CN114464002A - Emergency vehicle signalized intersection vehicle speed guiding system based on vehicle-road cooperation - Google Patents
Emergency vehicle signalized intersection vehicle speed guiding system based on vehicle-road cooperation Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The invention discloses an emergency vehicle signalized intersection vehicle speed guiding system based on vehicle-road cooperation. The emergency vehicle sensing module and the non-emergency vehicle sensing module are in a parallel relation, the emergency vehicle sensing module cooperates with the non-emergency vehicle sensing module after acquiring the emergency vehicle running information, the sensing information is input into the vehicle speed guiding module and the signal timing adjusting module, the vehicle speed guiding module and the signal timing module perform parallel calculation to generate a vehicle speed guiding strategy and a signal timing strategy, and the vehicle is guided to pass. In the invention, in the vehicle-road cooperative system, corresponding vehicle passing schemes are generated when the vehicles arrive at the intersection and exit from the intersection, so that vehicle collision can be avoided, the signal lamp time and the vehicle speed at the intersection can be adjusted, and the aim of preferentially and quickly passing the emergency vehicles is fulfilled through the cooperative cooperation of the non-emergency vehicles at the intersection, the emergency vehicles and roadside intelligent equipment.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a traffic speed guide of emergency vehicles at an intersection in vehicle-road cooperation.
Background
In recent years, with the development of communication technology and physical equipment, vehicle-road cooperation gradually becomes a research hotspot in the field of intelligent traffic, and in a vehicle-road cooperation system, people, vehicles and roads are cooperatively controlled, and reliable, safe and rapid information interaction between vehicles and roads is realized by means of a low-delay, high-speed wireless communication technology and an internet of things perception technology, so that a solid foundation is provided for more vehicle-road cooperative applications.
At present, the application of the vehicle-road cooperation technology has several directions, such as signal control, accident handling, emergency management, safety prevention, collision early warning, auxiliary driving and the like. Emergency special vehicles such as ambulances, fire engines, etc. in an emergency management scenario perform safety concerns about lives and properties of people. Therefore, the improvement of the traffic efficiency and the traffic safety of the special vehicle has a very important meaning, and how to combine the cooperative cooperation capability between the emergency vehicle and other non-emergency vehicles under the condition of ensuring the traffic speed and the safety of the special vehicle is a key problem to be solved urgently.
Disclosure of Invention
The invention provides a novel system for assisting an emergency vehicle to pass through a road cooperating with other non-emergency vehicles, which adopts a novel technical scheme to guide the emergency vehicle to pass through, and simultaneously guide the non-emergency vehicles around the emergency vehicle in speed and assist the emergency vehicle to run so as to help the emergency vehicle to rapidly pass through a signalized intersection, thereby achieving the purpose of assisting the emergency vehicle to rapidly pass through.
The invention adopts the following technical scheme for solving the problems:
the invention provides a signalized intersection vehicle speed guiding system based on cooperation of a vehicle and a road and emergency vehicles.
The emergency vehicle sensing module and the non-emergency vehicle sensing module are in a parallel relation, the emergency vehicle sensing module cooperates with the non-emergency vehicle sensing module after acquiring the emergency vehicle running information, the sensing information is input into the vehicle speed guiding module and the signal timing adjusting module, the vehicle speed guiding module and the signal timing module perform parallel calculation to generate a vehicle speed guiding strategy and a signal timing strategy, and the vehicle is guided to pass.
Further, based on vehicle route is in coordination with emergency vehicle's signalized intersection speed of a motor vehicle guidance system, its characterized in that includes:
the emergency vehicle sensing module is used for acquiring emergency vehicle running information and sharing vehicle real-time information with other road network nodes; wherein the emergency vehicle travel information includes: the emergency vehicle unique identification code, the vehicle type, the vehicle driving route and the lane where the vehicle is located.
The non-emergency vehicle sensing module is used for acquiring the running information of other non-emergency vehicles so as to match emergency vehicles to preferentially pass; wherein the non-emergency vehicle travel information includes: vehicle identification code, the lane in which the vehicle is located.
And the vehicle speed guiding module is used for calculating the recommended vehicle speed of the current vehicle.
And the signal timing adjusting module is used for calculating a timing strategy which needs to be adjusted and can be smoothly passed through the intersection by the emergency vehicle.
Further, the vehicle speed guidance module is further configured to:
for an emergency vehicle, the maximum non-stop and rapid passing through the intersection can be guaranteed, and the collision risk can be avoided under the condition that a front vehicle exists and the lane can not be changed.
And guiding the speed of the non-emergency vehicle which participates in the preferential passage of the emergency vehicle so as to reduce the driving influence of the non-emergency vehicle on the emergency vehicle.
The invention provides a vehicle speed guiding method for an emergency vehicle signalized intersection based on vehicle-road cooperation, which is characterized by comprising the following steps of:
after the emergency vehicle passes through the adjacent intersection, the first road side intelligent node of the adjacent intersection senses the passing information of the emergency vehicle and sends an emergency signal to the second road side intelligent node of the downstream intersection of the emergency vehicle.
Further, the emergency signal includes: the emergency vehicle unique identification code, the vehicle type and the driving route.
And the second road side intelligent node establishes communication with the emergency vehicle after receiving the emergency signal, generates a free lane change area priority traffic strategy and sends the free lane change area priority traffic strategy to other non-emergency vehicles of the emergency vehicle.
Further, the free lane change area priority traffic policy comprises: and selecting the minimum queuing length as a recommended emergency vehicle running lane according to the queuing length of each lane in the phase of the emergency vehicle between the two intersections.
And the second road side intelligent node receives the emergency signal and establishes broadcast communication with other non-emergency vehicles, generates a free lane changing area avoidance strategy and sends the strategy to other non-emergency vehicles.
Further, the free lane change area avoidance strategy comprises: and recommending a driving lane for the emergency vehicle, and timely changing other lanes for the front vehicle in the free lane changing area.
When the emergency vehicle enters the vehicle speed guide area, the vehicle-mounted terminal of the emergency vehicle communicates with the second road side intelligent node to acquire the peripheral perception information to calculate the vehicle speed.
Further, the peripheral perception information obtained after the emergency vehicle enters the vehicle speed guidance area comprises: the current phase signal control information, the information of the front queuing vehicles and the distance between the current emergency vehicle and the stop line.
And the intelligent terminal of the vehicle queued in front of the emergency vehicle acquires the peripheral perception information broadcasted by the intelligent node on the second road side to calculate the vehicle speed.
Further, the peripheral perception information broadcasted by the second roadside intelligent node and acquired by the non-emergency vehicle in front of the emergency vehicle includes: the current signal control information, the speed information of the front vehicle and the time interval between the vehicles.
The roadside intelligent unit and the emergency vehicle carry out information interaction, and signal timing adjustment and optimization are carried out according to the vehicle speed and the position of the emergency vehicle and in combination with the signal state, so that the passing intersection without stopping the emergency vehicle efficiently and rapidly is ensured.
The invention has the following advantages:
in the vehicle-road cooperative system, through a C-V2X technology, a vehicle can interact information with a road-side RSU in real time, the surrounding environment is comprehensively sensed, a corresponding vehicle passing scheme is generated when the vehicle arrives at an intersection and leaves the intersection, vehicle collision can be avoided, the signal lamp time and the vehicle speed of the intersection are adjusted, and the purpose of preferential rapid passing of emergency vehicles is achieved through cooperative cooperation of non-emergency vehicles at the intersection, emergency vehicles and road-side intelligent equipment.
Drawings
FIG. 1 is a schematic diagram of vehicle speed guidance at a signalized intersection based on cooperation of a vehicle and a road with an emergency vehicle
FIG. 2 is a vehicle speed guidance scheme flow at a signalized intersection based on cooperation of a vehicle and a road with an emergency vehicle
Detailed Description
In order to more clearly illustrate the embodiments of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and examples. It is to be understood that the following described embodiments are only some, and not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of vehicle speed guidance at a signalized intersection based on a vehicle and road in cooperation with an emergency vehicle. As shown in fig. 1, the system comprises a traffic signal controller, a roadside intelligent unit RSU and an on-board intelligent unit OBU, wherein the traffic signal controller is configured to change a signal timing scheme and report a phase and timing information cycle of a signal lamp to the roadside intelligent unit, and the roadside intelligent unit RSU is configured to determine high-precision positioning of vehicle information in a cross section area and forward signal timing scheme information to an on-board intelligent terminal. The vehicle-mounted intelligent unit OBU is used for carrying out V2I vehicle-road communication with the road side unit RSU, calculating the vehicle speed, and feeding back vehicle information of a current vehicle, such as the vehicle speed, longitude and latitude, the vehicle type and lane information, whether an emergency vehicle is in emergency or not to the RSU.
The traffic signal controller, the roadside intelligent unit RSU and the vehicle-mounted intelligent unit OBU in the invention all use V2X communication technology in a vehicle-road cooperative system, the traffic signal controller comprises a data communication module and a signal display module, the vehicle-mounted OBU comprises a data processing module, a positioning module, a 5G communication module and a V2X communication module, an in-vehicle state acquisition module, a driving auxiliary module and a control module, and the roadside intelligent RSU comprises a sensing module, a vehicle-road cooperative communication module and an auxiliary high-precision positioning module.
Hereinafter, the technical means of the present disclosure will be described in further detail with reference to specific examples.
Referring to fig. 2, a method for guiding vehicle speed at a signalized intersection of a vehicle and a road in cooperation with an emergency vehicle according to an embodiment of the present invention includes the steps of:
step 1, establishing communication
When the emergency vehicle passes through the adjacent intersection, the RSU of the exit lane of the adjacent intersection receives the passing information of the emergency vehicle, and then exchanges information with the RSU of the entrance lane of the downstream intersection in the driving direction of the vehicle to send the information of the emergency vehicle. And simultaneously, the emergency vehicle establishes communication connection with the RSU of the downstream intersection.
Step 2, counting the queuing length of each lane
And after the downstream intersection entrance road RSU receives the emergency information, counting the vehicle queuing length of each current lane, calculating the lane with the minimum queuing length, pushing the lane to the emergency vehicle, and pushing the emergency vehicle lane change suggestion.
Step 3, emergency vehicle lane change
And after the emergency vehicle changes the lane to the lane with the minimum queuing length, sending lane change completion information to the downstream intersection entrance lane RSU in the vehicle driving direction.
Step 4, changing the lane of the non-emergency vehicle
After the intersection entrance road side unit acquires the emergency vehicle lane change completion information, the intersection entrance road side unit broadcasts and sends lane change information to vehicles ahead of the lane where the emergency vehicle is located, and the vehicles ahead are reminded of avoiding.
Step 5, vehicle passing in the vehicle speed guide area
After the emergency vehicle continues to run into the vehicle speed guiding area, the road side RSU sends information of signal control lamps to the emergency vehicle and the vehicle in front of the lane where the emergency vehicle is located, and a vehicle speed guiding strategy and a traffic strategy of the emergency vehicle and the vehicle in front of the lane where the emergency vehicle is located are achieved.
In the vehicle speed guidance method, the emergency vehicle and the front non-emergency vehicle are in the following vehicle speed guidance strategy:
when the emergency vehicle reaches the speed guide area, the phase signal lamp is green, and the remaining time of the green lamp is tremainAcquiring the current speed v of the emergency vehicle0Considering the driving safety and the road speed limit, the maximum speed of the vehicle is vmaxAnd d is the distance between the current vehicle and the stop line of the intersection.
Emergency vehicleWhen the phase signal lamp at the time of arriving at the vehicle speed guide area is a green lamp and no queuing vehicle exists in the front, the constant speed at which the emergency vehicle can arrive at the stop line before the green lamp is finished is calculated as follows: v. ofs＝d/tremain；
If v iss＜v0The description shows that the emergency vehicle can pass through the intersection before the green light is finished and the emergency vehicle can keep running at a constant speed under the condition, and the green light does not need to be delayed, and the speed of the emergency vehicle is recommended: v ═ v0；
If v iss≥v0In this case, the acceleration of the vehicle and the delay of the green light need to be considered, and the driving of the vehicle before reaching the stop line of the intersection should satisfy:
in the formula: v. of0Is the current speed of the emergency vehicle, a is the acceleration of the emergency vehicle, t1As vehicle acceleration time, t2The vehicle speed is the constant speed running time after the vehicle acceleration is finished.
If t1+t2＜tremainThe description shows that the vehicle can pass through the intersection without adjusting the duration of the green light after accelerating, and then the speed of the emergency vehicle is recommended: v ═ vmax。
If t1+t2≥tremainAnd if the vehicle needs to pass through the intersection under the condition of adjusting the green light duration after acceleration, recommending the speed of the emergency vehicle: v ═ vmaxGreen light adjustment duration is tm＝t1+t2-tremain。
And secondly, when the emergency vehicle reaches the speed guide area, the signal lamp of the phase position is green, and the queuing vehicle is arranged in front of the signal lamp.
And for the non-emergency vehicle, if the lane where the current vehicle is located is provided with the emergency vehicle, the emergency vehicle is behind the current vehicle, and no front vehicle is arranged in front of the current vehicle, the vehicle is the head vehicle of the non-emergency vehicle fleet.After the emergency vehicle arrives at the vehicle speed guide area, in order to avoid collision between the emergency vehicle and the front vehicle after acceleration, the roadside RSU establishes communication with the head vehicle of the non-emergency vehicle, and guides the head vehicle of the front vehicle to accelerate to vmax。
The other vehicles behind the head car accelerate along with the head car and are calculated according to the linear following model, and the acceleration is obtained at the time t1The speed of the rear integral non-emergency vehicle fleet is increased to vmaxThe advancing distance of the motorcade tail vehicle is d1。
At time t1And judging whether the emergency vehicle has a collision risk or not, if so, carrying out deceleration action on the emergency vehicle, and if not, driving the emergency vehicle at a constant speed.
At time t1Then, the emergency vehicle runs as d2At this time, the emergency vehicle can perform an acceleration behavior.
If d is2> d and t1＜tremainBefore the green light is finished, both the front motorcade and the emergency vehicle can smoothly pass through the intersection, the green light time does not need to be prolonged, and the recommended speed v of the emergency vehicle is equal to v0。
If d is2D, the emergency vehicle runs before reaching the stop line of the intersection and meets the following requirements:
in the formula: v. of0Is the current speed of the emergency vehicle, a is the acceleration of the emergency vehicle, t2The vehicle travel time of the emergency vehicle before reaching the intersection stop line.
If t is2＜tremain-t1And the vehicle speed is recommended after the vehicle is accelerated and the vehicle can pass through the intersection under the conditions that the green light duration is not adjusted and no conflict exists: v ═ vmax；
If t2≥tremain-t1And if the vehicle needs to pass through the intersection under the condition of adjusting the green light duration after acceleration, recommending the speed of the emergency vehicle: v ═ vmaxGreen light adjustment durationIs tm＝t1+t2-tremain。
When the emergency vehicle reaches the speed guide area, the phase signal lamp is red, and the remaining time of the red light is tremainFor obtaining the current speed v of the emergency vehicle0Considering the driving safety and the road speed limit, the maximum speed of the vehicle is vmaxAnd d is the distance between the current vehicle and the stop line of the intersection.
Firstly, when an emergency vehicle arrives at a vehicle speed guide area, a phase signal lamp is a red lamp and no queuing vehicle exists in front, calculating the time when the emergency vehicle accelerates to arrive at a stop line:
in the formula: v. of0Is the current speed of the emergency vehicle, a is the acceleration of the emergency vehicle, t1The vehicle travel time of the emergency vehicle before reaching the intersection stop line.
If t1≥tremainAnd the green light is turned on when the emergency vehicle reaches the stop line, so that the emergency vehicle can pass through the intersection without stopping at the maximum speed. Recommending an emergency vehicle speed: v ═ vmaxAnd the red light time does not need to be adjusted.
If t1＜tremainIf the emergency vehicle is not at the stop line at the maximum speed, the speed and the duration of the red light are required to be adjusted to pass through the intersection.
If t1＜tremainAnd is
The emergency vehicle turns on the green light when reaching the stop line and can enter the vehicle speed guidance area at the original speed v0And passing through the intersection without stopping. Recommending an emergency vehicle speed: v ═ v0And the red light time does not need to be adjusted.
If t1＜tremainAnd is
When the emergency vehicle reaches the stop line, the red light is not finished, and the red light is adjusted to be time
Recommending the speed of the emergency vehicle: v ═ v0。
Secondly, when the emergency vehicle arrives at the speed guide area, the phase signal lamp is red and queuing vehicles exist in front, the distance between the emergency vehicle and the tail of the motorcade is dvv. At the moment, the red light of the current phase needs to be ended as soon as possible, and the red light time is adjusted to be the buffer time tc。
At tcAfter time, the head of the vehicle in line needs to be accelerated to vmaxCalculated according to a linear following model, at time t1The speed of the rear integral non-emergency vehicle fleet is increased to vmaxThe advancing distance of the motorcade tail vehicle is d1。
To avoid the probability of collision of an emergency vehicle with a preceding vehicle, at tc+t1In time, the emergency vehicle running speed should meet the following conditions:
at tc+t1After that time, the emergency vehicle may accelerate to a maximum vehicle speed vmax。
And after the emergency vehicle passes through the current intersection, the intersection RSU sends information to inform a downstream intersection of the driving direction of the emergency vehicle, and the emergency vehicle continues to carry out communication interaction with the next intersection after driving out of the intersection.
Claims (9)
1. Emergency vehicle signal crossing speed of a motor vehicle bootstrap system based on vehicle and road is in coordination, its characterized in that: the system comprises an emergency vehicle sensing module, a non-emergency vehicle sensing module, a vehicle speed guiding module and a signal timing adjusting module;
the emergency vehicle sensing module and the non-emergency vehicle sensing module are in a parallel relation, the emergency vehicle sensing module cooperates with the non-emergency vehicle sensing module after acquiring the emergency vehicle running information, the sensing information is input into the vehicle speed guiding module and the signal timing adjusting module, the vehicle speed guiding module and the signal timing module perform parallel calculation to generate a vehicle speed guiding strategy and a signal timing strategy, and the vehicle is guided to pass.
2. An emergency vehicle signalized intersection vehicle speed guidance system based on vehicle-to-road coordination according to claim 1, wherein:
the emergency vehicle sensing module is used for acquiring emergency vehicle running information and sharing vehicle real-time information with other road network nodes; wherein the emergency vehicle travel information includes: the emergency vehicle unique identification code, the vehicle type, the vehicle running route and the lane where the vehicle is located;
the non-emergency vehicle sensing module is used for acquiring the running information of other non-emergency vehicles so as to match emergency vehicles to preferentially pass; wherein the non-emergency vehicle travel information includes: a vehicle identification code, a lane in which the vehicle is located;
the vehicle speed guiding module is used for calculating the recommended vehicle speed of the current vehicle;
and the signal timing adjusting module is used for calculating a timing strategy which needs to be adjusted and can be smoothly passed through the intersection by the emergency vehicle.
3. An emergency vehicle signalized intersection vehicle speed guidance system based on vehicle-road coordination according to claim 1 or 2, wherein:
the vehicle speed guiding module is further configured to:
for an emergency vehicle, the emergency vehicle is guaranteed to pass through an intersection quickly and without stopping at the maximum, and the collision risk is avoided under the condition that a front vehicle exists and the lane cannot be changed;
and guiding the speed of the non-emergency vehicle which participates in the preferential passage of the emergency vehicle so as to reduce the driving influence of the non-emergency vehicle on the emergency vehicle.
4. An emergency vehicle signalized intersection vehicle speed guidance method based on vehicle-road coordination using the system according to any one of claims 1 to 3,
after the emergency vehicle passes through the adjacent intersection, the first road side intelligent node of the adjacent intersection senses the passing information of the emergency vehicle and sends an emergency signal to the second road side intelligent node of the downstream intersection of the emergency vehicle.
5. An emergency vehicle signalized intersection vehicle speed guidance method based on vehicle-road coordination according to claim 4,
the emergency signal includes: the emergency vehicle unique identification code, the vehicle type and the driving route;
and the second road side intelligent node establishes communication with the emergency vehicle after receiving the emergency signal, generates a free lane change area priority traffic strategy and sends the free lane change area priority traffic strategy to other non-emergency vehicles of the emergency vehicle.
6. The method for guiding the vehicle speed at the signalized intersection of the emergency vehicle based on the vehicle-road cooperation as claimed in claim 5, wherein the free lane-change area priority traffic strategy comprises: the method comprises the following steps that the queuing length of each lane of the phase where an emergency vehicle is located between two intersections is selected, and the minimum queuing length is selected as a recommended emergency vehicle running lane;
and the second road side intelligent node receives the emergency signal and establishes broadcast communication with other non-emergency vehicles, generates a free lane changing area avoidance strategy and sends the strategy to other non-emergency vehicles.
7. The method for guiding the vehicle speed at the signalized intersection of the emergency vehicle based on the vehicle-road cooperation as claimed in claim 5, wherein the free lane-changing area avoidance strategy comprises: recommending a driving lane for the emergency vehicle, and timely changing other lanes for the front vehicle in the free lane changing area;
when the emergency vehicle enters the vehicle speed guide area, the vehicle-mounted terminal of the emergency vehicle communicates with the second road side intelligent node to acquire the peripheral perception information to calculate the vehicle speed.
8. The vehicle-road-cooperation-based emergency vehicle signalized intersection vehicle speed guidance method according to claim 4, wherein the peripheral perception information obtained after the emergency vehicle enters the vehicle speed guidance area comprises: the current phase signal control information, the information of the front queuing vehicles and the distance between the current emergency vehicle and the stop line;
and the intelligent terminal of the vehicle queued in front of the emergency vehicle acquires the peripheral perception information broadcasted by the intelligent node on the second road side to calculate the vehicle speed.
9. The method for guiding the vehicle speed at the signalized intersection of the emergency vehicle based on the vehicle-road cooperation as claimed in claim 5, wherein the peripheral perception information broadcasted by the intelligent node on the second road side and acquired by the non-emergency vehicle in front of the emergency vehicle comprises: current signal control information, speed information of a front vehicle and a workshop time interval;
the roadside intelligent unit performs information interaction with the emergency vehicle, and performs signal timing adjustment and optimization according to the vehicle speed and the position of the emergency vehicle in combination with a signal state, so that the intersection where the emergency vehicle can pass without stopping efficiently and rapidly is ensured.
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