CN114093180A - Special vehicle passing control method and system based on V2X signal machine - Google Patents
Special vehicle passing control method and system based on V2X signal machine Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The embodiment of the invention provides a special vehicle traffic control method and system based on a V2X signal machine, and belongs to the technical field of traffic control of special vehicles. The method comprises the following steps: acquiring the current type of a special vehicle and task existence data showing whether the special vehicle has an emergency task or not; acquiring current emergency degree data reflecting the task emergency degree of the special vehicle; determining a current emergency degree threshold value corresponding to the current type according to the preset corresponding relation between the type of the special vehicle and the emergency degree data threshold value; and determining a signal lamp control strategy of the intersection according to the current type of the special vehicle, the comparison result between the current emergency degree data and the current emergency degree threshold value, the obtained estimated time of the special vehicle reaching the intersection and the target lane of the special vehicle. The invention can determine the vehicle passing condition based on the actual condition of the special vehicle and the actual vehicle type, so as not to influence the healthy passing state of the road as much as possible.
Description
Technical Field
The invention relates to the technical field of special vehicle traffic control, in particular to a special vehicle traffic control method and system based on a V2X signal machine.
Background
The traffic signal is a traffic control means which is commonly used in scenes such as public transportation, emergency rescue, special duty tasks and the like. The current traffic signal control mainly adopts a specified signal control strategy, and the passing time of a signal lamp intersection is adjusted when a special vehicle passes through the signal lamp intersection so as to facilitate the passing of the special vehicle. For different special vehicles, due to different functions and different emergency situations, the consistent traffic regulation strategy can influence the intersection traffic situation which is smooth originally.
Disclosure of Invention
The invention aims to provide a special vehicle traffic control method and system based on a V2X signal, and the special vehicle traffic control method and system based on the V2X signal can determine the vehicle traffic situation based on the actual situation and the actual vehicle type of a special vehicle so as to not influence the healthy traffic state of a road as much as possible and avoid the congestion of a road intersection.
In order to achieve the above object, an embodiment of the present invention provides a special vehicle traffic control method based on a V2X signal, where the special vehicle traffic control method based on a V2X signal includes:
when the distance between a special vehicle and a V2X signal machine at an intersection is smaller than a preset distance range, acquiring the current type of the special vehicle and task existence data showing whether an emergency task exists in the special vehicle;
when the task existence data show that the special vehicle has an emergency task, acquiring current emergency degree data reflecting the task emergency degree of the special vehicle;
determining a current emergency degree threshold value corresponding to the current type according to a preset corresponding relation between the type of the special vehicle and an emergency degree data threshold value;
and determining a signal lamp control strategy of the intersection according to the current type of the special vehicle, the comparison result between the current emergency degree data and the current emergency degree threshold value, the obtained estimated time of the special vehicle reaching the intersection and the target lane of the special vehicle.
Preferably, the estimated time of arrival of the special vehicle at the intersection is configured to be obtained by a method comprising:
obtaining a route distance between the special vehicle and the intersection and the current speed of the special vehicle; and
calculating the estimated time based on the route distance and the current speed.
Preferably, the determining the signal light control strategy of the intersection according to the current type of the special vehicle, the comparison result between the current emergency degree data and the current emergency degree threshold, the obtained estimated time for the special vehicle to reach the intersection, and the target lane of the special vehicle includes:
when the current emergency degree data is larger than the current emergency degree threshold value, the special vehicle belongs to a special duty vehicle and the estimated time is smaller than a preset time threshold value, controlling a signal lamp of the intersection to be a green lamp when the special vehicle reaches the intersection within the estimated time, so that the special vehicle can directly pass through the intersection;
when the current emergency degree data is larger than the current emergency degree threshold value, the special vehicle belongs to any one of a fire truck, an ambulance or a police car, and the estimated time is smaller than a preset time threshold value, controlling the signal lamp of the intersection to execute the following strategies:
if the estimated time shows that the time of the special vehicle reaching the intersection is earlier than a green light window, reducing the green light duration of the target lane by first preset time;
if the estimated time shows that the time when the special vehicle reaches the intersection is in a green light window, keeping the green light duration of the target lane unchanged;
and if the estimated time shows that the time of the special vehicle reaching the intersection is later than the green light window, increasing the green light duration of the target lane by first preset time.
Preferably, the target lane of the special vehicle is configured to be acquired by:
acquiring navigation information of the special vehicle; and
and determining a target lane of the special vehicle according to the navigation information.
In addition, the invention also provides a special vehicle passing control system based on the V2X signal, and the special vehicle passing control system based on the V2X signal comprises:
the special vehicle data acquisition unit is used for acquiring the current type of the special vehicle and task existence data showing whether the special vehicle has an emergency task or not when the distance between the special vehicle and a V2X signal machine at the intersection is smaller than a preset distance range;
an emergency degree data acquisition unit, configured to acquire current emergency degree data reflecting a task emergency degree of the special vehicle when the task existence data shows that the special vehicle has an emergency task;
the emergency degree threshold value determining unit is used for determining a current emergency degree threshold value corresponding to the current type according to the preset corresponding relation between the type of the special vehicle and the emergency degree data threshold value;
and the strategy determining unit is used for determining the signal lamp control strategy of the intersection according to the current type of the special vehicle, the comparison result between the current emergency degree data and the current emergency degree threshold value, the acquired estimated time of the special vehicle reaching the intersection and the target lane of the special vehicle.
Preferably, the estimated time of arrival of the special vehicle at the intersection is configured to be obtained by the module comprising:
the distance and speed acquisition module is used for acquiring the route distance between the special vehicle and the intersection and the current speed of the special vehicle; and
and the estimated time calculation module is used for calculating the estimated time based on the route distance and the current speed.
Preferably, the policy determination unit includes:
the first determining module is used for controlling the signal lamp of the intersection to be a green lamp when the special vehicle reaches the intersection within the estimated time when the current emergency degree data is larger than the current emergency degree threshold value, the special vehicle belongs to a special duty vehicle and the estimated time is smaller than a preset time threshold value, so that the special vehicle can directly pass through the intersection;
a second determining module, configured to control a signal lamp of the intersection to execute the following strategies when the current urgency data is greater than the current urgency threshold, the special vehicle belongs to any one of a fire truck, an ambulance, or a police truck, and the estimated time is less than a preset time threshold:
if the estimated time shows that the time of the special vehicle reaching the intersection is earlier than a green light window, reducing the green light duration of the target lane by first preset time;
if the estimated time shows that the time when the special vehicle reaches the intersection is in a green light window, keeping the green light duration of the target lane unchanged;
and if the estimated time shows that the time of the special vehicle reaching the intersection is later than the green light window, increasing the green light duration of the target lane by first preset time.
Preferably, the target lane of the special vehicle is configured to be acquired by:
the navigation information acquisition module is used for acquiring navigation information of the special vehicle; and
and the target lane determining module is used for determining the target lane of the special vehicle according to the navigation information.
In addition, the invention also provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions, and the instructions are used for causing the machine to execute the special vehicle passing control method based on the V2X signal machine.
In addition, the present invention also provides a processor for executing a program, wherein the program is executed to perform: the special vehicle traffic control method based on the V2X signal machine is described above.
Through the technical scheme, the method and the system can determine the strategy for controlling the special vehicles to pass according to different emergency situations of the special vehicles, avoid controlling the intersection to execute the corresponding strategy only by subjective unity, and increase the efficiency of crossing passing. And the traffic state of the road cannot be influenced, and the congestion condition of the road is avoided.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a flow chart illustrating a special vehicle traffic control method based on a V2X signal according to the present invention; and
fig. 2 is a block diagram illustrating a special vehicle traffic control system based on a V2X signal according to the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart of a special vehicle traffic control method based on a V2X signal, and as shown in fig. 1, the special vehicle traffic control method based on a V2X signal includes:
s101, when the distance between a special vehicle and a V2X signal machine at an intersection is smaller than a preset distance range, acquiring the current type of the special vehicle and task existence data showing whether the special vehicle has an emergency task or not; the preset distance range is within the range of 1km, the current types of the special vehicles comprise special vehicles such as special duty vehicles, fire trucks, ambulances or police vehicles, the task existence data reflect whether the special vehicles have emergency tasks, the special vehicles may need to be allowed when the emergency tasks exist, and the special vehicles do not need to be courtesy when the emergency tasks do not exist.
S102, when the task existence data show that the special vehicle has an emergency task, obtaining current emergency degree data reflecting the task emergency degree of the special vehicle. The current urgency data reflects the urgency of the urgent task, for example, only play is performed or the condition of a patient is stable, life danger does not exist, the urgency is weak when a police car only completes daily tasks, and the urgency data is divided by scoring for convenience of description. For example, when the score is weak, the score can be 0-20, 20-40, 40-60, more than 60, and more than 60 is more urgent.
S103, determining a current emergency degree threshold value corresponding to the current type according to the preset corresponding relation between the type of the special vehicle and the emergency degree data threshold value. Wherein if the type of the special vehicle is a police car, the emergency degree data threshold value is 40 points, and if the type of the special vehicle is an ambulance, the emergency degree data threshold value is 60 points. It is emphasized that the result of urgency may be associated with a plurality of parameters, and the associated condition is also a plurality, and finally only the total scoring result is seen, and no single condition result is seen. In the case of an ambulance, the urgency level includes vital signs of the patient, emotional state of the patient, and the type of illness of the patient. Specifically, the type of the patient with illness can be a type with a higher score and a higher risk coefficient, or a type with a lower score and a different score. And will not be described in detail herein.
And S104, determining a signal lamp control strategy of the intersection according to the current type of the special vehicle, the comparison result between the current emergency degree data and the current emergency degree threshold, the acquired estimated time of the special vehicle reaching the intersection and the target lane of the special vehicle.
Specifically, the estimated time of the special vehicle reaching the intersection is configured to be obtained through the following method:
obtaining a route distance s between the special vehicle and the intersection and a current speed v of the special vehicle; and
calculating the estimated time based on the route distance and the current speed, wherein t is s/v.
Preferably, the determining the signal light control strategy of the intersection according to the current type of the special vehicle, the comparison result between the current emergency degree data and the current emergency degree threshold, the obtained estimated time for the special vehicle to reach the intersection, and the target lane of the special vehicle includes:
when the current emergency degree data is larger than the current emergency degree threshold value, the special vehicle belongs to a special duty vehicle and the estimated time is smaller than a preset time threshold value, controlling a signal lamp of the intersection to be a green lamp when the special vehicle reaches the intersection within the estimated time, so that the special vehicle can directly pass through the intersection;
when the current emergency degree data is larger than the current emergency degree threshold value, the special vehicle belongs to any one of a fire truck, an ambulance or a police car, and the estimated time is smaller than a preset time threshold value, controlling the signal lamp of the intersection to execute the following strategies:
if the estimated time shows that the time of the special vehicle reaching the intersection is earlier than a green light window, reducing the green light duration of the target lane by first preset time;
if the estimated time shows that the time when the special vehicle reaches the intersection is in a green light window, keeping the green light duration of the target lane unchanged;
and if the estimated time shows that the time of the special vehicle reaching the intersection is later than the green light window, increasing the green light duration of the target lane by first preset time.
Preferably, the target lane of the special vehicle is configured to be acquired by:
acquiring navigation information of the special vehicle; and
and determining a target lane of the special vehicle according to the navigation information.
In addition, the invention also provides a special vehicle passing control system based on the V2X signal, and the special vehicle passing control system based on the V2X signal comprises:
the special vehicle data acquisition unit is used for acquiring the current type of the special vehicle and task existence data showing whether the special vehicle has an emergency task or not when the distance between the special vehicle and a V2X signal machine at the intersection is smaller than a preset distance range;
an emergency degree data acquisition unit, configured to acquire current emergency degree data reflecting a task emergency degree of the special vehicle when the task existence data shows that the special vehicle has an emergency task;
the emergency degree threshold value determining unit is used for determining a current emergency degree threshold value corresponding to the current type according to the preset corresponding relation between the type of the special vehicle and the emergency degree data threshold value;
and the strategy determining unit is used for determining the signal lamp control strategy of the intersection according to the current type of the special vehicle, the comparison result between the current emergency degree data and the current emergency degree threshold value, the acquired estimated time of the special vehicle reaching the intersection and the target lane of the special vehicle.
Preferably, the estimated time of arrival of the special vehicle at the intersection is configured to be obtained by the module comprising:
the distance and speed acquisition module is used for acquiring the route distance between the special vehicle and the intersection and the current speed of the special vehicle; and
and the estimated time calculation module is used for calculating the estimated time based on the route distance and the current speed.
Preferably, the policy determination unit includes:
the first determining module is used for controlling the signal lamp of the intersection to be a green lamp when the special vehicle reaches the intersection within the estimated time when the current emergency degree data is larger than the current emergency degree threshold value, the special vehicle belongs to a special duty vehicle and the estimated time is smaller than a preset time threshold value, so that the special vehicle can directly pass through the intersection;
a second determining module, configured to control a signal lamp of the intersection to execute the following strategies when the current urgency data is greater than the current urgency threshold, the special vehicle belongs to any one of a fire truck, an ambulance, or a police truck, and the estimated time is less than a preset time threshold:
if the estimated time shows that the time of the special vehicle reaching the intersection is earlier than a green light window, reducing the green light duration of the target lane by first preset time;
if the estimated time shows that the time when the special vehicle reaches the intersection is in a green light window, keeping the green light duration of the target lane unchanged;
and if the estimated time shows that the time of the special vehicle reaching the intersection is later than the green light window, increasing the green light duration of the target lane by first preset time.
Preferably, the target lane of the special vehicle is configured to be acquired by:
the navigation information acquisition module is used for acquiring navigation information of the special vehicle; and
and the target lane determining module is used for determining the target lane of the special vehicle according to the navigation information.
Compared with the prior art, the special vehicle traffic control system based on the V2X signal has the same distinguishing technical characteristics and technical effects as the special vehicle traffic control method based on the V2X signal.
In addition, the invention also provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions, and the instructions are used for causing the machine to execute the special vehicle passing control method based on the V2X signal machine.
In addition, the present invention also provides a processor for executing a program, wherein the program is executed to perform: the special vehicle traffic control method based on the V2X signal machine is described above.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. The special vehicle traffic control method based on the V2X signal is characterized by comprising the following steps:
when the distance between a special vehicle and a V2X signal machine at an intersection is smaller than a preset distance range, acquiring the current type of the special vehicle and task existence data showing whether an emergency task exists in the special vehicle;
when the task existence data show that the special vehicle has an emergency task, acquiring current emergency degree data reflecting the task emergency degree of the special vehicle;
determining a current emergency degree threshold value corresponding to the current type according to a preset corresponding relation between the type of the special vehicle and an emergency degree data threshold value;
and determining a signal lamp control strategy of the intersection according to the current type of the special vehicle, the comparison result between the current emergency degree data and the current emergency degree threshold value, the obtained estimated time of the special vehicle reaching the intersection and the target lane of the special vehicle.
2. The V2X signal-based special vehicle traffic control method according to claim 1, wherein the estimated time of arrival of the special vehicle at the intersection is configured to be obtained by a method comprising:
obtaining a route distance between the special vehicle and the intersection and the current speed of the special vehicle; and
calculating the estimated time based on the route distance and the current speed.
3. The method for controlling the traffic of a special vehicle based on a V2X signal, according to the current type of the special vehicle, the comparison result between the current urgency data and the current urgency threshold, the obtained estimated time for the special vehicle to reach the intersection, and the target lane of the special vehicle, the method for controlling the traffic lights at the intersection comprises:
when the current emergency degree data is larger than the current emergency degree threshold value, the special vehicle belongs to a special duty vehicle and the estimated time is smaller than a preset time threshold value, controlling a signal lamp of the intersection to be a green lamp when the special vehicle reaches the intersection within the estimated time, so that the special vehicle can directly pass through the intersection;
when the current emergency degree data is larger than the current emergency degree threshold value, the special vehicle belongs to any one of a fire truck, an ambulance or a police car, and the estimated time is smaller than a preset time threshold value, controlling the signal lamp of the intersection to execute the following strategies:
if the estimated time shows that the time of the special vehicle reaching the intersection is earlier than a green light window, reducing the green light duration of the target lane by first preset time;
if the estimated time shows that the time when the special vehicle reaches the intersection is in a green light window, keeping the green light duration of the target lane unchanged;
and if the estimated time shows that the time of the special vehicle reaching the intersection is later than the green light window, increasing the green light duration of the target lane by first preset time.
4. The V2X signal-based special vehicle passage control method according to claim 1, wherein the target lane of the special vehicle is configured to be acquired by:
acquiring navigation information of the special vehicle; and
and determining a target lane of the special vehicle according to the navigation information.
5. A special vehicle passing control system based on a V2X signal machine is characterized in that the special vehicle passing control system based on the V2X signal machine comprises:
the special vehicle data acquisition unit is used for acquiring the current type of the special vehicle and task existence data showing whether the special vehicle has an emergency task or not when the distance between the special vehicle and a V2X signal machine at the intersection is smaller than a preset distance range;
an emergency degree data acquisition unit, configured to acquire current emergency degree data reflecting a task emergency degree of the special vehicle when the task existence data shows that the special vehicle has an emergency task;
the emergency degree threshold value determining unit is used for determining a current emergency degree threshold value corresponding to the current type according to the preset corresponding relation between the type of the special vehicle and the emergency degree data threshold value;
and the strategy determining unit is used for determining the signal lamp control strategy of the intersection according to the current type of the special vehicle, the comparison result between the current emergency degree data and the current emergency degree threshold value, the acquired estimated time of the special vehicle reaching the intersection and the target lane of the special vehicle.
6. The V2X signal-based special vehicle traffic control system of claim 5, wherein the estimated time of arrival of the special vehicle at the intersection is configured to be obtained by the modules comprising:
the distance and speed acquisition module is used for acquiring the route distance between the special vehicle and the intersection and the current speed of the special vehicle; and
and the estimated time calculation module is used for calculating the estimated time based on the route distance and the current speed.
7. The V2X signal-based special vehicle traffic control system according to claim 5, wherein the policy determination unit includes:
the first determining module is used for controlling the signal lamp of the intersection to be a green lamp when the special vehicle reaches the intersection within the estimated time when the current emergency degree data is larger than the current emergency degree threshold value, the special vehicle belongs to a special duty vehicle and the estimated time is smaller than a preset time threshold value, so that the special vehicle can directly pass through the intersection;
a second determining module, configured to control a signal lamp of the intersection to execute the following strategies when the current urgency data is greater than the current urgency threshold, the special vehicle belongs to any one of a fire truck, an ambulance, or a police truck, and the estimated time is less than a preset time threshold:
if the estimated time shows that the time of the special vehicle reaching the intersection is earlier than a green light window, reducing the green light duration of the target lane by first preset time;
if the estimated time shows that the time when the special vehicle reaches the intersection is in a green light window, keeping the green light duration of the target lane unchanged;
and if the estimated time shows that the time of the special vehicle reaching the intersection is later than the green light window, increasing the green light duration of the target lane by first preset time.
8. The V2X signal-based special vehicle traffic control system according to claim 5, wherein the target lane of the special vehicle is configured to be obtained by:
the navigation information acquisition module is used for acquiring navigation information of the special vehicle; and
and the target lane determining module is used for determining the target lane of the special vehicle according to the navigation information.
9. A machine-readable storage medium having stored thereon instructions for causing a machine to execute the special vehicle passage control method based on the V2X signal according to any one of claims 1 to 4.
10. A processor configured to execute a program, wherein the program is configured to perform: the special vehicle traffic control method based on the V2X signal set according to any one of claims 1-4.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116229742A (en) * | 2022-12-14 | 2023-06-06 | 上海电科智能***股份有限公司 | Urban road emergency vehicle priority passing method |
| CN116844355A (en) * | 2023-09-01 | 2023-10-03 | 北京圣传创世科技发展有限公司 | Traffic control method for improving traffic efficiency of emergency vehicles |
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