Vehicle passing control method and electronic equipment

Abstract

The invention provides a vehicle passing control method and electronic equipment, and relates to the technical field of intelligent traffic. The method comprises the steps that if a reservation request sent by an emergency vehicle is received, and the reservation request comprises a congestion position, at least one candidate temporary passage is generated according to vehicle distribution data at the congestion position; determining a target temporary passage in the at least one candidate temporary passage based on a preset target optimization strategy; wherein the target optimization strategy is set based on the passing cost corresponding to the candidate temporary passing channel; and according to the target temporary passage channel, generating a passage planning strategy, based on the passage planning strategy, generating a moving instruction of the cooperative vehicle, and sending the moving instruction to the corresponding cooperative vehicle for moving. And the emergency vehicle can pass through the congestion position through the target temporary passage, so that the passing efficiency of the emergency vehicle is improved, and the influence on other vehicles is reduced to the maximum extent.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and in particular to a vehicle traffic control method and electronic device. Background Technology

[0002] The efficiency of emergency vehicle passage is directly related to the safety of life and property. However, in sections of road with high traffic volume, limited lane space, or densely parked vehicles, emergency vehicles often face traffic obstruction, which seriously affects their passage efficiency.

[0003] In related technologies, to ensure the passage efficiency of emergency vehicles, a "green wave" system can be implemented by linking emergency vehicles with traffic lights. For example, when an emergency vehicle approaches a traffic light, the traffic light turns green in advance, or an exemption is granted for running a red light. However, this solution is only suitable for non-congested road sections and cannot effectively improve the passage efficiency of emergency vehicles on congested road sections. Summary of the Invention

[0004] This application provides a vehicle traffic control method and electronic device to solve the problem in related technologies where green wave traffic is achieved through the linkage of emergency vehicles and traffic lights, but the efficiency of emergency vehicle traffic cannot be effectively improved in congested road sections.

[0005] In a first aspect, embodiments of this application provide a vehicle traffic control method, including: If a reservation request is received from an emergency vehicle, and the reservation request includes the location of the congestion, then at least one candidate temporary passageway is generated based on the vehicle distribution data at the congestion location. Based on a preset target optimization strategy, a target temporary passage is determined from at least one candidate temporary passage; wherein, the target optimization strategy is set based on the passage cost corresponding to the candidate temporary passage. Based on the target temporary passage, a passage planning strategy is generated, and based on the passage planning strategy, a relocation instruction for the cooperating vehicles is generated and sent to the corresponding cooperating vehicles to carry out the relocation.

[0006] Based on the above technical content, this application embodiment, upon receiving a reservation request from an emergency vehicle, which includes the location of congestion, can generate at least one candidate temporary passage lane based on vehicle distribution data at the congestion location, providing multiple options for emergency vehicles to pass through congested road sections, offering high flexibility. Furthermore, since the passage costs corresponding to different candidate temporary passage lanes may differ, a target temporary passage lane can be determined from at least one candidate temporary passage lane according to a target optimization strategy set based on the passage cost, minimizing interference to other vehicles. After determining the target temporary passage lane, a traffic planning strategy can be determined based on the target temporary passage lane, and based on the traffic planning strategy, a maneuvering instruction for cooperating vehicles can be generated. Upon receiving the maneuvering instruction, the cooperating vehicles maneuver accordingly, thereby constructing the target temporary passage lane. Emergency vehicles can then pass through the congested location via this target temporary passage lane, effectively improving the passage efficiency of emergency vehicles and reducing reliance on infrastructure such as traffic lights. This application can be used in various scenarios such as urban congested road sections, tunnels, bridges, and intersections without traffic lights, demonstrating high versatility. In addition, the coordinated vehicles can create a temporary passage for the target by maneuvering, without having to change lanes or clear specific lanes. This reduces the impact on the coordinated vehicles and also effectively improves the efficiency of creating a temporary passage for the target.

[0007] In one possible implementation, based on a preset target optimization strategy, a target temporary passage is determined from at least one candidate temporary passage, including: For each candidate temporary passage, determine the number of corresponding cooperating vehicles and the displacement of each cooperating vehicle; Based on the number of cooperating vehicles corresponding to each candidate temporary passage and the displacement of each cooperating vehicle, as well as the target optimization strategy, a target temporary passage is determined from at least one candidate temporary passage; wherein, the target optimization strategy takes minimizing the passage cost corresponding to the candidate temporary passage as the optimization objective.

[0008] In this embodiment, the optimization objective is to minimize the passage cost. By combining the number of cooperating vehicles corresponding to each candidate temporary passage and the displacement of each cooperating vehicle, a target temporary passage is selected from at least one candidate temporary passage. This improves the accuracy and rationality of the selection of target temporary passages, effectively reduces the interference of emergency vehicles on other vehicles during passage, reduces the resource consumption and risk of re-congestion caused by the relocation of cooperating vehicles, and ensures the efficiency and stability of priority passage for emergency vehicles.

[0009] In one possible implementation, minimizing the passage cost includes minimizing the number of cooperating vehicles and minimizing the amount of maneuvering. Based on the number of cooperating vehicles corresponding to each candidate temporary passage and the displacement of each cooperating vehicle, as well as the target optimization strategy, a target temporary passage is determined from at least one candidate temporary passage, including: Based on the number of cooperating vehicles corresponding to each candidate temporary passage, obtain the candidate temporary passage with the fewest cooperating vehicles. If there are multiple candidate temporary passage lanes with the fewest number of cooperating vehicles, the overall relocation amount is obtained based on the relocation amount of each cooperating vehicle corresponding to the candidate temporary passage lane. The overall relocation amount corresponding to the candidate temporary passage with the fewest number of cooperating vehicles is compared, and the candidate temporary passage with the fewest overall relocation amount is selected as the target temporary passage.

[0010] Here, the candidate temporary passage with the fewest cooperating vehicles is selected first, reducing the number of cooperating vehicles involved in the maneuver, thereby reducing scheduling complexity and interference with other vehicles. In addition, if there are multiple candidate temporary passages with the fewest cooperating vehicles, the candidate temporary passage with the smallest overall maneuver displacement is further selected as the target temporary passage, reducing the distance and energy consumption of cooperating vehicle maneuvers, and reducing the time consumption and congestion risk of maneuver operations.

[0011] In one possible implementation, at least one candidate temporary passageway is generated based on vehicle distribution data at the congested location, including: The reservation request is subject to a pre-defined validity check; the pre-defined validity check includes: verifying the legality of the emergency vehicle's identity and / or verifying the authenticity of the congestion location's status; If the verification passes, at least one candidate temporary passageway will be generated based on the vehicle distribution data at the congested location.

[0012] Here, before generating candidate temporary passageways, the reservation requests are verified for identity legitimacy and / or the authenticity of the congestion location status. This effectively filters reservation requests initiated by non-emergency vehicles and invalid requests with inaccurate congestion locations, ensuring the validity of reservation requests and avoiding resource waste caused by invalid reservations.

[0013] In one possible implementation, the reservation request undergoes a pre-defined validity check, including: Acquire images containing emergency vehicles and verify the identity and legitimacy of the emergency vehicles based on the images; And / or, Based on the vehicle distribution data at congested locations, the authenticity of the status of the congested locations is verified.

[0014] This application embodiment verifies the legitimacy of emergency vehicles by including images of them, effectively preventing non-emergency vehicles from occupying emergency resources. Furthermore, it verifies the authenticity of congestion locations by using vehicle distribution data, effectively eliminating false congestion requests.

[0015] In one possible implementation, the reservation request also includes the vehicle type of the emergency vehicle; Based on the image, verify the identity and legitimacy of the emergency vehicle, including: The images are recognized to obtain the vehicle authentication information of the emergency vehicles; Based on the vehicle type, the corresponding baseline authentication rules are determined. If the vehicle authentication information conforms to the baseline authentication rules, the identity legitimacy verification is deemed successful.

[0016] Based on the above technical content, vehicle authentication information is extracted through image recognition and matched with the benchmark authentication rules of the corresponding vehicle type, thereby verifying the legality of emergency vehicle identity and effectively preventing non-emergency vehicles from occupying emergency resources.

[0017] In one possible implementation, the reservation request also includes the estimated time for the emergency vehicle to arrive at the congestion location; Based on the target temporary access route, generate a traffic planning strategy, including: Based on the estimated time when emergency vehicles arrive at the congestion location, the reserved passage time for emergency vehicles to pass through the target temporary passage lane is obtained; Based on the target temporary access lane and the reserved access time period, a traffic planning strategy is generated.

[0018] In this embodiment, the scheduled passage time is determined by combining the estimated arrival time of emergency vehicles at the congested location. This effectively solves the problem of inappropriate relocation timing by integrating the target temporary passage in the spatial dimension with the scheduled passage time in the temporal dimension. Simultaneously, the scheduled passage time provides a time node for generating coordinated vehicle relocation instructions, thereby ensuring that relocation is completed by the time emergency vehicles arrive at the target temporary passage, improving traffic efficiency.

[0019] In one possible implementation, the reservation request also includes the vehicle type of the emergency vehicle; Based on vehicle distribution data at congested locations, at least one candidate temporary passageway is generated, including: Determine traffic priority based on the type of emergency vehicle; If other reservation requests exist at the congested location, and if so, determine whether the reservation request has the right of way based on the preset right-of-way allocation rules, the passage priority corresponding to the reservation request, and the passage priority corresponding to other reservation requests. If the reservation request has the right of way, at least one candidate temporary passage lane is generated based on the vehicle distribution data at the congested location.

[0020] In this embodiment, the priority of passage is determined by combining vehicle type, and the right of passage is allocated based on the priority of passage. This solves the problem of conflict when multiple emergency vehicles make reservation requests and need to pass through the same congested location, and effectively ensures the orderliness of emergency passage.

[0021] In one possible implementation, the vehicle traffic control method also includes: Receive maneuvering status information from the cooperating vehicles and determine whether there are any anomalies based on the maneuvering status information; If an anomaly is found, the corresponding collaborative relocation anomaly handling operation will be executed according to the anomaly type.

[0022] Here, based on the relocation status information fed back by the collaborative vehicles, the vehicle relocation execution status is monitored. When an anomaly is detected, the collaborative relocation anomaly handling operation corresponding to the anomaly type is executed to ensure the stability and reliability of the relocation process.

[0023] In one possible implementation, based on the exception type, corresponding collaborative relocation exception handling operations are performed, including: If the anomaly type is that some cooperative vehicles are not responding, then adjust the displacement of other cooperative vehicles adjacent to the unresponsive cooperative vehicles. If the anomaly type is "collision risk", the reservation time period will be delayed according to the delay strategy corresponding to the collision risk, and the traffic planning strategy will be adjusted according to the collision risk. If the exception type is communication interruption, then switch to the backup communication link for communication.

[0024] Among them, for different types of anomalies such as some cooperative vehicles not responding, collision risk, and communication interruption, corresponding cooperative maneuvering anomaly handling operations are adopted, which effectively improves the accuracy of anomaly handling.

[0025] Secondly, embodiments of this application provide a vehicle traffic control device, comprising: The generation module is used to generate at least one candidate temporary passageway based on the vehicle distribution data at the congestion location if it receives a reservation request from an emergency vehicle, and the reservation request includes the location of the congestion. The determination module is used to determine a target temporary passage from at least one candidate temporary passage based on a preset target optimization strategy; wherein the target optimization strategy is set based on the passage cost corresponding to the candidate temporary passage. The generation module is also used to generate a traffic planning strategy based on the target temporary passage, and based on the traffic planning strategy, generate relocation instructions for the cooperating vehicles, and send the relocation instructions to the corresponding cooperating vehicles for relocation.

[0026] Thirdly, embodiments of this application provide an electronic device, including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, it implements the vehicle traffic control method as described in any of the first aspects.

[0027] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle traffic control method as described in any of the first aspects.

[0028] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here.

[0029] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application; Figure 2 This is a schematic flowchart of a vehicle traffic control method provided in an embodiment of this application; Figure 3 This is a flowchart illustrating a vehicle traffic control method provided in another embodiment of this application; Figure 4 This is a schematic diagram of the structure of a vehicle access control device provided in one embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0032] The present application will be described more clearly below with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the function of the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0033] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0034] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0035] In the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0036] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0037] Furthermore, the term "multiple" mentioned in the embodiments of this application should be interpreted as two or more.

[0038] One related technology enables "green wave" traffic flow by linking emergency vehicles with traffic lights. However, this solution is only suitable for non-congested road sections and cannot effectively improve the passage efficiency of emergency vehicles in congested areas. Furthermore, this solution is limited by the coverage of traffic lights and fails in scenarios such as tunnels and intersections without traffic lights. Additionally, the response requires the emergency vehicle to approach the traffic light, which introduces a certain lag, making it difficult to create passage space promptly when vehicles are densely packed in congested areas, resulting in poor timeliness.

[0039] One related technology employs a passive avoidance alert scheme to improve the passage efficiency of emergency vehicles. Specifically, avoidance alerts are pushed to surrounding vehicles via V2X communication or mobile terminal applications (APPs), such as enhanced horn blasts or voice prompts. However, this scheme relies on the driver actively slowing down to avoid the emergency vehicle, lacks mandatory constraints, and has low avoidance efficiency. Furthermore, if the driver does not receive the avoidance alert in time or refuses to cooperate, the avoidance will fail, preventing the emergency vehicle from quickly passing through congested road sections.

[0040] In another related technology, some cities have emergency green lanes in their planning, but these are only designated as fixed lanes. When there is severe congestion and the emergency green lanes are occupied, they cannot function effectively and cannot improve the passage efficiency of emergency vehicles.

[0041] In another related technology, based on a dynamic emergency green channel, emergency vehicles can send priority passage signals to roadside units. Roadside sensing units collect lane vehicle distribution data and upload it to an edge computing unit. The edge computing unit calculates the emergency lane trigger point and lane-changing coordinates of other vehicles based on the emergency vehicle's position, speed, and the distribution of vehicles in the lane, and sends these coordinates to a near-end server. The near-end server then sends the lane-changing coordinates to each vehicle. When the emergency vehicle reaches the trigger point, other vehicles begin clearing the emergency lane according to the planned positions. However, this scheme limits emergency vehicles from changing lanes during operation and fixes the emergency lane as the outermost lane, resulting in poor flexibility. Furthermore, in congested areas, there are many other vehicles in the emergency lane, significantly impacting other vehicles and reducing the efficiency of clearing the emergency lane.

[0042] The applicant has found that, in order to ensure the efficient passage of emergency vehicles and reduce their impact on other vehicles, it is necessary to consider a new method for controlling the passage of emergency vehicles.

[0043] To improve the efficiency of emergency vehicles in congested areas and reduce the impact on other vehicles, this application's implementation method addresses the issue that emergency vehicles may travel through multiple lanes, allowing them to pass between any two adjacent lanes. Therefore, upon receiving a reservation request from an emergency vehicle, at least one candidate temporary passageway can be determined based on vehicle distribution data at the congested location. Providing one or more candidate temporary passageways offers multiple options for emergency vehicles to pass through congested areas, offering high flexibility. Furthermore, since the passage costs of different candidate temporary passageways vary, a target temporary passageway can be determined from at least one candidate passageway to minimize interference with other vehicles' normal driving. This is achieved through a target optimization strategy based on the passage costs corresponding to the candidate temporary passageways. Additionally, to further reduce the impact on cooperating vehicles, the target temporary passageway can be constructed by controlling the cooperating vehicles to move slightly, eliminating the need to control them to change lanes to clear specific lanes. This approach reduces the impact on cooperating vehicles while effectively improving the efficiency of constructing the target temporary passageway.

[0044] First refer to Figure 1 , Figure 1 The illustration shows an application scenario diagram provided according to the embodiments of this application. The equipment involved in the application scenario includes cloud servers, roadside end equipment, emergency vehicles and collaborative vehicles. The above-mentioned equipment can realize data interaction through V2X communication and network transmission to form a collaborative closed loop.

[0045] The core functions of the emergency vehicle are congestion location detection, reservation request initiation, and traffic status feedback. Specifically, the emergency vehicle includes a navigation and congestion detection module, a reservation request module, a V2X communication module, and a status feedback module. The navigation and congestion detection module integrates a high-precision navigation map with a positioning accuracy of less than or equal to 0.5m. It is used to acquire the emergency vehicle's driving route in real time and monitor congestion locations along the route using data collected from roadside equipment and its own sensor data. The reservation request module automatically generates reservation requests. The V2X communication module can use C-V2X or 5G NR-V2X communication technology to achieve data transmission with roadside equipment and the cloud server, with a transmission latency of less than or equal to 50ms. The status feedback module collects the emergency vehicle's speed, location, and traffic progress in real time, and after completion, it sends a completion status report to the cloud server via the roadside equipment.

[0046] The core function of the cooperative vehicle is to receive maneuvering instructions and execute micro-maneuvering operations. Specifically, this can include an instruction receiving module, a vehicle control module, and a safety monitoring module. The instruction receiving module receives maneuvering instructions from roadside equipment. The vehicle control module works in conjunction with the Electronic Stability Program (ESP) and Electric Power Steering (EPS) to achieve automated micro-displacement without driver intervention. The safety monitoring module integrates millimeter-wave radar and / or cameras to monitor the distance to surrounding vehicles and pedestrians in real time and determine the existence of collision risks.

[0047] The roadside equipment serves as the communication hub between emergency vehicles, collaborating vehicles, and the cloud server, and includes a multi-source data acquisition module, an edge computing module, and a communication forwarding module. The multi-source data acquisition module includes, but is not limited to, roadside cameras, radar, and geomagnetic sensors, which collect real-time data on the position, speed, and spacing of vehicles around congested areas. The edge computing module deploys a lightweight collaborative scheduling algorithm to process traffic planning strategies issued by the cloud server, generating maneuvering instructions for individual vehicles and reducing the computing power burden on the cloud server. The communication forwarding module is used to forward data between emergency vehicles, collaborating vehicles, and the cloud server, ensuring communication stability in scenarios with signal obstruction.

[0048] The cloud server includes a reservation management module, a priority evaluation module, a spatial resource planning module, a collaborative scheduling module, and a global monitoring module. The reservation management module receives reservation requests forwarded by roadside devices and verifies their validity. The priority evaluation module determines the priority of the reservation request and allocates right-of-way to congested locations according to this priority. The spatial resource planning module plans target temporary passageways and identifies cooperating vehicles based on vehicle distribution data collected by roadside devices at congested locations. The collaborative scheduling module uses a distributed multi-agent reinforcement learning algorithm to determine the displacement direction and maneuvering amount of each cooperating vehicle, generating a traffic planning strategy. The global monitoring module monitors the progress of cooperating vehicle maneuvers and the passage status of emergency vehicles in real time, identifies any anomalies, and dynamically adjusts the traffic planning strategy when anomalies occur.

[0049] The following is combined with Figure 1 Application scenarios, refer to Figures 2-3 This application describes a vehicle traffic control method provided according to exemplary embodiments. It should be noted that the above application scenarios are shown only to facilitate understanding of the spirit and principles of this application, and the embodiments of this application are not limited in any way. Rather, the embodiments of this application can be applied to any applicable scenario.

[0050] It should be noted that the embodiments of this application can be applied to a cloud server or a vehicle's host computer, that is, the vehicle access control method provided by the exemplary embodiments of this application can be executed on a cloud server or a vehicle's host computer.

[0051] Cloud servers can be monolithic servers or distributed servers spanning multiple computers or computer data centers. They can also be of various categories, such as, but not limited to, web servers, application servers, database servers, or proxy servers.

[0052] Optionally, a cloud server may include hardware, software, or embedded logic components for performing suitable functions supported or implemented by the server, or a combination of two or more such components. For example, a cloud server may be a blade server, a cloud server, or a server group consisting of multiple servers, which may include one or more of the above-mentioned categories of servers, etc.

[0053] It should be noted that the vehicle access control method provided according to the exemplary embodiments of this application can be executed on the same device or on different devices.

[0054] refer to Figure 2 , Figure 2 This is a schematic flowchart of a vehicle traffic control method provided in an embodiment of this application. The method of this embodiment is illustrated by example, using a cloud server executing the method. Figure 2 As shown, the method in the embodiments of this application may include: Step 201: If a reservation request is received from an emergency vehicle, and the reservation request includes the location of the congestion, then at least one candidate temporary passage is generated based on the vehicle distribution data at the congestion location.

[0055] In one possible implementation, the emergency vehicle can synchronize its route after starting. When congestion is detected along the route, a reservation request can be automatically generated and sent to a cloud server. In one implementation scenario, the emergency vehicle can send the reservation request directly to the cloud server, or it can send the reservation request through roadside equipment.

[0056] In one implementation scenario, the timing for initiating a reservation request can be when the distance between the emergency vehicle and the congested location is within a preset distance range. The preset distance range can be set according to actual needs, such as 1km-2km, to ensure that a certain amount of time, such as 60-90 seconds, is reserved for the cooperating vehicle to make relocation.

[0057] Optionally, emergency vehicles can determine whether there are congested locations on their travel route based on vehicle distribution data collected by roadside equipment and data from their own sensors. Specifically, a congested location can be identified when the queue length is greater than or equal to a preset length, the average vehicle speed is less than or equal to a preset speed threshold, and the distance between vehicles is less than or equal to a preset distance threshold. Here, the preset length, preset speed threshold, and preset distance threshold can be set according to actual needs. For example, the preset length is 50m, the preset speed threshold is 5km / h, and the preset distance threshold is 1.5m.

[0058] Roadside equipment includes, but is not limited to, roadside cameras, radar, and geomagnetic sensors. Typically, roadside equipment has a certain coverage area and collects vehicle distribution data at a preset frequency. For example, the coverage area of ​​roadside equipment is ≤50m, and the preset frequency is ≥10Hz. Here, vehicle distribution data includes, but is not limited to, the position, speed, and spacing of surrounding vehicles.

[0059] The reservation request includes, but is not limited to, information such as the emergency vehicle's type, destination, location of congestion, estimated time of arrival (ETA), and traffic requirements. Emergency vehicle types include, but are not limited to, ambulances, fire trucks, and police cars. Traffic requirements include, but are not limited to, the required lane width.

[0060] Candidate temporary passage lanes can be areas between any two adjacent lanes or any lane itself. In some embodiments, at least one candidate temporary passage lane is generated based on vehicle distribution data at the congestion location; specifically, the location, width, and length of the candidate temporary passage lane are determined.

[0061] In one implementation scenario, the location of each candidate temporary passage lane can be determined by combining the congestion location, lane topology information of the road segment where the congestion location is located, the positions of surrounding vehicles, lateral spacing, and the required passage width carried in the reservation request. Optionally, for any two adjacent lanes, the maximum physically available width that can be formed between the two lanes can be determined based on the positions of vehicles in the two lanes and the lateral spacing between vehicles. If this maximum physically available width is greater than the required passage width, the area between the two lanes can be used as a candidate temporary passage lane. The location of the candidate temporary passage lane can be determined based on the lane position and the congestion location. The lane topology information can be collected by roadside equipment, including but not limited to information such as the number of lanes and lane width.

[0062] Optionally, the width of the candidate temporary passageway can be determined based on the maximum physically available width that can be formed between the two lanes and the required passageway width. Here, to ensure that emergency vehicles can pass through the candidate temporary passageway, the width of the candidate temporary passageway must be greater than the required passageway width carried in the reservation request.

[0063] In one possible implementation, the length of the congestion point can be determined based on the positions of surrounding vehicles, and the length of the candidate temporary passage can be determined based on the length of the congestion point to allow emergency vehicles to pass through the congested section of the road. In one implementation scenario, the length of the candidate temporary passage is greater than a preset length threshold to ensure sufficient passage space for emergency vehicles. The preset length threshold can be set according to actual needs, such as 30m.

[0064] In some embodiments, to avoid ineffective planning and reduce unnecessary vehicle relocation operations and road resource occupation, after receiving a reservation request from an emergency vehicle, the reservation request can be validated first, and subsequent operations such as generating candidate temporary passage lanes can only be performed after the validity verification is passed.

[0065] In one implementation scenario, since emergency vehicles come in various types, each with different levels of urgency, when multiple emergency vehicles send reservation requests for the same congested location, the right-of-way for the congested location can be allocated according to the level of urgency, resolving the conflict issue between multiple reservation requests.

[0066] Step 202: Based on a preset target optimization strategy, determine a target temporary passage from at least one candidate temporary passage; wherein the target optimization strategy is set based on the passage cost corresponding to the candidate temporary passage.

[0067] Here, the passage cost corresponding to each candidate temporary passage lane has a certain difference. In order to reduce the impact on other vehicles, the passage cost of multiple candidate temporary passage lanes can be determined. Then, among the multiple candidate temporary passage lanes, the candidate temporary passage lane with the lowest passage cost is selected as the target temporary passage lane.

[0068] The construction of a target temporary passage requires the relocation of multiple vehicles. The number of vehicles and the amount of relocation both affect the passage cost. Specifically, a larger number of vehicles indicates higher scheduling complexity, affects more vehicles, and results in a higher passage cost. Larger relocation amounts for each vehicle lead to longer relocation times, higher energy consumption, and ultimately, higher passage costs. Conversely, fewer vehicles and smaller relocation amounts for each vehicle indicate lower passage costs. Therefore, the passage cost of each candidate temporary passage can be determined by the number of vehicles involved and their relocation amounts.

[0069] Step 203: Generate a traffic planning strategy based on the target temporary passage, and generate relocation instructions for the cooperating vehicles based on the traffic planning strategy, and send the relocation instructions to the corresponding cooperating vehicles to carry out the relocation.

[0070] In one implementation scenario, traffic planning strategies include, but are not limited to, information such as the location, length, and width of the target temporary passageway and the reserved passage period. The reserved passage period refers to the time period during which emergency vehicles can pass through the target temporary passageway. To avoid collaborating vehicles having to maneuver, and to prevent the target temporary passageway from being constructed too early or too late, collaborating vehicles must complete their maneuvering before the reserved passage period arrives, ensuring the target temporary passageway is completed and available for emergency vehicles. This guarantees the efficiency of emergency vehicle passage and avoids the problem of wasting road resources by constructing the target temporary passageway too early.

[0071] After generating a traffic planning strategy, the cloud server can generate maneuvering instructions based on the strategy. These instructions include, but are not limited to, information such as the direction of movement of the cooperating vehicles, the amount of movement, and the execution time window. The direction of movement refers to the direction the cooperating vehicles move, including the outer and inner sides of the lane. In one implementation scenario, this can be determined based on the positions of the cooperating vehicles and the target temporary passageway. The amount of movement refers to the distance the cooperating vehicles move, which can be determined based on the spacing between the vehicles. The execution time window is the period during which the cooperating vehicles move. To ensure that the target temporary passageway has been constructed by the time emergency vehicles arrive at the congested location, meaning the cooperating vehicles have completed their maneuvering, the execution time window for the cooperating vehicles can be controlled to be earlier than the start time of the scheduled passage period. For example, if the start time of the scheduled passage period can be the current time + 70 seconds, the execution time window can be uniformly set to the current time + 60 seconds to the current time + 61 seconds.

[0072] In one possible implementation, a distributed multi-agent reinforcement learning algorithm can be used to determine information such as the displacement direction and displacement amount of the cooperative vehicles.

[0073] In another implementation scenario, the traffic planning strategy includes, but is not limited to, information such as the location, length, and width of the target temporary passageway, the reserved passage period, and the location, direction of movement, displacement amount, and execution time window of the cooperating vehicles. In this case, the location, direction of movement, and displacement amount of each cooperating vehicle can be obtained based on the traffic planning strategy, i.e., the displacement instruction for each cooperating vehicle, and then the displacement instruction can be issued to the corresponding cooperating vehicle.

[0074] Optionally, to reduce the computing power pressure on the cloud server, after the cloud server generates the traffic planning strategy, it can send the traffic planning strategy to the roadside terminal device. The roadside terminal device can then generate a relocation instruction for each cooperating vehicle based on the traffic planning strategy and send the relocation instruction to the corresponding cooperating vehicle.

[0075] In one possible implementation, upon receiving a maneuvering command, the cooperative vehicle can perform a collision risk detection. If there is no collision risk, it can simultaneously perform automated micro-displacement within the execution time window until the required displacement is reached, thus establishing a temporary passage to the target location. If a collision risk is detected, the maneuvering operation is immediately paused, and collision risk information is generated and fed back to the cloud server via roadside equipment.

[0076] To improve the safety of collaborative vehicle relocation, the amount and accuracy of vehicle movement can be limited. For example, the movement amount can be ≤1.5m, and the accuracy ≤0.3m, to avoid excessive movement or deviation that could lead to collisions. In one implementation scenario, the range of movement amounts for oncoming and adjacent lanes can differ. Taking a required lane width of ≥3m as an example, the movement amount of collaborative vehicles in the oncoming lane to the outer edge of the road is within the range of 0.5-1.0m, while the movement amount of collaborative vehicles in adjacent lanes to the inner or outer edge is within the range of 1.0-1.5m.

[0077] In one possible implementation, the cooperative vehicle can determine whether there is a collision risk by monitoring the distance between itself and surrounding vehicles or pedestrians. If the distance is less than a first distance, a collision risk is determined to exist; otherwise, no collision risk is determined to exist. The first distance can be set according to actual needs, such as 1 meter.

[0078] Optionally, during the execution of the relocation command, the cooperating vehicle can report the relocation progress to the roadside equipment at a certain frequency. After confirming that the target temporary passage has been constructed, the roadside equipment sends a passage permit command to the emergency vehicle. The emergency vehicle can pass through the target temporary passage at a certain speed, and after passing through, it reports the end of passage information to the cloud server through the roadside equipment.

[0079] To ensure the safe passage of emergency vehicles, their speed can be limited to a narrow range, such as 10-20 km / h, when passing through the target temporary passage. Simultaneously, to prevent emergency vehicles from occupying the target temporary passage for extended periods, the duration of their passage can be limited to a short, preset first time period, such as 10 seconds.

[0080] In one possible implementation, after receiving the end-of-traffic information, the cloud server can issue a restore-to-original-position command to each cooperating vehicle via roadside equipment. This allows the cooperating vehicles to synchronously perform reverse relocation, restoring normal traffic order. To avoid prolonged occupation of the target temporary passageway by the relocation actions of the cooperating vehicles, thus wasting road resources, the traffic restoration time can be limited to a second preset duration. This second preset duration can be set according to actual needs, such as 20 seconds. Here, because the relocation amount is small and the traffic restoration time is short, large-scale traffic paralysis is effectively avoided, minimizing the impact on traffic.

[0081] Optionally, the cloud server can obtain standard time via Global Positioning System (GPS), with an error typically less than or equal to 1ms, and push the standard time to the roadside equipment. The roadside equipment can send time calibration commands to the cooperating vehicles at preset intervals to correct the time deviation of the cooperating vehicles, ensuring that the synchronization accuracy of the execution time window of the cooperating vehicles is ≤10ms.

[0082] It should be noted that emergency vehicles and collaborative vehicles can interact directly with the cloud server or through roadside terminal equipment; this application does not impose any restrictions on this.

[0083] In this embodiment, after an emergency vehicle sends a reservation request containing the location of congestion, at least one candidate temporary passageway can be generated based on vehicle distribution data at the congestion location, providing multiple options for emergency vehicles to pass through congested sections, offering high flexibility. Furthermore, since the passage costs corresponding to different candidate temporary passageways may vary, a target temporary passageway can be determined from the at least one candidate passageway based on a target optimization strategy set according to the passage cost, minimizing interference with other vehicles. After determining the target temporary passageway, a traffic planning strategy can be determined based on the target temporary passageway, and based on the traffic planning strategy, a maneuvering instruction for cooperating vehicles can be generated. Upon receiving the maneuvering instruction, the cooperating vehicles maneuver accordingly, thereby constructing the target temporary passageway. Emergency vehicles can then pass through the congested location via this target temporary passageway, effectively improving the passage efficiency of emergency vehicles and reducing reliance on infrastructure such as traffic lights. This method can be applied in various scenarios such as urban congested sections, tunnels, bridges, and intersections without traffic lights, demonstrating high versatility. In addition, the coordinated vehicles can create a temporary passage for the target by maneuvering, without having to change lanes or clear specific lanes. This reduces the impact on the coordinated vehicles and also effectively improves the efficiency of creating a temporary passage for the target.

[0084] In addition, when determining the target temporary passage from at least one candidate temporary passage based on the target optimization strategy, this application embodiment also needs to consider how to determine the passage cost corresponding to the candidate temporary passage so that when emergency vehicles pass through the determined target temporary passage, the impact on other vehicles is minimized. Figure 3 A schematic flowchart of a vehicle traffic control method provided in another embodiment of this application is shown below. Figure 3 As shown, the method includes: Step 301: If a reservation request is received from an emergency vehicle, and the reservation request includes the location of the congestion, then a preset validity check is performed on the reservation request; wherein, the preset validity check includes: checking the legality of the emergency vehicle's identity and / or checking the authenticity of the status of the congestion location.

[0085] Identity verification verifies whether the emergency vehicle initiating the reservation request is a legitimate emergency vehicle, in order to prevent non-emergency vehicles from occupying emergency passage resources.

[0086] Verifying the authenticity of congested locations involves checking whether the congested locations in the reservation request actually exist and are still in a congested state, in order to avoid invalid planning caused by false congestion.

[0087] Optionally, to ensure the timeliness of collaborative scheduling, the verification of reservation requests can be limited to a third preset time period, such as 500ms, which can be set according to actual needs.

[0088] In some embodiments, the reservation request is subject to a preset validity check, including: acquiring an image containing an emergency vehicle and verifying the legality of the emergency vehicle's identity based on the image; and / or verifying the authenticity of the status of the congested location based on vehicle distribution data at the congested location.

[0089] Optionally, images containing emergency vehicles can be acquired via roadside cameras and uploaded to a cloud server. The cloud server can then verify the identity and legitimacy of the emergency vehicles by recognizing the images.

[0090] Vehicle distribution data at congested locations can be collected by roadside devices and uploaded to a cloud server. The cloud server then verifies the accuracy of the congestion location status.

[0091] This application embodiment verifies the legitimacy of emergency vehicles by including images of them, effectively preventing non-emergency vehicles from occupying emergency resources. Furthermore, it verifies the authenticity of congestion locations by using vehicle distribution data, effectively eliminating false congestion requests.

[0092] In one possible implementation, the reservation request also includes the vehicle type of the emergency vehicle; based on the image, the identity of the emergency vehicle is verified, including: recognizing the image to obtain the vehicle authentication information of the emergency vehicle; determining the corresponding baseline authentication rule based on the vehicle type, and if the vehicle authentication information conforms to the baseline authentication rule, the identity verification is deemed successful.

[0093] Optionally, image recognition algorithms can be used to identify images containing emergency vehicles, locate the areas containing emergency vehicles, and extract vehicle authentication information. Vehicle authentication information refers to visual characteristic information extracted from the appearance of emergency vehicles that can characterize their type and identity, including but not limited to license plate information and vehicle identification information. Vehicle identification information includes but is not limited to body markings and emergency light patterns. Body markings include text and images.

[0094] Different types of emergency vehicles correspond to different baseline certification rules, which include, but are not limited to, the baseline format, color, markings, and emergency light style of the license plate information. For example, for ambulances, the corresponding baseline certification rules may include a white body with a red cross pattern and the number 120. For fire trucks, the corresponding baseline certification rules may include a red body with the words "fire" or "emergency" on it, and red or red-blue alternating warning lights.

[0095] The vehicle authentication information is matched against the baseline authentication rules corresponding to the vehicle type. If the vehicle authentication information conforms to the baseline authentication rules, the identity verification is deemed successful. If the vehicle authentication information does not conform to the baseline authentication rules, the identity verification is deemed unsuccessful.

[0096] Based on the above technical content, vehicle authentication information is extracted through image recognition and matched with the benchmark authentication rules of the corresponding vehicle type, thereby verifying the legality of emergency vehicle identity and effectively preventing non-emergency vehicles from occupying emergency resources.

[0097] In summary, by verifying the identity of the reservation request and / or the authenticity of the congestion location status before generating candidate temporary passage lanes, reservation requests initiated by non-emergency vehicles and invalid requests with inaccurate congestion locations are effectively filtered out, ensuring the validity of reservation requests and avoiding resource waste caused by invalid reservations.

[0098] Step 302: Determine the passage priority based on the vehicle type of the emergency vehicle; detect whether there are other reservation requests at the congested location. If so, determine whether the reservation request has the right of passage based on the preset right-of-way allocation rules, the passage priority corresponding to the reservation request, and the passage priority corresponding to other reservation requests.

[0099] In one possible implementation, a traffic priority rule can be preset, namely: emergency vehicles for life rescue such as ambulances are level one, emergency vehicles for public safety such as police cars are level two, and emergency vehicles for engineering rescue are level three, with the traffic priority of level one, level two, and level three gradually decreasing.

[0100] The reservation request includes the vehicle type of the emergency vehicle. Therefore, the passage priority corresponding to that vehicle type can be determined based on the vehicle type and the preset passage priority rules. For example, if the vehicle type is an ambulance, the corresponding passage priority is level one.

[0101] In one implementation scenario, the preset right-of-way allocation rules include: allocating right-of-way based on priority. Specifically, for reservation requests with different priorities, the reservation request with the higher priority has the right-of-way. For multiple reservation requests with the same priority, right-of-way is allocated based on the principle of first-come, first-served. Here, right-of-way refers to the permission to pass through congested locations.

[0102] Therefore, if there are other reservation requests at the congested location, the passage priority corresponding to the reservation request can be compared with the passage priority of other reservation requests. If the passage priority corresponding to the reservation request is higher than the passage priority of other reservation requests, then the reservation request is determined to have the right of way.

[0103] In another implementation scenario, if there are other reservation requests with the same access priority as the reservation request, and no reservation request has a higher access priority, then the times when the reservation request was received are further compared with the times when other reservation requests with the same access priority were received. If the time when the reservation request was received is earlier than the time when other reservation requests were received, then the reservation request is determined to have the right of way; otherwise, the reservation request is determined not to have the right of way.

[0104] In another implementation scenario, if the access priority of the reservation request is lower than that of other reservation requests, then the reservation request is determined not to have access rights.

[0105] In another implementation scenario, if there are no other reservation requests at the congested location, then the reservation request is determined to have the right of way.

[0106] In this embodiment, the priority of passage is determined by combining vehicle type, and the right of passage is allocated based on the priority of passage. This solves the problem of conflict when multiple emergency vehicles make reservation requests and need to pass through the same congested location, and effectively ensures the orderliness of emergency passage.

[0107] Step 303: If the verification passes, and / or if the reservation request has the right of way, then generate at least one candidate temporary passage based on the vehicle distribution data at the congested location.

[0108] Here, based on vehicle distribution data at congested locations, at least one candidate temporary passageway is generated. Specifically, the location, width, and length of each candidate temporary passageway are determined. For details on the implementation, please refer to the above. Figure 2 The relevant descriptions in the embodiments will not be repeated here.

[0109] In another implementation scenario, if the verification fails, a notification indicating the failure and the reason can be sent to the emergency vehicle. If the reservation request does not have the right of way, a notification indicating a delay in passage can be sent to the emergency vehicle.

[0110] It should be noted that, you can either perform a preset validity check on the reservation request without determining the priority or right of passage of the reservation request, or you can determine the priority or right of passage of the reservation request without performing a preset validity check on the reservation request, or you can perform a preset validity check on the reservation request and determine the priority or right of passage of the reservation request, and there is no restriction on the order in which the two are executed.

[0111] Step 304: For each candidate temporary passage, determine the number of corresponding cooperating vehicles and the displacement of each cooperating vehicle; based on the number of cooperating vehicles corresponding to each candidate temporary passage and the displacement of each cooperating vehicle, as well as the target optimization strategy, determine the target temporary passage among at least one candidate temporary passage; wherein, the target optimization strategy takes minimizing the passage cost corresponding to the candidate temporary passage as the optimization objective.

[0112] In this context, "cooperative vehicles" refers to vehicles occupying a portion of a candidate temporary passageway. These vehicles need to move in coordination to create the target temporary passageway for emergency vehicles. Therefore, based on the location, width, and length of the candidate temporary passageway, as well as vehicle distribution data at congested locations, the number of cooperative vehicles corresponding to each candidate temporary passageway and the displacement of each cooperative vehicle can be determined. The number of cooperative vehicles is typically 10-20.

[0113] The target optimization strategy aims to minimize the passage cost corresponding to the candidate temporary passage. In one implementation scenario, the passage cost can be characterized by the number of cooperating vehicles corresponding to the candidate temporary passage and the displacement of each cooperating vehicle. In this case, based on the number of cooperating vehicles corresponding to each candidate temporary passage and the displacement of each cooperating vehicle, multiple candidate temporary passages can be selected, and the candidate temporary passage with the minimum passage cost can be selected as the target temporary passage.

[0114] In this embodiment, the optimization objective is to minimize the passage cost. By combining the number of cooperating vehicles corresponding to each candidate temporary passage and the displacement of each cooperating vehicle, a target temporary passage is selected from at least one candidate temporary passage. This improves the accuracy and rationality of the selection of target temporary passages, effectively reduces the interference of emergency vehicles on other vehicles during passage, reduces the resource consumption and risk of re-congestion caused by the relocation of cooperating vehicles, and ensures the efficiency and stability of priority passage for emergency vehicles.

[0115] In some embodiments, minimizing traffic cost includes minimizing the number of cooperating vehicles and minimizing the amount of relocation. Based on the number of cooperating vehicles corresponding to each candidate temporary passage and the relocation amount of each cooperating vehicle, as well as the target optimization strategy, a target temporary passage is determined from at least one candidate temporary passage, including: obtaining the candidate temporary passage with the fewest number of cooperating vehicles according to the number of cooperating vehicles corresponding to each candidate temporary passage; if there are multiple candidate temporary passages with the fewest number of cooperating vehicles, then obtaining the overall relocation amount based on the relocation amount of each cooperating vehicle corresponding to the candidate temporary passage; comparing the overall relocation amount corresponding to the candidate temporary passage with the fewest number of cooperating vehicles, and selecting the candidate temporary passage with the fewest overall relocation amount as the target temporary passage.

[0116] The overall displacement can be the sum of the displacements of each cooperating vehicle.

[0117] In another implementation scenario, if there is only one candidate temporary passage with the fewest number of cooperating vehicles, then that candidate temporary passage can be used as the target temporary passage.

[0118] Here, the candidate temporary passage with the fewest cooperating vehicles is selected first, reducing the number of cooperating vehicles involved in the maneuver, thereby reducing scheduling complexity and interference with other vehicles. In addition, if there are multiple candidate temporary passages with the fewest cooperating vehicles, the candidate temporary passage with the smallest overall maneuver displacement is further selected as the target temporary passage, reducing the distance and energy consumption of cooperating vehicle maneuvers, and reducing the time consumption and congestion risk of maneuver operations.

[0119] Step 305: Based on the estimated arrival time of the emergency vehicle at the congested location, obtain the reserved passage time for the emergency vehicle to pass through the target temporary passage channel; based on the target temporary passage channel and the reserved passage time, generate a traffic planning strategy, and based on the traffic planning strategy, generate a relocation instruction for the cooperating vehicle, and send the relocation instruction to the corresponding cooperating vehicle to relocate.

[0120] A reserved passage period refers to the time during which emergency vehicles can pass through a target temporary passage lane, including the start and end times. When determining the reserved passage period based on the estimated arrival time of emergency vehicles at the congestion location, in one possible implementation, to ensure the passage efficiency of emergency vehicles, the start time of the reserved passage period can be set earlier than the estimated arrival time of the emergency vehicles at the congestion location. For example, if the estimated arrival time of emergency vehicles at the congestion location is the current time + 80 seconds, the start time of the reserved passage period can be the current time + 70 seconds.

[0121] The termination time of the reserved passage period refers to the end time of passage through the target temporary passage lane. Therefore, this termination time should be later than the estimated arrival time of emergency vehicles at the congestion location. In one implementation scenario, to avoid prolonged occupation of the target temporary passage lane and minimize interference with other vehicles, the reserved passage period can be limited to a fourth preset duration. In this case, the termination time of the reserved passage period can be determined based on the start time and the fourth preset duration. For example, if the start time of the reserved passage period can be the current time + 70 seconds, and the fourth preset duration is 30 seconds, then the termination time of the reserved passage period is the current time + 100 seconds. The fourth preset duration can be adjusted according to actual needs, and this application does not specifically limit it.

[0122] Traffic planning strategies include, but are not limited to, the location, length, and width of the target temporary passageway, the reserved passage period, and the location, direction of movement, displacement amount, and execution time window of the corresponding cooperating vehicles. The process of determining the direction of movement, displacement amount, and execution time window of the cooperating vehicles can be referenced above. Figure 2 The relevant descriptions shown in the embodiments will not be repeated in detail here.

[0123] In this embodiment, the scheduled passage time is determined by combining the estimated arrival time of emergency vehicles at the congested location. This effectively solves the problem of inappropriate relocation timing by integrating the target temporary passage in the spatial dimension with the scheduled passage time in the temporal dimension. Simultaneously, the scheduled passage time provides a time node for generating coordinated vehicle relocation instructions, thereby ensuring that relocation is completed by the time emergency vehicles arrive at the target temporary passage, improving traffic efficiency.

[0124] Step 306: Receive the maneuvering status information fed back by the cooperating vehicle, and determine whether there is an anomaly based on the maneuvering status information; if there is an anomaly, perform the corresponding cooperative maneuvering anomaly handling operation according to the anomaly type.

[0125] From the above Figure 2As described in the embodiments, the cooperative vehicle can perform collision risk detection after receiving a maneuvering instruction. In one implementation scenario, if a collision risk is detected, the collision risk information can be reported to the cloud server through the roadside terminal device. If there is no collision risk, the vehicle will move within the execution time window and report the maneuvering status information to the cloud server through the roadside terminal device. The maneuvering status information includes, but is not limited to, displacement and maneuvering progress information.

[0126] Here, anomaly types include, but are not limited to, some cooperative vehicles not responding, collision risk, and communication interruption. In one implementation scenario, if no maneuvering status information is received from some cooperative vehicles, an anomaly is determined to exist, and the anomaly type is "some cooperative vehicles not responding." If collision risk information is received from any cooperative vehicle, an anomaly is determined to exist, and the anomaly type is "collision risk." If no maneuvering status information is received from every cooperative vehicle, an anomaly is determined to exist, and the anomaly type is "communication interruption."

[0127] In some embodiments, depending on the type of anomaly, corresponding collaborative relocation anomaly handling operations are performed, including: if the anomaly type is that some collaborative vehicles are not responding, then the relocation displacement of other collaborative vehicles adjacent to the unresponsive collaborative vehicles is adjusted; if the anomaly type is that there is a collision risk, then the scheduled passage time is delayed according to the delay strategy corresponding to the collision risk, and the passage planning strategy is adjusted according to the collision risk; if the anomaly type is that communication is interrupted, then communication is switched to a backup communication link.

[0128] In one implementation scenario, if some cooperative vehicles fail to respond, the displacement of other cooperative vehicles adjacent to the unresponsive vehicles can be adjusted, for example, by increasing the displacement by 0.3m, to compensate for the space gap left by the unresponsive vehicles.

[0129] In another implementation scenario, if the anomaly type is "collision risk," the collaborating vehicles at risk of collision will pause maneuvering, thus requiring a readjustment of the traffic planning strategy. Since both readjusting the traffic planning strategy and the collaborating vehicles executing the updated maneuvering instructions require time, the reserved passage time slot needs to be delayed, for example, by 5 seconds.

[0130] In another implementation scenario, if a communication interruption occurs and communication still fails after switching to a backup communication link, the relocation operation of the coordinated vehicles can be immediately terminated, and detour suggestions can be sent to the emergency vehicles. The backup communication link can be a long-range (LoRa) communication link.

[0131] Among them, for different types of anomalies such as some cooperative vehicles not responding, collision risk, and communication interruption, corresponding cooperative maneuvering anomaly handling operations are adopted, which effectively improves the accuracy of anomaly handling.

[0132] Here, based on the relocation status information fed back by the collaborative vehicles, the vehicle relocation execution status is monitored. When an anomaly is detected, the collaborative relocation anomaly handling operation corresponding to the anomaly type is executed to ensure the stability and reliability of the relocation process.

[0133] The following example uses an emergency vehicle, an ambulance, and a congested urban road during rush hour as an illustration. The ambulance travels on a two-way, four-lane road, with its destination being a hospital 3km from its current location. Along the route between the current location and the destination, there is a congested section with a queue length of 80m, an average speed of 3km / h, and a vehicle spacing of 1.2m. The ambulance is accompanied by 10 vehicles in the oncoming lane and 8 vehicles in adjacent lanes. Roadside equipment includes two cameras and two millimeter-wave radars, covering a range of 50m. The cloud server is deployed in an edge cloud environment with a computing power of ≥10 TOPS.

[0134] After activating navigation, the ambulance can synchronize route data in real time. When the congestion location is detected at a distance of 1.5km, a reservation request is automatically generated. This reservation request includes: the emergency vehicle type is an ambulance, the latitude and longitude of the congestion location, the estimated arrival time at the congestion location is the current time + 80 seconds, and the required passage width is ≥3m. This reservation request is sent to the roadside device via C-V2X communication, and the roadside device forwards it to the cloud server.

[0135] After receiving the reservation request, the cloud server completes the preset validity verification within 200 seconds, determines the passage priority as level one based on the vehicle type, and confirms that there are no other reservation requests at the congested location. The reservation passage period is determined to be from the current time + 70 seconds to the current time + 100 seconds, and the reservation is approved by the ambulance through the roadside terminal equipment.

[0136] The cloud server plans at least one candidate temporary passage lane based on vehicle distribution data collected by roadside devices at congested locations. Based on the number of cooperating vehicles corresponding to each candidate temporary passage lane and the relocation amount of each cooperating vehicle, a target temporary passage lane is determined from the at least one candidate temporary passage lane. A traffic planning strategy is determined based on the target temporary passage lane and the reserved passage period. Optionally, the traffic planning strategy may include the following information: the reserved passage period is from the current time + 70 seconds to the current time + 100 seconds. The target temporary passage lane is located between the ambulance's current driving lane and the oncoming lane, with a width of 3.2m and a length of 35m. Here, the ambulance driving lane is the inner lane. Cooperating vehicles include 10 vehicles in the oncoming lane and 8 vehicles in the adjacent outer lane. For each cooperating vehicle, cooperating vehicles in the oncoming lane move outwards by a relocation amount of 0.8m, and cooperating vehicles in the adjacent outer lane move outwards by a relocation amount of 1.2m. The execution time window for each cooperating vehicle is uniformly from the current time + 60 seconds to the current time + 61 seconds. The execution time window is the duration for the coordinated vehicles to execute the maneuvering command. Here, the duration for each coordinated vehicle to execute the maneuvering command synchronously is 1 second.

[0137] After receiving the traffic planning strategy, the roadside equipment can obtain the maneuvering instructions for each cooperative vehicle based on the strategy and issue these instructions to the aforementioned 18 cooperative vehicles. Upon receiving the maneuvering instructions, the cooperative vehicles can detect the distance to surrounding vehicles and pedestrians using millimeter-wave radar or cameras to determine if there is a collision risk. Since the minimum distance between the detected surrounding vehicles and pedestrians and the vehicle is 1.5m, there is no collision risk. Therefore, at the moment of current time + 60 seconds, the aforementioned 18 cooperative vehicles simultaneously execute automated maneuvering. Specifically, the cooperative vehicle in the oncoming lane controls its steering wheel to turn outward via the EPS system, with a maneuvering displacement of 0.8m; the cooperative vehicle in the adjacent outer lane controls its steering wheel to turn outward via the EPS system, with a maneuvering displacement of 1.2m, with a displacement accuracy of ≤0.3m for both. After the cooperative vehicles complete their maneuvering, they report the completion information to the roadside equipment.

[0138] After receiving feedback from the cooperating vehicles indicating that the relocation was complete, the roadside equipment sends a passage command to the ambulance. The ambulance passes through the congested area at a speed of 15 km / h, taking 8 seconds. After passing through, the ambulance sends a message to the cloud server via the roadside equipment indicating that passage has ended. The cloud server then sends a return-to-original-position command to the cooperating vehicles via the roadside equipment. The 18 cooperating vehicles simultaneously perform the reverse relocation, returning to their original positions within 5 seconds. The entire traffic restoration process takes 15 seconds, and normal traffic flow is restored to the congested area.

[0139] In this embodiment, upon receiving a reservation request from an emergency vehicle, a pre-defined validity check is performed on the reservation request. Based on the vehicle type of the emergency vehicle, a passage priority is determined. It is then checked whether other reservation requests exist at the congested location. If so, based on the pre-defined right-of-way allocation rules, the passage priority corresponding to the reservation request, and the passage priorities corresponding to other reservation requests, it is determined whether the reservation request has the right to pass. Only when the check passes and / or the reservation request has the right to pass are subsequent steps performed, such as generating candidate temporary passage lanes and determining the target temporary passage lane. This pre-defined validity check effectively filters reservation requests initiated by non-emergency vehicles and invalid requests with inaccurate congested locations, ensuring the validity of reservation requests and avoiding resource waste caused by invalid reservations. Allocating passage rights based on the passage priority of reservation requests resolves the conflict problem of multiple emergency vehicles initiating reservation requests needing to pass through the same congested location, effectively ensuring the orderliness of emergency passage. Then, with the goal of minimizing traffic costs, a target temporary passage is determined from at least one candidate passage based on the number of cooperating vehicles corresponding to each candidate temporary passage and the displacement of each cooperating vehicle. This effectively reduces the interference of emergency vehicle passage on other vehicles, minimizes resource consumption and the risk of re-congestion caused by cooperating vehicle relocation, and ensures the efficiency and stability of emergency vehicle priority passage. After determining the target temporary passage, a traffic planning strategy is generated based on the target temporary passage and the determined reserved passage time period, effectively solving the problem of inappropriate relocation timing. Based on the traffic planning strategy, relocation instructions for each cooperating vehicle are generated and sent to the corresponding cooperating vehicles for relocation. Here, the target temporary passage is constructed in advance before the emergency vehicle arrives at the congested location, allowing the emergency vehicle to quickly pass through the target temporary passage even in severely congested sections, shortening the travel time and improving emergency response efficiency. Simultaneously, during the relocation process, cooperating vehicles can provide feedback on the relocation status. Based on this status information, the relocation process can be monitored. In case of anomalies, corresponding collaborative relocation anomaly handling operations are executed according to the anomaly type, ensuring the stability and reliability of the relocation process. Furthermore, the vehicle traffic control method in this embodiment requires no manual intervention. From detecting congested locations in advance, initiating reservation requests, constructing target temporary passageways, cooperating vehicle relocation, and restoring to their original positions, the entire process is automated, achieving a high degree of automation and reducing the operational burden on drivers and the regulatory costs for relevant management departments.

[0140] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0141] Figure 4 This is a schematic diagram of the structure of a vehicle access control device provided in one embodiment of this application. Figure 4 As shown, the vehicle access control device provided in this embodiment may include: a generation module 401 and a determination module 402.

[0142] The generation module 401 is used to generate at least one candidate temporary passageway based on the vehicle distribution data at the congestion location if it receives a reservation request from an emergency vehicle, and the reservation request includes the location of the congestion. The determining module 402 is further configured to determine a target temporary passage from at least one candidate temporary passage based on a preset target optimization strategy; wherein the target optimization strategy is set based on the passage cost corresponding to the candidate temporary passage. The generation module 401 is also used to generate a traffic planning strategy based on the target temporary passage, and generate a relocation instruction for the cooperating vehicles based on the traffic planning strategy, and send the relocation instruction to the corresponding cooperating vehicles for relocation.

[0143] In one possible implementation, module 402 is specifically used for: For each candidate temporary passage, determine the number of corresponding cooperating vehicles and the displacement of each cooperating vehicle; Based on the number of cooperating vehicles corresponding to each candidate temporary passage and the displacement of each cooperating vehicle, as well as the target optimization strategy, a target temporary passage is determined from at least one candidate temporary passage; wherein, the target optimization strategy takes minimizing the passage cost corresponding to the candidate temporary passage as the optimization objective.

[0144] In one possible implementation, minimizing the passage cost includes minimizing the number of cooperating vehicles and minimizing the amount of maneuvering. Module 402 is specifically used for: Based on the number of cooperating vehicles corresponding to each candidate temporary passage, obtain the candidate temporary passage with the fewest cooperating vehicles. If there are multiple candidate temporary passage lanes with the fewest number of cooperating vehicles, the overall relocation amount is obtained based on the relocation amount of each cooperating vehicle corresponding to the candidate temporary passage lane. The overall relocation amount corresponding to the candidate temporary passage with the fewest number of cooperating vehicles is compared, and the candidate temporary passage with the fewest overall relocation amount is selected as the target temporary passage.

[0145] In one possible implementation, the generation module 401 is specifically used for: The reservation request is subject to a pre-defined validity check; the pre-defined validity check includes: verifying the legality of the emergency vehicle's identity and / or verifying the authenticity of the congestion location's status; If the verification passes, at least one candidate temporary passageway will be generated based on the vehicle distribution data at the congested location.

[0146] In one possible implementation, the generation module 401 is specifically used for: Acquire images containing emergency vehicles and verify the identity and legitimacy of the emergency vehicles based on the images; And / or, Based on the vehicle distribution data at congested locations, the authenticity of the status of the congested locations is verified.

[0147] In one possible implementation, the reservation request also includes the vehicle type of the emergency vehicle; Module 401 is specifically used for: The images are recognized to obtain the vehicle authentication information of the emergency vehicles; Based on the vehicle type, the corresponding baseline authentication rules are determined. If the vehicle authentication information conforms to the baseline authentication rules, the identity legitimacy verification is deemed successful.

[0148] In one possible implementation, the reservation request also includes the estimated time for the emergency vehicle to arrive at the congestion location; Module 401 is specifically used for: Based on the estimated time when emergency vehicles arrive at the congestion location, the reserved passage time for emergency vehicles to pass through the target temporary passage lane is obtained; Based on the target temporary access lane and the reserved access time period, a traffic planning strategy is generated.

[0149] In one possible implementation, the reservation request also includes the vehicle type of the emergency vehicle; Module 401 is specifically used for: Determine traffic priority based on the type of emergency vehicle; If other reservation requests exist at the congested location, and if so, determine whether the reservation request has the right of way based on the preset right-of-way allocation rules, the passage priority corresponding to the reservation request, and the passage priority corresponding to other reservation requests. If the reservation request has the right of way, at least one candidate temporary passage lane is generated based on the vehicle distribution data at the congested location.

[0150] In one possible implementation, the determining module 402 is further configured to: Receive maneuvering status information from the cooperating vehicles and determine whether there are any anomalies based on the maneuvering status information; If an anomaly is found, the corresponding collaborative relocation anomaly handling operation will be executed according to the anomaly type.

[0151] In one possible implementation, module 402 is specifically used for: If the anomaly type is that some cooperative vehicles are not responding, then adjust the displacement of other cooperative vehicles adjacent to the unresponsive cooperative vehicles. If the anomaly type is "collision risk", the reservation time period will be delayed according to the delay strategy corresponding to the collision risk, and the traffic planning strategy will be adjusted according to the collision risk. If the exception type is communication interruption, then switch to the backup communication link for communication.

[0152] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0153] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 5 As shown, the electronic device 500 of this embodiment includes a processor 510 and a memory 520, wherein the memory 520 stores a computer program 521 that can run on the processor 510. When the processor 510 executes the computer program 521, it implements the steps in any of the above-described method embodiments, for example... Figure 2 Steps 201 to 203 are shown. Alternatively, when processor 510 executes computer program 521, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 4 The functions of modules 401 to 402 are shown.

[0154] For example, computer program 521 may be divided into one or more modules / units, one or more of which are stored in memory 520 and executed by processor 510 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 521 in electronic device 500.

[0155] Those skilled in the art will understand that Figure 5 This is merely an example of an electronic device and does not constitute a limitation on the electronic device. It may include more or fewer components than shown, or combinations of certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0156] The processor 510 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0157] The memory 520 can be an internal storage unit of the electronic device, such as a hard drive or memory, or an external storage device, such as a plug-in hard drive, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card. The memory 520 can also include both internal and external storage units. The memory 520 is used to store computer programs and other programs and data required by the electronic device. The memory 520 can also be used to temporarily store data that has been output or will be output.

[0158] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0159] An embodiment of this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described vehicle traffic control method.

[0160] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0161] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0162] In the embodiments provided in this application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0163] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0164] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0165] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0166] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A vehicle traffic control method, characterized in that, include: If a reservation request is received from an emergency vehicle, and the reservation request includes the location of the congestion, then at least one candidate temporary passageway is generated based on the vehicle distribution data at the congestion location. Based on a preset target optimization strategy, a target temporary passage is determined from the at least one candidate temporary passage; wherein, the target optimization strategy is set based on the passage cost corresponding to the candidate temporary passage; Based on the target temporary passage, a passage planning strategy is generated, and based on the passage planning strategy, a maneuvering instruction for the cooperating vehicles is generated and sent to the corresponding cooperating vehicles for maneuvering.

2. The vehicle traffic control method according to claim 1, characterized in that, The method of determining a target temporary passage from the at least one candidate temporary passage based on a preset target optimization strategy includes: For each candidate temporary passage, determine the number of corresponding cooperating vehicles and the displacement of each cooperating vehicle; Based on the number of cooperating vehicles corresponding to each candidate temporary passage and the displacement of each cooperating vehicle, as well as the target optimization strategy, a target temporary passage is determined among the at least one candidate temporary passage; wherein, the target optimization strategy takes minimizing the passage cost corresponding to the candidate temporary passage as the optimization objective.

3. The vehicle traffic control method according to claim 2, characterized in that, The minimum passage cost includes minimizing the number of cooperating vehicles and minimizing the amount of maneuvering; The determination of the target temporary passage from the at least one candidate temporary passage, based on the number of cooperating vehicles corresponding to each candidate temporary passage and the displacement of each cooperating vehicle, and the target optimization strategy, includes: Based on the number of cooperating vehicles corresponding to each candidate temporary passage, obtain the candidate temporary passage with the fewest cooperating vehicles. If there are multiple candidate temporary passages with the fewest number of cooperating vehicles, the overall relocation amount is obtained based on the relocation amount of each cooperating vehicle corresponding to the candidate temporary passage. The overall relocation amount corresponding to the candidate temporary passage with the fewest number of cooperating vehicles is compared, and the candidate temporary passage with the fewest overall relocation amount is selected as the target temporary passage.

4. The vehicle traffic control method according to any one of claims 1 to 3, characterized in that, The step of generating at least one candidate temporary passage based on vehicle distribution data at the congested location includes: The reservation request is subject to a preset validity check; wherein, the preset validity check includes: checking the legality of the emergency vehicle's identity and / or checking the authenticity of the status of the congestion location; If the verification passes, at least one candidate temporary passageway is generated based on the vehicle distribution data at the congested location.

5. The vehicle traffic control method according to claim 4, characterized in that, The preset validity check of the reservation request includes: Acquire an image containing the emergency vehicle, and verify the identity and legitimacy of the emergency vehicle based on the image; And / or, Based on the vehicle distribution data at the congested locations, the authenticity of the status of the congested locations is verified.

6. The vehicle traffic control method according to claim 5, characterized in that, The reservation request also includes the vehicle type of the emergency vehicle; The step of verifying the identity and legitimacy of the emergency vehicle based on the image includes: The image is identified to obtain the vehicle authentication information of the emergency vehicle; Based on the vehicle type, a corresponding baseline authentication rule is determined. If the vehicle authentication information conforms to the baseline authentication rule, the identity legitimacy verification is deemed successful.

7. The vehicle traffic control method according to any one of claims 1 to 3, characterized in that, The reservation request also includes the estimated time when the emergency vehicle is expected to arrive at the congestion location; The step of generating a traffic planning strategy based on the target temporary passage includes: Based on the estimated time when the emergency vehicle is expected to arrive at the congested location, the reserved passage time for the emergency vehicle to pass through the target temporary passage is obtained; A traffic planning strategy is generated based on the target temporary passage and the reserved passage period.

8. The vehicle traffic control method according to any one of claims 1 to 3, characterized in that, The reservation request also includes the vehicle type of the emergency vehicle; The step of generating at least one candidate temporary passage based on vehicle distribution data at the congested location includes: Based on the vehicle type of the emergency vehicles, the passage priority is determined; Detect whether there are other reservation requests at the congested location. If so, determine whether the reservation request has the right of way based on the preset right-of-way allocation rules, the passage priority corresponding to the reservation request, and the passage priority corresponding to the other reservation requests. If the reservation request has the right of way, then at least one candidate temporary passage is generated based on the vehicle distribution data at the congested location.

9. The vehicle traffic control method according to any one of claims 1 to 3, characterized in that, The method further includes: Receive the maneuvering status information fed back by the cooperating vehicle, and determine whether there is any abnormality based on the maneuvering status information; If an anomaly is found, the corresponding collaborative relocation anomaly handling operation will be executed according to the anomaly type.

10. The vehicle traffic control method according to claim 9, characterized in that, The step of performing corresponding collaborative relocation exception handling operations based on the exception type includes: If the anomaly type is that some cooperative vehicles do not respond, then adjust the displacement of other cooperative vehicles adjacent to the unresponsive cooperative vehicles. If the anomaly type is a collision risk, the scheduled passage time will be delayed according to the delay strategy corresponding to the collision risk, and the passage planning strategy will be adjusted according to the collision risk. If the exception type is communication interruption, then switch to the backup communication link for communication.

11. An electronic device comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the vehicle traffic control method as described in any one of claims 1 to 10.

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