An emergency avoidance and priority passage system and method for rescue vehicles

Abstract

This invention relates to an emergency avoidance and priority passage system and method for rescue vehicles. The method includes: a cloud control platform generating a rescue task based on emergency alarm information and constructing a spatiotemporal corridor for the rescue channel based on the optimal rescue path; a programmable roadside control box parsing instructions and controlling each device in the roadside equipment cluster to activate according to the warning level; a graded avoidance execution module issuing corresponding level drive-off instructions to the autonomous vehicles in the rescue channel, driving the autonomous vehicles to leave the rescue lane; and the cloud control platform issuing instructions to the programmable traffic signal controller to dynamically adjust the timing of traffic light signals according to the real-time speed of the rescue vehicles, achieving intelligent priority passage. This invention pioneers a three-level collaborative architecture of "cloud-vehicle-road," constructing a spatiotemporal corridor for the rescue path covering at least 1000 meters ahead of the rescue vehicle, achieving proactive pre-clearing of the rescue path, and solving the technical problem that traditional systems can only respond passively.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation and roadside assistance, and in particular to an emergency avoidance and priority passage system and method for rescue vehicles. Background Technology

[0002] With the continuous growth of urban motor vehicle ownership, traffic congestion on municipal roads is becoming increasingly prominent. The efficiency of emergency vehicle passage for ambulances, fire trucks, police cars, and other rescue vehicles is crucial to the safety of people's lives and property. However, current emergency vehicle passage systems generally suffer from the following technical deficiencies: 1. They rely solely on static road condition information from navigation systems for route planning, lacking the ability to proactively intervene in traffic facilities and other vehicles along the route, and cannot dynamically clear the rescue path; 2. Other vehicles fail to yield in a timely manner, and yield lanes are unclear. Traditional warning methods such as horns and flashing lights are ineffective in congested, noisy, and poorly lit scenarios, easily leading to traffic accidents; 3. Autonomous vehicles cannot actively receive external yield commands, lacking an effective proactive clearance mechanism, easily occupying rescue lanes and causing congestion; 4. Traffic lights at intersections cannot achieve intelligent priority release, lacking dynamic signal timing based on real-time vehicle speed, causing unnecessary rescue delays; 5. Existing systems are mostly single-function devices, failing to form a comprehensive system encompassing "cloud control and dispatch—dynamic route planning—tiered early warning—vehicle clearance—signal priority—manual backup—cloud monitoring" The existing technology suffers from several shortcomings: 1. Poor system reliability; 2. Lack of driver-priority manual intervention in case of system failure, signal interruption, or extremely complex intersections, easily leading to interruptions in rescue efforts; 3. Insufficient power supply and communication stability of roadside equipment, prone to power outages and network disruptions in extreme weather or complex intersections; 4. Roadside warning devices cannot achieve precise individual control, requiring batch switching, which can cause unnecessary traffic disruption; 5. Fixed warning distance, unable to be dynamically adjusted according to road congestion, resulting in insufficient time for avoidance in congested areas. Therefore, addressing these shortcomings of the existing technology is a pressing issue. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an emergency avoidance and priority passage system and method for rescue vehicles, thus solving the deficiencies of the prior art.

[0004] The objective of this invention is achieved through the following technical solution: an emergency avoidance and priority passage system for rescue vehicles, the system comprising: a cloud control platform, a cluster of vehicle-mounted terminals for rescue vehicles, a cluster of roadside equipment, a graded avoidance execution module, and a manual intervention module for vehicle-mounted terminals; The cloud control platform is used to generate and allocate rescue tasks, perform real-time traffic flow prediction and real-time road condition analysis based on the rescue tasks using neural networks, generate the optimal rescue route, and send instructions to the vehicle-mounted terminal cluster, roadside equipment cluster, and graded avoidance execution module to construct a spatiotemporal corridor for the rescue route. The vehicle-mounted terminal cluster of the rescue vehicles is deployed in each rescue vehicle to receive instructions sent by the cloud control platform. The roadside equipment cluster is deployed on both sides of the lanes of municipal roads, at intersections and key nodes, and controls the corresponding equipment according to the instructions sent by the cloud control platform. The graded avoidance execution module is installed in the driver's cab of the rescue vehicle and communicates with the cloud control platform. It issues different levels of drive-away commands to the autonomous vehicle according to the urgency of the rescue mission and the distance between the rescue vehicle and the rescue target. The vehicle-mounted terminal manual intervention module is installed in the driver's cab of the rescue vehicle. It has the highest control priority and can take over the control of the roadside equipment cluster within a set range through wireless communication. It can manually trigger traffic lights, manually strengthen the drive-away mechanism, manually switch rescue routes, and manually overwrite the automatic control of the cloud control platform with manual commands.

[0005] The roadside equipment cluster includes: a roadside power supply box, a programmable roadside control box, a roadside multi-functional warning device, and a programmable traffic signal controller; The roadside power supply box is installed at equal intervals along the green belts on both sides of the municipal road, providing uninterrupted power supply for the roadside multi-functional warning device, programmable roadside control box and programmable traffic signal controller. The programmable roadside control box is installed on the same pole as the roadside power supply box. Its upper end is connected to the cloud control platform and the vehicle terminal manual intervention module for bidirectional wireless communication, and its lower end is connected to the roadside multi-functional warning device via a bus. It is also responsible for receiving control commands from the cloud control platform and the vehicle terminal manual intervention module, controlling the roadside multi-functional warning device, collecting the status of the roadside multi-functional warning device, and feeding it back to the cloud control platform. The roadside multi-functional warning device adopts a three-in-one multi-functional combined warning structure composed of multiple warning units. Each warning unit is equipped with a unique hardware address code. The programmable roadside control box identifies and accurately controls individual warning devices through the address code. Each address code corresponds to the actual geographical location information, which is used to construct a virtual traffic map. The programmable traffic signal controller is installed near the traffic light controller, with bidirectional wireless communication between its upper end and the cloud control platform and the vehicle terminal manual intervention module, and wired communication between its lower end and the traffic light controller; it is also responsible for receiving control commands from the cloud control platform and the vehicle terminal manual intervention module, controlling the traffic lights, and feeding back the traffic light status to the cloud control platform.

[0006] The roadside multi-functional warning device includes: Ground warning lights: Installed at equal intervals along the lane lines on both sides of the designated lanes of municipal roads, with alternating red and blue flashing function, and each light is equipped with an independent address code; Multifunctional intelligent warning sign: It integrates an LED information display screen, broadcasting equipment and road condition collection camera. The LED information display screen displays the message "Emergency rescue, please give way to the rescue lane", the broadcasting equipment broadcasts rescue information to remind other vehicles to give way, and the road condition collection camera collects real-time road conditions and uploads them to the cloud control platform. All three devices are equipped with independent address codes. LED strobe rays and projection lights: Installed in pairs at intersections and key traffic nodes, each pair of LED strobe rays projects rays onto the lane lines on both sides of the designated lane on the municipal road to lock the emergency lane. The projection lights project the text message "Emergency rescue lane, please give way" onto the road surface of the emergency lane.

[0007] The system employs a dynamically adjustable three-level early warning system. Level 1 warning: The ground warning lights in the designated lanes along the rescue route are activated precisely through the address code, and lane avoidance instructions are issued through the LED information display screen of the corresponding multi-functional smart warning sign; Level 2 warning: Based on the Level 1 warning, the broadcasting equipment, LED strobe lights and projectors of the corresponding road section will be activated to enhance the warning effect; Level 3 warning: Based on the level 2 warning, the programmable traffic signal controller is linked to force green light passage, and at the same time, the highest level of drive-away command is issued to the autonomous vehicle.

[0008] The system also includes: Cloud-based monitoring and recording module: Used to record system operation data throughout the entire process, including each device's address code, working status, control command records, location data, path planning data, avoidance and expulsion records, traffic light intervention records, manual intervention logs, and device fault information, supporting accurate device fault location and data traceability; Fault Inspection Module: Used to send inspection information to the roadside equipment cluster at regular intervals and receive feedback information from the roadside equipment cluster. If a device in a roadside equipment cluster does not provide feedback, the module records the address code of the device without feedback, generates an alarm message for the actual fault location, and sends it to maintenance personnel for timely repair. When a rescue mission is generated, the module urgently detects the working status of the roadside equipment cluster along the rescue path and instructs the faulty device to restart automatically.

[0009] A method for emergency avoidance and priority passage of rescue vehicles, the method comprising: Step 1: The cloud control platform generates a rescue mission based on the emergency alarm information and constructs a spatiotemporal corridor for the rescue channel based on the optimal rescue path; Step 2: The programmable roadside control box parses the instructions and controls each device in the roadside equipment cluster to start according to the warning level; Step 3: The graded avoidance execution module issues the corresponding level of drive-away command to the autonomous vehicles in the rescue lane, driving the autonomous vehicles to leave the rescue lane. The cloud control platform issues commands to the programmable traffic signal controller, dynamically adjusting the timing of the traffic light signals according to the real-time speed of the rescue vehicles to achieve intelligent priority passage. After the rescue vehicles pass through the corresponding road section, all warning devices are turned off in batches through the address code, automatically reset, and normal traffic operation is restored.

[0010] Step one specifically includes: A1. The cloud control platform receives emergency alarm information and generates rescue tasks, which are then assigned to the corresponding rescue vehicles. A2. The rescue vehicle starts, and the on-board terminal collects and uploads vehicle information to the cloud control platform in real time; A3. The cloud control platform activates the fault inspection module, sends inspection instructions to all roadside equipment along the rescue route from near to far, and collects feedback signals to ensure that the roadside equipment along the rescue route is working properly. A4. The cloud control platform combines real-time road conditions and traffic flow prediction data to plan the optimal rescue route, match the address code of the multi-functional warning device with the rescue route, construct a virtual electronic map, and lock the spatiotemporal corridor of the rescue channel. A5. The cloud control platform generates a set of timing control instructions with device address codes and sends them to the programmable roadside control box to build a spatiotemporal corridor for the rescue channel covering a set range in front of the rescue vehicle.

[0011] Step two specifically includes: B1. The road condition collection camera provides real-time feedback on road congestion status, and the cloud control platform dynamically adjusts the three-level warning distance based on the real-time road congestion situation. B2. The programmable roadside control box parses instructions and uses address codes to precisely control the corresponding ground warning lights to start in sequence according to the adjusted three-level early warning system. B3. The programmable roadside control box interprets commands and uses address codes to precisely control the rescue text and voice information released by the multi-functional intelligent warning sign to be activated in the adjusted three-level early warning system sequence. B4. The programmable roadside control box parses instructions and uses address codes to precisely control the LED strobe ray light box and projection light to start in sequence according to the adjusted three-level early warning system, and strengthens the information prompts for locking the rescue lane; B5. If severe traffic congestion occurs and the emergency lane is not effectively cleared, the cloud control platform will issue instructions based on the collected real-time traffic information to control the LED strobe lights and projection lights to adjust their angles, change to the lane with the least congestion, lock it, and send the lane change information and location to the vehicle terminal.

[0012] The method further includes: if a roadside device is found to have an abnormal feedback signal, the device is restarted and the signal is fed back again. If the restart fails a set number of times, the abnormal information is recorded and sent to the vehicle terminal. When the vehicle travels to the set range of the faulty roadside device, the roadside control box is manually taken over by the manual intervention module of the vehicle terminal, and the roadside device is forcibly started with the highest control priority.

[0013] The present invention has the following advantages: 1. It pioneered a three-level collaborative architecture of "cloud-vehicle-road" to build a spatiotemporal corridor covering 1,000 meters in front of rescue vehicles, realizing proactive pre-clearing of the rescue path and solving the technical problem that traditional systems can only respond passively; 2. All roadside multi-functional warning devices are equipped with a unique hardware address code, supporting precise control and timing synchronization of individual devices, enabling rapid fault location and improving system reliability by more than 50%; 3. The innovative three-in-one multi-functional combined warning structure, through multi-modal synchronous linkage of ground light warning, text information prompts, voice broadcast reminders, cantilever spotlight illumination, and road surface projection markings, makes the avoidance lane clear and unambiguous, and improves the avoidance efficiency of social vehicles and autonomous vehicles by more than 60%. 4. Establish a dynamically adjustable three-level early warning system, expand the first-level early warning range to 1,000 meters, and dynamically extend the third-level early warning distance according to road congestion conditions, giving social vehicles sufficient time to avoid accidents and significantly reducing traffic accidents caused by emergency avoidance. 5. Achieve dynamic intelligent timing of traffic lights, adjusting signal timing based on the real-time speed of emergency vehicles, improving intersection traffic efficiency by 30% compared to the traditional fixed priority mode; 6. Add a vehicle-mounted terminal manual intervention module and assign it the highest control priority. It supports precise control of any roadside equipment via address code, providing absolute backup for system failures or complex scenarios, and ensuring uninterrupted rescue. 7. An independent roadside power supply box is set up to provide unified power supply for all roadside equipment. With the dual-link communication design, the system can be stably operated around the clock. The entire process is monitored and recorded in the cloud. It supports the tracking of equipment operation data and fault analysis based on address codes, which facilitates system optimization and maintenance. It can also expand the drone navigation assistance module to adapt to various complex municipal road scenarios, making the system highly adaptable. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the system of the present invention.

[0015] Figure 2 This is a schematic diagram illustrating an application scenario of the present invention.

[0016] Figure 3 This is a logical schematic diagram of the method of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of this application provided below with reference to the accompanying drawings is not intended to limit the scope of protection of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. The present invention will be further described below with reference to the accompanying drawings.

[0018] One embodiment of the present invention relates to an emergency avoidance and priority passage system for rescue vehicles, which adopts a three-level collaborative architecture of "cloud-vehicle-road". The core technical solution is the combination of the whole system, which realizes dynamic planning of rescue routes, early locking of rescue lanes, three-in-one precise warning, active avoidance of social vehicles, graded expulsion of autonomous vehicles, intelligent priority passage at traffic lights at intersections, manual intervention with the highest priority on the vehicle terminal in case of system failure, and full-process cloud monitoring, fundamentally improving the passage efficiency of rescue vehicles and the reliability of the system.

[0019] like Figure 1 and Figure 2 As shown, it includes: a cloud control platform, a cluster of vehicle-mounted terminals for rescue vehicles, a cluster of roadside equipment, a graded avoidance execution module, a manual intervention module for vehicle-mounted terminals, a cloud-based monitoring and recording module, and a fault inspection module; the extended module is a drone navigation assistance module.

[0020] Among them, the cloud control platform is used to generate and allocate rescue tasks. Based on the rescue tasks, it uses neural networks to predict traffic flow in real time, analyze real-time road conditions, generate the optimal rescue route, and send instructions to the vehicle-mounted terminal cluster, roadside equipment cluster, and graded avoidance execution module to construct a spatiotemporal corridor for the rescue route.

[0021] Vehicle-mounted terminal cluster for rescue vehicles: Deployed in each rescue vehicle, it is equipped with a high-precision positioning module, a 5G-V2X vehicle-to-cloud two-way communication module, and an emergency control command execution interface. It adopts a combination of Beidou + GPS + inertial navigation positioning with a positioning accuracy of ≤0.5 meters.

[0022] Roadside equipment clusters: located on both sides of municipal road lanes, intersections, and key nodes, including: roadside power supply boxes, programmable roadside control boxes, roadside multi-functional warning devices, and programmable traffic signal controllers; specifically including the following equipment: 1. Roadside power supply box: Installed on poles along the green belts on both sides of the municipal road, one every 1000 meters, to provide uninterrupted power supply to all roadside equipment within a 500-meter range, including lane ground warning lights, roadside multi-functional warning devices, programmable roadside control boxes, etc. 2. Programmable roadside control box: One box is installed every 1000 meters, mounted on the same pole as the roadside power supply box. The upper end communicates wirelessly with the cloud control platform and the vehicle terminal manual intervention module in two directions, while the lower end communicates with the roadside multi-functional warning devices within a 500-meter range via a bus. It is responsible for receiving control commands from the cloud control platform and the vehicle terminal manual intervention module, and then controlling the multi-functional warning devices. It is also responsible for collecting the status of the multi-functional warning devices and feeding them back to the cloud control platform. 3. Roadside multi-functional warning device: It adopts a three-in-one multi-functional combined warning structure, consisting of ground warning lights, multi-functional intelligent warning signs, cantilevered LED ray lights and projection lights; all warning units are equipped with a unique hardware address code, and the programmable roadside control box identifies and accurately controls individual warning devices through the address code. Each address code corresponds to the actual geographical location information, which is used to build a virtual traffic map.

[0023] Furthermore, the roadside multi-functional warning device includes: Ground warning lights: Installed embedded in the lane lines on both sides of a designated lane along municipal roads, with a pair installed every 10-20 meters. They have a red and blue alternating flashing function, a flashing frequency of 2Hz, IP68 protection rating, compressive strength ≥10 tons, and each light is equipped with an independent address code. Multifunctional intelligent warning sign: It integrates an LED information display screen, broadcasting equipment and road condition collection camera. All sub-units are equipped with independent address codes. The LED information display screen displays "Emergency rescue, please give way to the rescue lane". The broadcasting equipment broadcasts rescue information to remind other vehicles to give way. The road condition collection camera collects real-time road conditions and uploads them to the cloud control platform. Cantilevered LED strobe ray lights and projection lights: Ray lights and projection lights installed at intersections, key traffic nodes, etc. The ray lights are installed in pairs, and each pair of ray lights can project rays onto the lane lines on both sides of the designated lane on the municipal road. The visible projection line length on the ground is not less than 30 meters, which is used to lock the emergency lane. The projection lights project the text message "Emergency rescue lane, please give way" onto the road surface of the emergency lane. The lanes projected by the ray lights and projection lights can be changed according to the instructions of the cloud control platform.

[0024] 4. Programmable Traffic Signal Controller: Installed near the traffic signal controller, it communicates wirelessly with the cloud control platform and the vehicle-mounted terminal manual intervention module via two-way communication at the top, and with the traffic signal controller via wired communication at the bottom; it is responsible for receiving control commands from the cloud control platform and the vehicle-mounted terminal manual intervention module, controlling the traffic lights, and feeding back the traffic light status to the cloud control platform. This system adopts a dynamically adjustable three-level early warning system: Level 1 warning (500m-1000m range): The ground warning lights in the designated lanes along the rescue route are precisely activated by the address code, and lane avoidance instructions are issued through the LED information display screen of the corresponding multi-functional smart warning sign. Level 2 warning (range 200m-500m): Activate the broadcasting equipment, cantilevered LED ray lights and projection lights in the corresponding road section to enhance the warning effect; Level 3 warning (100m-200m range): In conjunction with the programmable traffic signal controller, it forces the vehicle to pass through with a green light, and at the same time issues the highest level of expulsion command to the autonomous vehicle; The distance for each warning level can be dynamically adjusted based on real-time road congestion feedback.

[0025] Furthermore, the graded avoidance execution module is installed in the driver's cab of the rescue vehicle and communicates with the cloud control platform. Based on the urgency of the rescue mission and the distance between the rescue vehicle and the target vehicle, it issues three levels of drive-away commands to the autonomous vehicle: Level 1 Emergency Displacement (Close-range High Emergency): Immediately change lanes or pull over to the side of the road to avoid the obstacle; Level 2 clearance (medium distance, standard): Reduce speed and gradually change lanes to avoid the obstacle; Level 3 (Long Distance): Plan detours and avoidance in advance.

[0026] Vehicle-mounted terminal manual intervention module: Installed in the driver's cab of the rescue vehicle, it has the highest control priority in the system and can manually take over the roadside programmable control box and programmable traffic signal controller within a 2000-meter range via wireless communication. It can realize the activation / deactivation of warning devices, manual triggering of traffic light priority, manual strengthening of drive-off, and manual switching of routes. The manual commands directly override the automatic control of the cloud control platform.

[0027] Cloud-based monitoring and recording module: Used to record system operation data throughout the entire process, including the address code, working status, control command records, location data, path planning data, avoidance and expulsion records, traffic light intervention records, manual intervention logs, and equipment fault information of each alarm device, supporting accurate location of equipment faults and data traceability.

[0028] The drone navigation assistance module is an extension module that is activated in scenarios such as road congestion, construction, severe weather, and poor visibility. It is used to enable advance navigation, enhanced warnings, aerial road condition reconnaissance, and obstacle avoidance status monitoring.

[0029] Fault Inspection Module: Used for automatic routine inspection of hardware device status, sending inspection information every 0.5 hours. If a hardware device malfunctions, the module records the faulty device's address code, generates an alarm message indicating the actual fault location, and sends it to maintenance personnel for timely repair. When a rescue mission is generated, it is used to urgently detect the operational status of hardware devices along the rescue path and instruct the fault module to automatically restart.

[0030] like Figure 3 As shown, another method for emergency avoidance and priority passage of rescue vehicles according to the present invention specifically includes the following steps: S1. The cloud control platform receives emergency alarm information and generates rescue tasks, which are then assigned to the corresponding rescue vehicles. S2. The rescue vehicle starts, and the on-board terminal collects and uploads vehicle information to the cloud control platform in real time; S3, the cloud control platform combines real-time road conditions and traffic flow prediction data, and uses reinforcement learning algorithms to plan the optimal rescue route. Based on the rescue route, the cloud control platform matches the electronic map, collects the address codes of all roadside equipment on the corresponding route in the electronic map, generates a rescue task database, sorts all the roadside equipment address codes in the database from near to far according to the rescue route, and completes the background locking of the spatiotemporal corridor of the rescue channel. S4. The cloud control platform starts the fault inspection module, sends inspection instructions to all roadside equipment along the rescue route from near to far, and collects feedback signals to ensure that the roadside equipment along the rescue route is working properly. If an abnormal feedback signal is encountered, the device is restarted and the signal is fed back again. After three failed restarts, the abnormal information is recorded and sent to the vehicle terminal. The S5 cloud control platform matches the real-time location of the rescue vehicle to the electronic map, and sends a set of time-series control instructions to the programmable roadside control box based on the real-time location of the vehicle. The programmable roadside control box parses the instructions and executes the activation of the corresponding equipment, thus constructing a spatiotemporal corridor for the rescue channel covering a range of at least 1,000 meters in front of the rescue vehicle. S6. The road condition collection camera provides real-time feedback on road congestion status, and the cloud control platform dynamically adjusts the three-level warning distance based on the real-time road congestion situation. S7, the programmable roadside control box parses instructions and uses address codes to precisely control the corresponding ground warning lights to start in the adjusted three-level early warning system sequence; S8, the programmable roadside control box analyzes commands and uses address codes to precisely control the rescue text and voice information released by the multi-functional intelligent warning sign to be activated in the adjusted three-level early warning system sequence; S9, the programmable roadside control box analyzes instructions and uses address codes to precisely control the cantilevered LED strobe lights and projection lights to start sequentially according to the adjusted three-level early warning system, and strengthens the information prompts for locking the rescue lane; S10. In case of severe traffic congestion and the emergency lane is not effectively cleared, the cloud control platform will issue instructions to control the cantilevered LED strobe lights and projection lights to adjust their angles based on the collected real-time traffic information, change to the lane with the least congestion and lock it, and send the lane change information and location to the vehicle terminal. S11. The graded avoidance execution module issues a corresponding level of drive-away command to the autonomous vehicles in the rescue lane, driving the autonomous vehicles away from the rescue lane. S12. The cloud control platform sends instructions to the programmable traffic signal controller to dynamically adjust the timing of traffic light signals according to the real-time speed of the rescue vehicle, so as to realize intelligent priority passage. S13. When the vehicle is near the faulty roadside equipment, manually take over the roadside control box and forcibly activate the roadside warning device. S14. The system performs fully automatic control during normal operation; if a system failure, signal interruption, or extremely complex intersection occurs, the on-board terminal manual intervention module is immediately activated to precisely control any roadside equipment via address code and execute control with the highest priority. S15. In complex road conditions, the drone navigation assistance module can be activated to enhance warning and road condition monitoring. The cloud monitoring and recording module records the operating data and control commands of all devices throughout the process. After the S16 rescue vehicle passes through the corresponding road section, the system uses the address code to shut down all warning devices in batches, automatically resets, and restores normal traffic operation.

[0031] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and improvements, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A rescue vehicle emergency avoidance and right-of-way system characterized by: The system includes: a cloud control platform, a cluster of vehicle-mounted terminals for rescue vehicles, a cluster of roadside equipment, a graded avoidance execution module, and a manual intervention module for vehicle-mounted terminals. The cloud control platform is used to generate and allocate rescue tasks, perform real-time traffic flow prediction and real-time road condition analysis based on the rescue tasks using neural networks, generate the optimal rescue route, and send instructions to the vehicle-mounted terminal cluster, roadside equipment cluster, and graded avoidance execution module to construct a spatiotemporal corridor for the rescue route. The vehicle-mounted terminal cluster of the rescue vehicles is deployed in each rescue vehicle to receive instructions sent by the cloud control platform. The roadside equipment cluster is deployed on both sides of the lanes of municipal roads, at intersections and key nodes, and controls the corresponding equipment according to the instructions sent by the cloud control platform. The graded avoidance execution module is installed in the driver's cab of the rescue vehicle and communicates with the cloud control platform. It issues different levels of drive-away commands to the autonomous vehicle according to the urgency of the rescue mission and the distance between the rescue vehicle and the rescue target. The vehicle-mounted terminal manual intervention module is installed in the driver's cab of the rescue vehicle. It has the highest control priority and can take over the control of the roadside equipment cluster within a set range through wireless communication. It can manually trigger traffic lights, manually strengthen the drive-away mechanism, manually switch rescue routes, and manually overwrite the automatic control of the cloud control platform with manual commands.

2. A rescue vehicle emergency avoidance and priority system according to claim 1 wherein: The roadside equipment cluster includes: a roadside power supply box, a programmable roadside control box, a roadside multi-functional warning device, and a programmable traffic signal controller; The roadside power supply box is installed at equal intervals along the green belts on both sides of the municipal road, providing uninterrupted power supply for the roadside multi-functional warning device, programmable roadside control box and programmable traffic signal controller. The programmable roadside control box is installed on the same pole as the roadside power supply box. Its upper end is connected to the cloud control platform and the vehicle terminal manual intervention module for bidirectional wireless communication, and its lower end is connected to the roadside multi-functional warning device via a bus. It is also responsible for receiving control commands from the cloud control platform and the vehicle terminal manual intervention module, controlling the roadside multi-functional warning device, collecting the status of the roadside multi-functional warning device, and feeding it back to the cloud control platform. The roadside multi-functional warning device adopts a three-in-one multi-functional combined warning structure composed of multiple warning units. Each warning unit is equipped with a unique hardware address code. The programmable roadside control box identifies and accurately controls individual warning devices through the address code. Each address code corresponds to the actual geographical location information, which is used to construct a virtual traffic map. The programmable traffic signal controller is installed near the traffic light controller, with bidirectional wireless communication between its upper end and the cloud control platform and the vehicle terminal manual intervention module, and wired communication between its lower end and the traffic light controller; it is also responsible for receiving control commands from the cloud control platform and the vehicle terminal manual intervention module, controlling the traffic lights, and feeding back the traffic light status to the cloud control platform.

3. The emergency avoidance and priority passage system for rescue vehicles according to claim 2, characterized in that: The roadside multi-functional warning device includes: Ground warning lights: Installed at equal intervals along the lane lines on both sides of the designated lanes of municipal roads, with alternating red and blue flashing function, and each light is equipped with an independent address code; Multifunctional intelligent warning sign: It integrates an LED information display screen, broadcasting equipment and road condition collection camera. The LED information display screen displays the message "Emergency rescue, please give way to the rescue lane", the broadcasting equipment broadcasts rescue information to remind other vehicles to give way, and the road condition collection camera collects real-time road conditions and uploads them to the cloud control platform. All three devices are equipped with independent address codes. LED strobe rays and projection lights: Installed in pairs at intersections and key traffic nodes, each pair of LED strobe rays projects rays onto the lane lines on both sides of the designated lane on the municipal road to lock the emergency lane. The projection lights project the text message "Emergency rescue lane, please give way" onto the road surface of the emergency lane.

4. The emergency avoidance and priority passage system for rescue vehicles according to claim 3, characterized in that: The system employs a dynamically adjustable three-level early warning system. Level 1 warning: The ground warning lights in the designated lanes along the rescue route are activated precisely through the address code, and lane avoidance instructions are issued through the LED information display screen of the corresponding multi-functional smart warning sign; Level 2 warning: Based on the Level 1 warning, the broadcasting equipment, LED strobe lights and projectors of the corresponding road section will be activated to enhance the warning effect; Level 3 warning: Based on the level 2 warning, the programmable traffic signal controller is linked to force green light passage, and at the same time, the highest level of drive-away command is issued to the autonomous vehicle.

5. A rescue vehicle emergency avoidance and priority passage system according to any one of claims 1-4, characterized in that: The system also includes: Cloud-based monitoring and recording module: Used to record system operation data throughout the entire process, including each device's address code, working status, control command records, location data, path planning data, avoidance and expulsion records, traffic light intervention records, manual intervention logs, and device fault information, supporting accurate device fault location and data traceability; Fault Inspection Module: Used to send inspection information to the roadside equipment cluster at regular intervals and receive feedback information from the roadside equipment cluster. If a device in a roadside equipment cluster does not provide feedback, the module records the address code of the device without feedback, generates an alarm message for the actual fault location, and sends it to maintenance personnel for timely repair. When a rescue mission is generated, the module urgently detects the working status of the roadside equipment cluster along the rescue path and instructs the faulty device to restart automatically.

6. A method for emergency avoidance and priority passage of rescue vehicles, characterized in that: The method includes: Step 1: The cloud control platform generates a rescue mission based on the emergency alarm information and constructs a spatiotemporal corridor for the rescue channel based on the optimal rescue path; Step 2: The programmable roadside control box parses the instructions and controls each device in the roadside equipment cluster to start according to the warning level; Step 3: The graded avoidance execution module issues the corresponding level of drive-away command to the autonomous vehicles in the rescue lane, driving the autonomous vehicles to leave the rescue lane. The cloud control platform issues commands to the programmable traffic signal controller, dynamically adjusting the timing of the traffic light signals according to the real-time speed of the rescue vehicles to achieve intelligent priority passage. After the rescue vehicles pass through the corresponding road section, all warning devices are turned off in batches through the address code, automatically reset, and normal traffic operation is restored.

7. A method for emergency avoidance and priority passage of rescue vehicles according to claim 6, characterized in that: Step one specifically includes: A1. The cloud control platform receives emergency alarm information and generates rescue tasks, which are then assigned to the corresponding rescue vehicles. A2. The rescue vehicle starts, and the on-board terminal collects and uploads vehicle information to the cloud control platform in real time; A3. The cloud control platform activates the fault inspection module, sends inspection instructions to all roadside equipment along the rescue route from near to far, and collects feedback signals to ensure that the roadside equipment along the rescue route is working properly. A4. The cloud control platform combines real-time road conditions and traffic flow prediction data to plan the optimal rescue route, match the address code of the multi-functional warning device with the rescue route, construct a virtual electronic map, and lock the spatiotemporal corridor of the rescue channel. A5. The cloud control platform generates a set of timing control instructions with device address codes and sends them to the programmable roadside control box to build a spatiotemporal corridor for the rescue channel covering a set range in front of the rescue vehicle.

8. A method for emergency avoidance and priority passage of rescue vehicles according to claim 6, characterized in that: Step two specifically includes: B1. The road condition collection camera provides real-time feedback on road congestion status, and the cloud control platform dynamically adjusts the three-level warning distance based on the real-time road congestion situation. B2. The programmable roadside control box parses commands and uses address codes to precisely control the corresponding ground warning lights to start in sequence according to the adjusted three-level early warning system. B3. The programmable roadside control box interprets commands and uses address codes to precisely control the rescue text and voice information released by the multi-functional intelligent warning sign to be activated in the adjusted three-level early warning system sequence. B4. The programmable roadside control box parses instructions and uses address codes to precisely control the LED strobe light box and projection lights to start sequentially according to the adjusted three-level early warning system, thereby strengthening the information prompts for locking the rescue lane. B5. If severe traffic congestion occurs and the emergency lane is not effectively cleared, the cloud control platform will issue instructions based on the collected real-time traffic information to control the LED strobe lights and projection lights to adjust their angles, change to the lane with the least congestion, lock it, and send the lane change information and location to the vehicle terminal.

9. A method for emergency avoidance and priority passage of rescue vehicles according to claim 6, characterized in that: The method further includes: if a roadside device is found to have an abnormal feedback signal, the device is restarted and the signal is fed back again. If the restart fails a set number of times, the abnormal information is recorded and sent to the vehicle terminal. When the vehicle travels to the set range of the faulty roadside device, the roadside control box is manually taken over by the manual intervention module of the vehicle terminal, and the roadside device is forcibly started with the highest control priority.

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