Vehicle-road cloud cooperative system for handling emergency vehicle avoidance task

Abstract

The embodiment of the invention relates to a vehicle-road cloud cooperative system for handling an emergency vehicle avoidance task. The system comprises a first vehicle-mounted unit, a first road side unit and a first cloud end, each first vehicle-mounted unit is mounted on a vehicle; each first road side unit is mounted on the road side of a road section; the first vehicle-mounted unit is connected with the first road side unit through a vehicle-road communication protocol in a vehicle networking communication protocol; and the first road side unit is connected with the first cloud end through a vehicle cloud communication protocol or other wired or wireless communication protocols in the vehicle networking communication protocols. According to the invention, unified road clearing scheduling can be provided for emergency vehicles, and the traffic efficiency of the emergency vehicles can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and particularly to a vehicle-road-cloud collaborative system for processing emergency vehicle avoidance tasks. Background Art

[0002] Emergency vehicles refer to special vehicles used for performing emergency tasks such as rescue, fire fighting, etc., such as police cars, fire trucks, ambulances, engineering rescue vehicles, accident investigation vehicles, etc. When an emergency vehicle is in a task execution state, it should be avoided in a timely manner. Currently, common avoidance methods are all completed at the vehicle end, that is, the driving control end of other vehicles outside the emergency vehicle (such as a conventional vehicle-mounted system, an autonomous driving system, an unmanned driving system, etc.) makes a self-vehicle avoidance plan based on the actual road conditions and then drives for avoidance based on the planned driving route. This conventional avoidance method is relatively chaotic without a unified scheduling strategy and sometimes even causes more serious congestion. Summary of the Invention

[0003] The purpose of the present invention is to provide a vehicle-road-cloud collaborative system for processing emergency vehicle avoidance tasks in view of the defects of the prior art. The system includes: a first vehicle-mounted unit, a first roadside unit, and a first cloud; when the type of the self-vehicle is an emergency vehicle and is in a task execution state, the first vehicle-mounted unit periodically sends a first request message to the first cloud through the first roadside unit along the road to inform the cloud to clear the lane given in the message; the first cloud processes the received request messages based on an asynchronous processing method, and when processing each request message, it confirms whether the corresponding lane of the message has not been cleared, and when it is confirmed that the lane has not been cleared, it sends a first control message to the first roadside unit on the current vehicle lane to inform the roadside to broadcast a lane clearing message; while continuously broadcasting based on the first control message, the first roadside unit periodically counts the cleared / non-cleared status of each lane and feeds back the statistical result to the first cloud as a first vehicle-end message; when the type of the self-vehicle is an ordinary vehicle or the type of the self-vehicle is an emergency vehicle but the task state is idle, the first vehicle-mounted unit forwards the first control message broadcast by the first roadside unit on the roadside to the driving control end. The driving control end of the emergency vehicle only needs to continuously output avoidance lane information (the current lane or the next lane) planned by itself to the system of the present invention, and the system of the present invention can perform a unified lane clearing scheduling for the current emergency vehicle, thereby achieving the technical effects of unified scheduling and early dredging, and providing a technical guarantee for improving the passing efficiency of emergency vehicles.

[0004] To achieve the above object, an embodiment of the present invention provides a vehicle-road-cloud collaborative system for processing emergency vehicle avoidance tasks, the system includes: a first vehicle-mounted unit, a first roadside unit, and a first cloud;

[0005] Each of the first vehicle-mounted units is installed on a vehicle; each of the first roadside units is installed on the roadside of a road section; the first vehicle-mounted unit is connected to the first roadside unit through the vehicle-road communication protocol in the vehicle networking communication protocol; the first roadside unit is connected to the first cloud through the vehicle-cloud communication protocol or other wired or wireless communication protocols in the vehicle networking communication protocol;

[0006] The first vehicle-mounted unit is used to identify whether the vehicle where the current vehicle-mounted unit is located is a type of emergency vehicle when powered on, restarted or reset. If so, set the corresponding self-vehicle type as an emergency vehicle; if not, set the corresponding self-vehicle type as an ordinary vehicle; and connect to the driving control end of the vehicle where the current vehicle-mounted unit is located; and initialize the corresponding self-vehicle identifier based on the vehicle identifier locally stored in the current vehicle-mounted unit; and initialize the corresponding self-vehicle coordinates as empty, self-vehicle speed as empty, self-vehicle lane identifier as empty, task status as idle, and reserved lane identifier as empty; the task status includes idle and non-idle;

[0007] The first vehicle-mounted unit is also used to regularly obtain the vehicle's real-time coordinates, real-time speed, and real-time lane identifier from the driving control end at a preset first time frequency to refresh the corresponding self-vehicle coordinates, self-vehicle speed, and self-vehicle lane identifier; and identify whether the reserved lane identifier is empty. If it is not empty, confirm whether the reserved lane identifier is the upstream identifier of the self-vehicle lane identifier. If confirmed, clear the reserved lane identifier; and send the first vehicle-end message carrying the self-vehicle identifier, self-vehicle coordinates, self-vehicle speed, and self-vehicle lane identifier to the first roadside unit on the roadside;

[0008] The first vehicle-mounted unit is also used to identify the instruction type of the vehicle-end control instruction sent by the driving control end when the self-vehicle type is an emergency vehicle; if the instruction type is a status switching instruction, identify the task status. If the task status is idle, reset the task status to non-idle; if the task status is non-idle, reset the task status to idle; if the instruction type is a lane setting instruction, extract the corresponding lane identifier from the instruction parameters of the vehicle-end control instruction to set the reserved lane identifier;

[0009] The first on-vehicle unit is further configured to, when the vehicle type of the host vehicle is an emergency vehicle and the task status is not idle, regularly identify whether the reserved lane identifier is empty at a preset second time frequency. If it is not empty, the reserved lane identifier is used as the corresponding application lane identifier; if it is empty, the host vehicle lane identifier is used as the corresponding application lane identifier. And a first request message carrying the host vehicle identifier, the host vehicle coordinates, the host vehicle speed, and the application lane identifier is sent to the first roadside unit on the roadside; the second time frequency is greater than the first time frequency;

[0010] The first on-vehicle unit is further configured to, when the vehicle type of the host vehicle is an ordinary vehicle or the vehicle type of the host vehicle is an emergency vehicle but the task status is idle, forward the first control message broadcast by the first roadside unit on the roadside to the driving control end;

[0011] The first roadside unit is configured to, each time it receives a first vehicle-end message, store the received first vehicle-end message in a preset first vehicle-end message queue; and regularly refresh a preset first traffic information set according to the first vehicle-end message queue at a preset third time frequency;

[0012] The first roadside unit is further configured to forward the first request message to the first cloud;

[0013] The first roadside unit is further configured to perform control message broadcasting according to the first control message sent by the first cloud; and during the broadcasting process, regularly identify the empty state of the controlled lane according to the first traffic information set at a preset fourth time frequency and generate a corresponding first roadside message based on the identification result and send it to the first cloud;

[0014] The first cloud is configured to pre-store a first lane-clearing list and a first roadside list locally in the cloud;

[0015] The first cloud is further configured to, each time it receives a first request message, store the received first request message in a preset first request message queue; and when the first request message queue is not empty, perform control message issuing processing according to the first request message queue, the first lane-clearing list, and the first roadside list;

[0016] The first cloud is further configured to, each time it receives a first roadside message, store the received first roadside message in a preset first roadside message queue; and when the first roadside message queue is not empty, update the data of the first lane-clearing list according to the first roadside message queue.

[0017] Preferably, the vehicle-end control instruction includes the instruction type and the instruction parameter; the instruction type at least includes a status switching instruction and a lane setting instruction; when the instruction type is a status switching instruction, the instruction parameter is empty; when the instruction type is a lane setting instruction, the instruction parameter is a lane identifier.

[0018] The first traffic information set includes a plurality of first lane traffic information; each first lane traffic information corresponds to a lane in the road section where the first roadside unit corresponding to the current first traffic information set is located; the first lane traffic information includes a passing lane identifier and the total number of passing vehicles; the passing lane identifier is the lane identifier of the corresponding lane; the total number of passing vehicles is the total number of vehicles passing in the corresponding lane.

[0019] The first control message includes a first control lane identifier, a first control start time, and a first control end time.

[0020] When the first clearing list is not empty, it consists of one or more first clearing records; the first clearing record includes a first lane identifier, a first control period, and a first clearing status; the first clearing status includes not cleared and cleared.

[0021] The first roadside list includes a plurality of first roadside records; the first roadside records correspond one-to-one with the first roadside units; the first roadside record includes a first unit identifier, a first installation lane identifier, and a first installation coordinate; the first unit identifier is the unique identifier of the corresponding first roadside unit.

[0022] When the first vehicle-end message queue is not empty, it consists of one or more of the first vehicle-end messages; the first vehicle-end message includes the vehicle's own coordinates, the vehicle's own speed, and the vehicle's own lane identifier.

[0023] When the first request message queue is not empty, it consists of one or more of the first request messages; the first request message includes the vehicle's own identifier, the vehicle's own coordinates, the vehicle's own speed, and the applied lane identifier.

[0024] When the first roadside message queue is not empty, it consists of one or more of the first roadside messages; the first roadside message includes a second control lane identifier and a first control lane status; the first control lane status includes cleared and not cleared.

[0025] Preferably, the first roadside unit is specifically configured to, when refreshing a preset first traffic information set according to the first vehicle-end message queue at a preset third time frequency, regularly use the current time as the corresponding first end time at the third time frequency, and use the time obtained by subtracting a preset first duration from the first time as the corresponding first start time, and record the time period composed of the first end time and the first start time as the corresponding first time period; cluster the first vehicle-end messages with the same own-lane identifier in the first vehicle-end message queue into a category to form a corresponding first lane message subset; extract the first vehicle-end messages in each first lane message subset whose message addition time satisfies the first time period to form a corresponding first time period message subset; identify whether each first time period message subset is empty, if it is empty, set the corresponding first total number of vehicles to zero, if it is not empty, cluster the first vehicle-end messages with the same own identifier in the current first time period message subset into a category to form a corresponding first vehicle message group and use the total number of the first vehicle message group as the corresponding first total number of vehicles; and reset the total number of passing vehicles of each first lane traffic information in the first traffic information set to the corresponding first total number of vehicles.

[0026] Preferably, when the first roadside unit broadcasts a control message according to the first control message sent by the first cloud, the first roadside unit is specifically configured to use the current first control message as the corresponding current control message; use the first control end time of the current control message as the corresponding current control end time; and confirm whether there is a control message broadcast task being executed by the current roadside unit at the current moment; if it is confirmed that there is no control message broadcast task being executed at the current moment, generate a control message broadcast task with a broadcast start time of the current time and a broadcast end time of the current control end time, record it as the corresponding current broadcast task, save the current control message locally in the roadside unit as a corresponding archived task message, start the current broadcast task to broadcast the current control message at a preset cyclic broadcast frequency, and create a corresponding relationship between the current broadcast task and the archived task message saved this time; if it is confirmed that there is a control message broadcast task being executed at the current moment, identify whether there is a match between the archived task message corresponding to a control message broadcast task being executed and the current control message, if it is confirmed that there is no match, generate a control message broadcast task with a broadcast start time of the current time and a broadcast end time of the current control end time, record it as the corresponding current broadcast task, save the current control message locally in the roadside unit as a corresponding archived task message, start the current broadcast task to broadcast the current control message at the cyclic broadcast frequency, and create a corresponding relationship between the current broadcast task and the archived task message saved this time.

[0027] Preferably, when the first roadside unit is specifically configured to regularly identify the empty state of the controlled lane according to the first traffic information set at a preset fourth time frequency and generate a corresponding first roadside message based on the identification result and send it to the first cloud, it regularly confirms whether there is a currently executing control message broadcast task on the current roadside unit at the current moment at the fourth time frequency; if it is confirmed that there is, it traverses all the currently executing control message broadcast tasks on the current roadside unit once; and during this traversal, the currently traversed control message broadcast task is used as the corresponding current broadcast task, and the archived task message corresponding to the current broadcast task is used as the corresponding current task message, and the first controlled lane identifier of the current task message is used as the corresponding current controlled lane identifier; and it identifies whether the total number of passing vehicles of the first lane traffic information whose passing lane identifier in the first traffic information set matches the current controlled lane identifier is zero. If so, it sets the corresponding first controlled lane state to cleared, and if not, it sets the corresponding first controlled lane state to not cleared; and it uses the current controlled lane identifier as the corresponding second controlled lane identifier; and a corresponding first roadside message is composed of the second controlled lane identifier and the first controlled lane state and sent to the first cloud.

[0028] Preferably, when the first cloud is specifically configured to perform control message distribution processing according to the first request message queue, the first lane clearing list, and the first roadside list:

[0029] Step 61, use the first request message with the earliest added time in the first request message queue as the corresponding current request message; and use the vehicle self-identifier, the vehicle self-coordinate, the vehicle self-speed, and the applied lane identifier of the current request message as the corresponding previous vehicle coordinates, current speed, and current applied lane identifier;

[0030] Step 62, and obtain the driving length from the vehicle self-coordinate to the lane end position corresponding to the current applied lane identifier by querying the high-precision road map preset in the cloud as the corresponding first driving distance; and in a uniform driving mode, calculate the corresponding first driving duration according to the first driving distance and the current speed; and use the current time as the corresponding current start time; and use the time obtained by adding the current start time and the first driving duration as the corresponding current end time; and a corresponding current control period is composed of the current start time and the current end time;

[0031] Step 63, and use the first lane identifier and the first control period in the first lane clearing list that match the current application lane identifier and the current control period as the corresponding matching lane clearing records; and confirm whether the matching lane clearing records are empty; if the matching lane clearing records are empty, go to step 64; if the matching lane clearing records are not empty, go to step 65;

[0032] Step 64, add a new first lane clearing record in the first lane clearing list as the corresponding current new record; and set the first lane identifier of the current new record to the corresponding current application lane identifier, the first control period to the corresponding current control period, and the first lane clearing status to not cleared; and form a corresponding first control message with the current application lane identifier, the current start time, and the current end time as the corresponding first control lane identifier, the first control start time, and the first control end time; and extract the first unit identifiers of the first roadside records in the first roadside list whose first installed lane identifiers match the current application lane identifier as the corresponding first notification unit identifiers; and send the first control message to each first roadside unit corresponding to the first notification unit identifier; and go to step 66;

[0033] Step 65, identify whether the first lane clearing status of the matching lane clearing records is cleared; if so, go to step 66; if not, form a corresponding first control message with the current application lane identifier, the current start time, and the current end time as the corresponding first control lane identifier, the first control start time, and the first control end time, and extract the first unit identifiers of the first roadside records in the first roadside list whose first installed lane identifiers match the current application lane identifier as the corresponding second notification unit identifiers, and send the first control message to each first roadside unit corresponding to the second notification unit identifier, and go to step 66;

[0034] Step 66, remove the current request message from the first request message queue.

[0035] Preferably, when the first cloud is specifically used to update the data of the first lane clearing list according to the first roadside message queue, the first roadside message with the earliest addition time in the first roadside message queue is used as the corresponding current roadside message; and the second control lane identifier and the first control lane state of the current roadside message are used as the corresponding current lane identifier and current lane state; and the first lane clearing state of the first lane clearing record in the first lane clearing list whose first lane identifier matches the current lane identifier is set to the corresponding current lane state; and the current roadside message is removed from the first roadside message queue.

[0036] The embodiment of the present invention provides a vehicle-road-cloud collaborative system for processing emergency vehicle avoidance tasks. As can be seen from the above, the system includes: a first vehicle-mounted unit, a first roadside unit, and a first cloud; when the vehicle type of the first vehicle-mounted unit is an emergency vehicle and is in the task execution state, it periodically sends a first request message to the first cloud through the first roadside units along the road to inform the cloud to perform a lane clearing operation on the lanes given in the message; the first cloud processes the received request messages based on an asynchronous processing method, and when processing each request message, it confirms whether the corresponding lane of the message has not been cleared, and when it is confirmed that it has not been cleared, it sends a first control message to the first roadside unit on the current vehicle lane side to inform the roadside to perform a lane clearing broadcast; the first roadside unit continuously broadcasts based on the first control message and also periodically counts the cleared / uncleared states of each lane and feeds back the statistical results to the first cloud as the first vehicle-side message; when the vehicle type of the first vehicle-mounted unit is an ordinary vehicle or the vehicle type of the first vehicle-mounted unit is an emergency vehicle but the task state is idle, it forwards the first control message broadcast by the first roadside unit on the roadside to the driving control end. The driving control end of the emergency vehicle only needs to continuously output the avoidance lane information (the current lane or the next lane) planned by itself to the embodiment of the present invention, and the embodiment of the present invention can perform unified lane clearing scheduling for the current emergency vehicle. In this way, it not only achieves the technical effects of unified scheduling and early dredging, but also provides technical guarantee for improving the passing efficiency of emergency vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a module structure diagram of a vehicle-road-cloud collaborative system for processing emergency vehicle avoidance tasks provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] A vehicle-road-cloud collaborative system for processing emergency vehicle avoidance tasks provided by an embodiment of the present invention, as Figure 1 shown in the module structure diagram of a vehicle-road-cloud collaborative system for processing emergency vehicle avoidance tasks provided by an embodiment of the present invention, mainly includes: a first on-board unit 1, a first roadside unit 2, and a first cloud 3.

[0040] (1) The first on-board unit 1 (On Board Unit, OBU):

[0041] Each first on-board unit 1 of the embodiment of the present invention is installed on a vehicle. The first on-board unit 1 is connected to the first roadside unit 2 through the vehicle-road communication protocol in the vehicle networking communication protocol. The number of first on-board units 1 in the system of the embodiment of the present invention is not unique.

[0042] The first on-board unit 1 is used to identify whether the vehicle where the current on-board unit is located is a type-I emergency vehicle when powered on, restarted, or reset. If so, set the corresponding self-vehicle type as an emergency vehicle; if not, set the corresponding self-vehicle type as an ordinary vehicle; and connect to the driving control end of the vehicle where the current on-board unit is located; and initialize the corresponding self-vehicle identifier based on the vehicle identifier locally stored in the current on-board unit; and initialize the corresponding self-vehicle coordinates as empty, self-vehicle speed as empty, self-vehicle lane identifier as empty, task status as idle, and reserved lane identifier as empty; where the task status includes idle and non-idle.

[0043] Here, the types of emergency vehicles in the embodiment of the present invention at least include police cars, fire trucks, ambulances, engineering rescue vehicles, accident investigation vehicles, etc. The driving control end in the embodiment of the present invention is a processing system for the vehicle's main driving task, at least including a conventional in-vehicle system, an autonomous driving system, and an unmanned driving system. There are various connection methods between the first on-board unit 1 and the driving control end. Conventional wireless methods include Bluetooth and WiFi communication methods, and conventional wired methods include CAN bus communication methods, USB communication methods, etc.

[0044] The first vehicle-mounted unit 1 is further configured to regularly obtain the vehicle's real-time coordinates, real-time vehicle speed, and real-time lane identifier from the driving control end at a preset first time frequency to refresh the corresponding self-vehicle coordinates, self-vehicle speed, and self-vehicle lane identifier; and identify whether the reserved lane identifier is empty. If it is not empty, it is confirmed whether the reserved lane identifier is the upstream identifier of the self-vehicle lane identifier. If it is confirmed to be the case, the reserved lane identifier is cleared; and the first vehicle-end message carrying the self-vehicle identifier, self-vehicle coordinates, self-vehicle speed, and self-vehicle lane identifier is sent to the first roadside unit 2 on the roadside.

[0045] Here, the first time frequency is a preset frequency parameter. The upstream identifier mentioned in the above steps refers to sorting multiple consecutive lanes in sequence / front and back according to the road driving direction. The lane identifier of the lane before the current lane is called the upstream identifier. Similarly, the lane identifier of the lane after the current lane is called the downstream identifier. It can be seen from the context that the reserved lane identifier in the embodiment of the present invention actually stores the lane identifier of the dedicated lane configured by the driving control end of the emergency vehicle. If the reserved lane identifier is not empty but is the upstream identifier of the self-vehicle lane identifier, it means that this lane identifier has expired. At this time, it should be cleared to avoid incorrect lane clearing operations on an expired lane through the cloud.

[0046] The first vehicle-mounted unit 1 is further configured to, when the self-vehicle type is an emergency vehicle, identify the instruction type of the vehicle-end control instruction sent by the driving control end; if the instruction type is a status switching instruction, identify the task status. If the task status is idle, the task status is reset to non-idle. If the task status is non-idle, the task status is reset to idle; if the instruction type is a lane setting instruction, the corresponding lane identifier is extracted from the instruction parameters of the vehicle-end control instruction to set the reserved lane identifier.

[0047] Wherein, the vehicle-end control instruction includes an instruction type and instruction parameters; the instruction type includes at least a status switching instruction and a lane setting instruction; when the instruction type is a status switching instruction, the instruction parameters are empty; when the instruction type is a lane setting instruction, the instruction parameters are a lane identifier.

[0048] It should be noted that since external devices such as vehicle-mounted alarm bells and warning lights need to be driven, the driving control end of a conventional emergency vehicle is provided with interfaces for starting or canceling tasks, such as button interfaces for starting / canceling tasks. In the embodiment of the present invention, once such an interface of the driving control end is called, a vehicle-end control instruction with an instruction type of a status switching instruction is synchronously sent to the first vehicle-mounted unit 1.

[0049] It should also be noted that the driving control terminals of conventional emergency vehicles all have the ability of path planning. When performing an emergency task, they will plan the shortest path based on the current coordinates of the vehicle and the coordinates of the task destination, and can identify the lane markings of multiple consecutive lanes on the planned path based on the in-vehicle high-precision map. At this time, the driving control terminal will transmit the lane markings of the dedicated lane that needs to be cleared to the first on-vehicle unit 1 through a vehicle-end control instruction with the instruction type of lane setting instruction, such as the current lane marking at the starting position or the next lane marking during driving. The first on-vehicle unit 1 will store the lane markings of the dedicated lane given by the driving control terminal based on the parameter of the reserved lane marking.

[0050] The first on-vehicle unit 1 is also used to regularly identify whether the reserved lane marking is empty at a preset second time frequency when the vehicle type is an emergency vehicle and the task status is non-idle. If it is not empty, the reserved lane marking will be used as the corresponding applied lane marking. If it is empty, the vehicle's own lane marking will be used as the corresponding applied lane marking. And it will send a first request message carrying the vehicle's own identification, vehicle's own coordinates, vehicle's own speed, and applied lane marking to the first roadside unit 2 on the roadside. Here, the second time frequency is a preset frequency parameter, and the second time frequency is greater than the first time frequency.

[0051] The first on-vehicle unit 1 is also used to forward the first control message broadcast by the first roadside unit 2 on the roadside to the driving control terminal when the vehicle type is a normal vehicle or the vehicle type is an emergency vehicle but the task status is idle. Among them, the first control message includes the first controlled lane marking, the first control start time, and the first control end time.

[0052] Here, the driving control terminals of normal vehicles or emergency vehicles not in the task execution state can actively avoid in advance based on the lane marking and control period (start time, end time) information given therein after receiving the first control message. For example, accelerating forward to leave the current controlled lane, or diverting to both sides of the current controlled lane by means of steering / merging lanes, etc.

[0053] (2) The first roadside unit 2 (Road Side Unit, RSU)

[0054] Each first roadside unit 2 in the embodiment of the present invention is installed on the roadside of a road section. Each first roadside unit 2 is connected to the first cloud 3 in the embodiment of the present invention through the vehicle-cloud communication protocol or other wired or wireless communication protocols in the vehicle networking communication protocol. The number of the first roadside units 2 in the system of the embodiment of the present invention is not unique.

[0055] The first roadside unit 2 is used to store the received first vehicle-end message into a preset first vehicle-end message queue every time a first vehicle-end message is received; and regularly refresh a preset first traffic information set according to the first vehicle-end message queue at a preset third time frequency.

[0056] Here, when the first vehicle-end message queue is not empty, it consists of one or more first vehicle-end messages; the first vehicle-end message includes the vehicle's own coordinates, the vehicle's own speed, and the vehicle's own lane identification. The first traffic information set includes a plurality of first lane traffic information; each first lane traffic information corresponds to a lane in the road section where the first roadside unit 2 corresponding to the current first traffic information set is located; the first lane traffic information includes a passing lane identification and the total number of passing vehicles; the passing lane identification is the lane identification of the corresponding lane; the total number of passing vehicles is the total number of vehicles passing in the corresponding lane. The third time frequency is a preset frequency parameter.

[0057] The first roadside unit 2 is also used to forward the first request message to the first cloud 3.

[0058] The first roadside unit 2 is also used to broadcast the first control message according to the first control message issued by the first cloud 3; and during the broadcast process, regularly identify the empty state of the controlled lane according to the first traffic information set at a preset fourth time frequency and generate a corresponding first roadside message based on the identification result and send it to the first cloud 3.

[0059] Here, the fourth time frequency is a preset time frequency parameter; the first roadside message includes a second controlled lane identification and a first controlled lane state; the first controlled lane state includes emptied and not emptied.

[0060] In a specific implementation manner of the embodiment of the present invention, the first roadside unit 2 is specifically configured to, when refreshing a preset first traffic information set regularly according to a first vehicle-end message queue at a preset third time frequency, regularly use the current time as the corresponding first end time at the third time frequency, and use the time obtained by subtracting a preset first duration from the first time as the corresponding first start time, and record the time period composed of the first end time and the first start time as the corresponding first time period; and cluster the first vehicle-end messages with the same self-lane identifier in the first vehicle-end message queue into a category to form a corresponding first lane message subset; and extract the first vehicle-end messages in each first lane message subset whose message addition time satisfies the first time period to form a corresponding first time period message subset; and identify whether each first time period message subset is empty. If it is empty, set the corresponding first total vehicle number to zero. If it is not empty, cluster the first vehicle-end messages with the same self-identifier in the current first time period message subset into a category to form a corresponding first vehicle message group and use the total number of the first vehicle message group as the corresponding first total vehicle number; and reset the total number of passing vehicles of each first lane traffic information in the first traffic information set to the corresponding first total vehicle number.

[0061] In another specific implementation manner of the embodiment of the present invention, the first roadside unit 2 is specifically configured to, when broadcasting a control message according to a first control message sent by the first cloud 3, use the current first control message as the corresponding current control message; and use the first control end time of the current control message as the corresponding current control end time; and confirm whether there is a control message broadcasting task being executed by the current roadside unit at the current moment; if it is confirmed that there is no control message broadcasting task being executed at the current moment, generate a control message broadcasting task with a broadcast start time of the current time and a broadcast end time of the current control end time, record it as the corresponding current broadcast task, save the current control message locally in the roadside unit as a corresponding archived task message, start the current broadcast task to broadcast the current control message at a preset cyclic broadcast frequency, and create a corresponding relationship between the current broadcast task and the archived task message saved this time; if it is confirmed that there is a control message broadcasting task being executed at the current moment, identify whether there is an archived task message corresponding to a control message broadcasting task being executed that matches the current control message. If it is confirmed that there is none, generate a control message broadcasting task with a broadcast start time of the current time and a broadcast end time of the current control end time, record it as the corresponding current broadcast task, save the current control message locally in the roadside unit as a corresponding archived task message, start the current broadcast task to broadcast the current control message at the cyclic broadcast frequency, and create a corresponding relationship between the current broadcast task and the archived task message saved this time.

[0062] Here, when the first roadside unit 2 of the embodiment of the present invention executes the control message broadcasting task, it broadcasts in a cyclic broadcasting manner. The cyclic broadcasting frequency mentioned above is the number of repeated broadcasts per unit time.

[0063] In another specific implementation manner of the embodiment of the present invention, the first roadside unit 2 is specifically configured to, when regularly identifying the cleared state of the controlled lane according to the first traffic information set at a preset fourth time frequency and generating a corresponding first roadside message based on the identification result and sending it to the first cloud 3, regularly confirm whether there is a currently executing control message broadcasting task on the current roadside unit at the current moment at the fourth time frequency; if it is confirmed that there is, then perform a round of traversal on all currently executing control message broadcasting tasks on the current roadside unit; and during this round of traversal, use the currently traversed control message broadcasting task as the corresponding current broadcasting task, use the archived task message corresponding to the current broadcasting task as the corresponding current task message, and use the first controlled lane identifier of the current task message as the corresponding current controlled lane identifier; and identify whether the total number of passing vehicles of the first lane traffic information whose passing lane identifier in the first traffic information set matches the current controlled lane identifier is zero. If so, set the corresponding first controlled lane state to cleared, and if not, set the corresponding first controlled lane state to not cleared; and use the current controlled lane identifier as the corresponding second controlled lane identifier; and form a corresponding first roadside message from the second controlled lane identifier and the first controlled lane state and send it to the first cloud 3.

[0064] (III) The first cloud 3:

[0065] The first cloud 3 of the embodiment of the present invention can be a remote server, server, system, platform or cloud. The first cloud 3 is used to pre-store the first lane clearing list and the first roadside list locally in the cloud.

[0066] Here, when the first lane clearing list is not empty, it consists of one or more first lane clearing records; the first lane clearing record includes a first lane identifier, a first control period and a first lane clearing state; the first lane clearing state includes not cleared and cleared.

[0067] The first roadside list includes multiple first roadside records; the first roadside records correspond one-to-one with the first roadside units 2; the first roadside record includes a first unit identifier, a first installed lane identifier and a first installed coordinate; the first unit identifier is the unique identifier of the corresponding first roadside unit 2; the first installed lane identifier is the lane identifier corresponding to the installation position of the corresponding first roadside unit 2.

[0068] The first cloud 3 is also used to store the received first request message into a preset first request message queue every time a first request message is received; and when the first request message queue is not empty, perform control message distribution processing according to the first request message queue, the first clearance list, and the first roadside list. When the first request message queue is not empty, it consists of one or more first request messages; the first request message includes the vehicle identification, vehicle coordinates, vehicle speed, and applied lane identification of the vehicle itself.

[0069] The first cloud 3 is also used to store the received first roadside message into a preset first roadside message queue every time a first roadside message is received; and when the first roadside message queue is not empty, update the data of the first clearance list according to the first roadside message queue. When the first roadside message queue is not empty, it consists of one or more first roadside messages; the first roadside message includes the second controlled lane identification and the first controlled lane status; the first controlled lane status includes cleared and not cleared.

[0070] In another specific implementation manner of the embodiment of the present invention, the first cloud 3 is specifically used for performing control message distribution processing according to the first request message queue, the first clearance list, and the first roadside list:

[0071] Step A1, use the first request message with the earliest added time in the first request message queue as the corresponding current request message; and use the vehicle identification, vehicle coordinates, vehicle speed, and applied lane identification of the current request message as the corresponding previous vehicle coordinates, current vehicle speed, and current applied lane identification;

[0072] Step A2, and obtain the driving length from the vehicle coordinates to the lane end position corresponding to the current applied lane identification by querying the high-precision road map preset in the cloud as the corresponding first driving distance; and calculate the corresponding first driving duration according to the first driving distance and the current vehicle speed in a uniform driving mode; and use the current time as the corresponding current start time; and use the time obtained by adding the current start time and the first driving duration as the corresponding current end time; and form a corresponding current control period by the current start time and the current end time;

[0073] Step A3, and use the first clearance record in the first clearance list whose first lane identification matches the current applied lane identification and whose first control period matches the current control period as the corresponding matching clearance record; and confirm whether the matching clearance record is empty; if the matching clearance record is empty, go to step A4; if the matching clearance record is not empty, go to step A5;

[0074] Step A4, add a first cleaning record to the first cleaning list as the corresponding current newly added record; and set the first lane identifier of the current newly added record to the corresponding current application lane identifier, the first control time period to the corresponding current control time period, and the first cleaning status to not cleared; and form a corresponding first control message with the current application lane identifier, the current start time, and the current end time as the corresponding first control lane identifier, the first control start time, and the first control end time; and extract the first unit identifier of the first roadside record in the first roadside list whose first installed lane identifier matches the current application lane identifier as the corresponding first notification unit identifier; and send the first control message to each first roadside unit 2 corresponding to the first notification unit identifier; and proceed to step A6;

[0075] Step A5, identify whether the first cleaning status of the matching cleaning record is cleared; if so, proceed to step A6; if not, form a corresponding first control message with the current application lane identifier, the current start time, and the current end time as the corresponding first control lane identifier, the first control start time, and the first control end time, and extract the first unit identifier of the first roadside record in the first roadside list whose first installed lane identifier matches the current application lane identifier as the corresponding second notification unit identifier, and send the first control message to each first roadside unit 2 corresponding to the second notification unit identifier, and proceed to step A6;

[0076] Step A6, remove the current request message from the first request message queue.

[0077] In another specific implementation manner of the embodiment of the present invention, the first cloud 3 is specifically configured to, when updating the data of the first cleaning list according to the first roadside message queue, use the first roadside message with the earliest addition time in the first roadside message queue as the corresponding current roadside message; and use the second control lane identifier and the first control lane status of the current roadside message as the corresponding current lane identifier and the current lane status; and set the first cleaning status of the first cleaning record in the first cleaning list whose first lane identifier matches the current lane identifier to the corresponding current lane status; and remove the current roadside message from the first roadside message queue.

[0078] An embodiment of the present invention provides a vehicle-road-cloud collaborative system for handling emergency vehicle avoidance tasks. As can be seen from the above, the system includes: a first vehicle-mounted unit, a first roadside unit, and a first cloud; when the vehicle type of the vehicle itself is an emergency vehicle and it is in a task execution state, the first vehicle-mounted unit periodically sends a first request message to the first cloud through the first roadside unit along the road to inform the cloud to clear the lane given in the message; the first cloud processes the received request messages based on an asynchronous processing method, and when processing each request message, it confirms whether the corresponding lane of the message has not been cleared, and when it is confirmed that it has not been cleared, it issues a first control message to the first roadside unit on the current vehicle lane side to inform the roadside to conduct a lane clearing broadcast; while continuously broadcasting based on the first control message, the first roadside unit periodically counts the cleared / non-cleared status of each lane and feeds back the statistical result as a first vehicle-end message to the first cloud; when the vehicle type of the vehicle itself is a normal vehicle or the vehicle type of the vehicle itself is an emergency vehicle but the task status is idle, the first vehicle-mounted unit forwards the first control message broadcast by the first roadside unit on the roadside to the driving control end. The driving control end of the emergency vehicle only needs to continuously output the avoidance lane information (the current lane or the next lane) planned by itself to the embodiment of the present invention, and the embodiment of the present invention can perform unified lane clearing scheduling for the current emergency vehicle. In this way, not only the technical effects of unified scheduling and early dredging are achieved, but also technical guarantees are provided for improving the passing efficiency of emergency vehicles.

[0079] Those skilled in the art should also be able to further realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Skilled professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0080] The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0081] The specific embodiments described above further elaborate on the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vehicle-road-cloud collaborative system for handling emergency vehicle avoidance tasks, characterized in that: The system comprises: a first vehicle-mounted unit, a first roadside unit and a first cloud; Each of the first on-board units is installed on a vehicle; each of the first roadside units is installed on the roadside of a road section; the first on-board unit is connected to the first roadside unit via a vehicle-road communication protocol in a vehicle networking communication protocol; the first roadside unit is connected to the first cloud via a vehicle-cloud communication protocol or other wired or wireless communication protocols in a vehicle networking communication protocol; The first on-board unit is used to identify whether the vehicle where the current on-board unit is located is a type of emergency vehicle when it is turned on, restarted or reset. If so, the corresponding vehicle type is set to an emergency vehicle, otherwise the corresponding vehicle type is set to an ordinary vehicle; and connect with the driving control end of the vehicle where the current on-board unit is located; and initialize the corresponding vehicle identifier based on the vehicle identifier locally stored in the current on-board unit; and initialize the corresponding vehicle coordinates to empty, the vehicle speed to empty, the vehicle lane identifier to empty, the task state to idle, and the reserved lane identifier to empty; the task state includes idle and non-idle; The first vehicle-mounted unit is also used to periodically obtain the vehicle real-time coordinates, the vehicle real-time speed, and the vehicle real-time lane identification from the driving control end at a preset first time frequency to refresh the corresponding own-vehicle coordinates, the own-vehicle speed, and the own-vehicle lane identification; and identify whether the reserved lane identification is empty, and if it is not empty, confirm whether the reserved lane identification is the upstream identification of the own-vehicle lane identification, and if it is confirmed, clear the reserved lane identification; and send a first vehicle-side message carrying the own-vehicle identification, the own-vehicle coordinates, the own-vehicle speed, and the own-vehicle lane identification to the first roadside unit on the roadside; The first vehicle-mounted unit is further used to identify the instruction type of the vehicle-side control instruction sent by the driving control end when the vehicle type is an emergency vehicle; if the instruction type is a state switching instruction, the task state is identified, and if the task state is idle, the task state is reset to non-idle, and if the task state is non-idle, the task state is reset to idle; if the instruction type is a lane setting instruction, the corresponding lane mark is extracted from the instruction parameters of the vehicle-side control instruction to set the reserved lane mark; The first vehicle-mounted unit is further used to periodically identify whether the reserved lane mark is empty according to a preset second time frequency when the self-vehicle type is an emergency vehicle and the task state is non-idle; if it is not empty, the reserved lane mark is used as the corresponding application lane mark; if it is empty, the self-vehicle lane mark is used as the corresponding application lane mark; and send a first request message carrying the self-vehicle mark, the self-vehicle coordinates, the self-vehicle speed and the application lane mark to the first roadside unit on the roadside; the second time frequency is greater than the first time frequency; The first vehicle-mounted unit is further configured to forward the first control message broadcast by the first roadside unit on the roadside to the driving control terminal when the vehicle type is a common vehicle or the vehicle type is an emergency vehicle but the mission state is idle; The first roadside unit is used to store the first vehicle-side message received at that time into a preset first vehicle-side message queue every time the first vehicle-side message is received; and to regularly refresh the preset first traffic information set according to the first vehicle-side message queue at a preset third time frequency; The first roadside unit is further used to forward the first request message to the first cloud; The first roadside unit is further configured to broadcast a control message according to the first control message sent by the first cloud; and during the broadcasting process, regularly identify the clearing state of the controlled lane according to the first traffic information set at a preset fourth time frequency and generate a corresponding first roadside message based on the identification result and send it to the first cloud; The first cloud is used to pre-store the first road clearance list and the first roadside list locally in the cloud; The first cloud is further configured to store the first request message received at that time into a preset first request message queue each time the first request message is received; and when the first request message queue is not empty, perform control message distribution processing according to the first request message queue, the first road clearing list and the first roadside list; The first cloud is also used to store the first roadside message received at that time into a preset first roadside message queue every time the first roadside message is received; and when the first roadside message queue is not empty, update the data of the first road clearing list according to the first roadside message queue.

2. The vehicle-road-cloud collaborative system for handling emergency vehicle avoidance tasks according to claim 1, characterized in that: The vehicle-side control instruction includes the instruction type and the instruction parameter; the instruction type includes at least a state switching instruction and a lane setting instruction; when the instruction type is a state switching instruction, the instruction parameter is empty; when the instruction type is a lane setting instruction, the instruction parameter is a lane identifier; The first traffic information set includes a plurality of first lane traffic information; each of the first lane traffic information corresponds to a lane in the road section where the first roadside unit corresponding to the current first traffic information set is located; the first lane traffic information includes a traffic lane identifier and a total number of passing vehicles; the traffic lane identifier is a lane identifier of a corresponding lane; the total number of passing vehicles is the total number of vehicles passing in the corresponding lane; The first control message includes a first control lane identifier, a first control start time and a first control end time; When the first road-clearing list is not empty, it is composed of one or more first road-clearing records; the first road-clearing record includes a first lane mark, a first control period, and a first road-clearing status; the first road-clearing status includes not cleared and cleared; The first roadside list includes a plurality of first roadside records; the first roadside records correspond to the first roadside units one by one; the first roadside records include a first unit identifier, a first installation lane identifier and a first installation coordinate; the first unit identifier is a unique identifier of the corresponding first roadside unit; When the first vehicle-side message queue is not empty, it is composed of one or more first vehicle-side messages; the first vehicle-side message includes the vehicle coordinates, the vehicle speed and the vehicle lane identifier; When the first request message queue is not empty, it is composed of one or more first request messages; the first request message includes the vehicle identifier, the vehicle coordinates, the vehicle speed and the requested lane identifier; When the first roadside message queue is not empty, it is composed of one or more first roadside messages; the first roadside message includes a second controlled lane identifier and a first controlled lane status; The first controlled lane status includes cleared and not cleared.

3. The vehicle-road-cloud collaborative system for handling emergency vehicle avoidance tasks according to claim 2, characterized in that: The first roadside unit is specifically used for periodically using the current time as the corresponding first end time according to the third time frequency when the preset first traffic information set is refreshed according to the first vehicle-side message queue at a preset third time frequency, and subtracting the first time from the first time The time obtained by the preset first duration is used as the corresponding first start time, and the time period composed of the first end time and the first start time is recorded as the corresponding first time period; and the first vehicle-side messages with the same self-vehicle lane identifier in the first vehicle-side message queue are grouped into a category to form a corresponding first lane message subset; and the first vehicle-side messages whose message addition time meets the first time period are extracted from each of the first lane message subsets to form a corresponding first time period message subset; and whether each of the first time period message subsets is empty is identified, and if it is empty, the corresponding first total number of vehicles is set to zero; if it is not empty, the first vehicle-side messages with the same self-vehicle identifier in the current first time period message subset are grouped into a category to form a corresponding first vehicle message group, and the total number of the first vehicle message group is used as the corresponding first total number of vehicles; and the total number of passing vehicles of each first lane traffic information in the first traffic information set is reset to the corresponding first total number of vehicles.

4. The vehicle-road-cloud collaborative system for handling emergency vehicle avoidance tasks according to claim 2, characterized in that: The first roadside unit is specifically configured to use the current first control message as the corresponding current control message when broadcasting the control message according to the first control message sent by the first cloud; and taking the first control end time of the current control message as the corresponding current control end time; And confirm whether the current roadside unit has any control message broadcast task being executed at the current moment; if it is confirmed that there is no control message broadcast task being executed at the current moment, then generate a control message broadcast task with a broadcast start time of the current time and a broadcast end time of the current control end time as the corresponding current broadcast task, and save the current control message locally in the roadside unit as a corresponding archive task message, and start the current broadcast task to broadcast the current control message at a preset cyclic broadcast frequency, and create a corresponding relationship between the current broadcast task and the archive task message saved this time; if it is confirmed that there is For the control message broadcast task being executed, it is identified whether there is an archived task message corresponding to the control message broadcast task being executed that matches the current control message. If it is confirmed that there is not, a control message broadcast task with a broadcast start time of the current time and a broadcast end time of the current control end time is generated and recorded as the corresponding current broadcast task, and the current control message is saved locally in the roadside unit as a corresponding archived task message, and the current broadcast task is started to broadcast the current control message at the cyclic broadcast frequency, and a corresponding relationship is created between the current broadcast task and the archived task message saved this time.

5. The vehicle-road-cloud collaborative system for handling emergency vehicle avoidance tasks according to claim 4, characterized in that: The first roadside unit is specifically used to periodically confirm whether there is a control message broadcast task being executed by the current roadside unit at the current moment according to the fourth time frequency when the clearing state of the controlled lane is regularly identified according to the first traffic information set according to the preset fourth time frequency and a corresponding first roadside message is generated based on the identification result and sent to the first cloud; if it is confirmed that there is, all the control message broadcast tasks being executed on the current roadside unit are traversed in one round; and in this round of traversal, the control message broadcast task currently being traversed is used as the corresponding current broadcast task, and the archived task message corresponding to the current broadcast task is used as the corresponding current task message, and use the first controlled lane identifier of the current task message as the corresponding current controlled lane identifier; and identify whether the total number of passing vehicles in the first lane traffic information whose passing lane identifier in the first traffic information set matches the current controlled lane identifier is zero, if so, set the corresponding first controlled lane state to be cleared, otherwise set the corresponding first controlled lane state to be not cleared; and use the current controlled lane identifier as the corresponding second controlled lane identifier; and the second controlled lane identifier and the first controlled lane state form a corresponding first roadside message and send it to the first cloud.

6. The vehicle-road-cloud collaborative system for handling emergency vehicle avoidance tasks according to claim 2, characterized in that: The first cloud is specifically used for, when the control message is sent and processed according to the first request message queue, the first road clearing list and the first roadside list: Step 61, taking the first request message with the earliest adding time in the first request message queue as the corresponding current request message; and taking the own vehicle identification, the own vehicle coordinates, the own vehicle speed and the requested lane identification of the current request message as the corresponding front vehicle coordinates, current vehicle speed and current requested lane identification; Step 62, by querying the high-precision road map preset in the cloud, the driving length from the vehicle coordinates to the lane end position corresponding to the currently applied lane mark is obtained as the corresponding first driving distance; and according to the uniform driving mode, the corresponding first driving duration is calculated according to the first driving distance and the current vehicle speed; and the current time is used as the corresponding current start time; and the time obtained by adding the current start time and the first driving duration is used as the corresponding current end time; and the current start time and the current end time form a corresponding current control period; Step 63, and taking the first lane identification in the first lane-clearing list that matches the current lane identification and the first control period that matches the current control period as the corresponding matching lane-clearing record; and confirming whether the matching lane-clearing record is empty; if the matching lane-clearing record is empty, go to step 64; if the matching lane-clearing record is not empty, go to step 65; Step 64, adding a first road-clearing record to the first road-clearing list as the corresponding current newly added record; setting the first lane identifier of the current newly added record to the corresponding currently applied lane identifier, the first control period to the corresponding current control period, and the first road-clearing state to not cleared; and forming a corresponding first control message with the currently applied lane identifier, the current start time and the current end time as the corresponding first controlled lane identifier, the first control start time and the first control end time; and extracting the first unit identifier of the first roadside record that matches each of the first installed lane identifiers and the currently applied lane identifier in the first roadside list as the corresponding first notification unit identifier; and sending the first control message to each of the first roadside units corresponding to the first notification unit identifiers; and going to step 66; Step 65, identifying whether the first road clearing status of the matching road clearing record is cleared; if so, go to step 66; if not, using the current application lane identifier, the current start time and the current end time as the corresponding first controlled lane identifier, the first control start time and the first control end time to form a corresponding first control message, and extracting the first unit identifier of the first roadside record that matches each of the first installed lane identifiers and the current application lane identifier in the first roadside list as the corresponding second notification unit identifier, and sending the first control message to each of the first roadside units corresponding to the second notification unit identifiers, and go to step 66; Step 66: remove the current request message from the first request message queue.

7. The vehicle-road-cloud collaborative system for handling emergency vehicle avoidance tasks according to claim 2, characterized in that: The first cloud is specifically used to, when updating the data of the first road-clearing list according to the first road-side message queue, use the first road-side message with the earliest addition time in the first road-side message queue as the corresponding current road-side message; use the second controlled lane identification and the first controlled lane status of the current road-side message as the corresponding current lane identification and current lane status; and set the first road-clearing status of the first road-clearing record in which the first lane identification in the first road-clearing list matches the current lane identification as the corresponding current lane status; and remove the current road-side message from the first road-side message queue.

Images