle priority passage in a networked environment according to claim 3, characterized in that: In step S2.2, a dual-objective constraint model consisting of constraint equations (1) to (6) is constructed, namely: Among them, L gmin Indicates the minimum transverse distance between the front and rear of the vehicle; L indicates the longitudinal distance between the front and rear of the vehicle; V min Indicates the lower limit of social vehicle speed adjustment; V max Indicates the upper limit of the adjusted speed of social vehicles; min means minimization; J is a synonym for the objective function; It indicates that the social vehicle i is located in the left lane in front of the emergency vehicle at t+Δt k The speed of the moment; It means that the social vehicle j is in the right lane in front of the emergency vehicle at t+Δt k The speed of the moment; It indicates that the social vehicle i is located in the left lane in front of the emergency vehicle at t+Δt k The location at the moment; It means that the social vehicle j is in the right lane in front of the emergency vehicle at t+Δt k The location at the moment; It means that the private vehicle i+1 in the left lane in front of the emergency vehicle at t+Δt k The location at the moment; It means that the social vehicle j+1 in the right lane in front of the emergency vehicle at t+Δt k The location at the moment; Δv i represents the speed change of the i-th private vehicle in the left lane in front of the emergency vehicle during the adjustment process; Δv j represents the speed change of the jth private vehicle in the right lane in front of the emergency vehicle during the adjustment process; Δt k Indicates the kth adjustment time, k≥1; Constraints (1) and (2) indicate that the adjusted speed of social vehicles meets the upper and lower speed limits; Constraint (3) indicates that when the social vehicle adjustment is completed, the head-to-tail longitudinal spacing meets the requirements; Constraints (4) and (5) indicate that the two private vehicles in the left and right lanes in front of the emergency vehicle meet the minimum lateral spacing requirements for the front of the vehicle during the adjustment process; Constraint (6) indicates that if there is no solution, the velocity change Δv cannot be obtained. i , speed change Δv j , then adjust the time Δt k After adding a unit time length, the result is inserted into the objective function and constraint equations (1) to (5), and the calculation is repeated. If there is a solution, the process proceeds to step S2.3 to update the positions of the emergency vehicles and social vehicles.

5. The method for controlling emergency vehicle priority passage in a networked environment according to claim 4, characterized in that: In step S2.3, the vehicle state transfer calculation formula is: in, represents the position of social vehicle i in the left lane in front of the emergency vehicle at time t; represents the position of the private vehicle j in the right lane in front of the emergency vehicle at time t; represents the speed of private vehicle i in the left lane in front of the emergency vehicle at time t; represents the speed of the private vehicle j in the right lane in front of the emergency vehicle at time t; y(t+1) represents the position of the emergency vehicle at time t+1; y(t) represents the position of the emergency vehicle at time t; V E Indicates the speed at which the emergency vehicle is traveling.

6. The method for controlling emergency vehicle priority passage in a networked environment according to claim 5, characterized in that: In the step S3, it also includes: After the speed adjustment of social vehicles is completed and the emergency vehicle resumes its original speed for one unit of time, the travel time of the emergency vehicle is updated to: t=t+Δt k +1 Then, the adjustment time Δt obtained by iteratively calculating the dual-objective constraint model is k , speed change Δv i , speed change Δv j Substitute it into the state transfer equation y(t+1) of the emergency vehicle to determine whether the emergency vehicle has left the congested section.

7. The method for controlling emergency vehicle priority passage in a networked environment according to claim 6, characterized in that: The judgment formula for emergency vehicles to leave the congested road section is: y(t)≥l, If the judgment formula is satisfied, it means that the emergency vehicle has left the congested road section; If the judgment formula is not satisfied, it means that the emergency vehicle has not yet left the congested section, then the updated emergency vehicle travel time value is substituted into the dual-objective constraint model of step S2.2, and the detection and adjustment are repeated; Where l represents the length of the congested road section.

8. The method for controlling emergency vehicle priority passage in a networked environment according to claim 7, characterized in that: When the emergency vehicle leaves the congested section, according to the formula: min t = arg[y(t)] Obtain the shortest travel time for emergency vehicles to pass through congested road sections; Here, arg represents the inverse function.

Images