WO2019085955A1 - Scheduling method and device for emergency vehicle - Google Patents

Abstract

A scheduling method and device for an emergency vehicle, to save the running time of the emergency vehicle and improve the execution efficiency of the emergency vehicle for an emergency task. The method comprises: obtaining a scheduling instruction by a traffic control unit, the scheduling instruction being used for instructing the traffic control unit to perform lane planning for the emergency vehicle; obtaining a running route of the emergency vehicle; determining a fast driving lane according to the running route; and before the fast driving lane is occupied by the emergency vehicle, dispatching traffic resources so that the emergency vehicle can quickly pass through a management area of the traffic control unit. Therefore, the running time of the emergency vehicle is saved, and the emergency vehicle can reach a destination address quickly to execute the emergency task.

Description

Emergency vehicle scheduling method and device

This application claims the priority of the Chinese Patent Application filed on November 6, 2017, the Chinese Patent Application No. PCT Application No. In the application.

Technical field

The present application relates to the field of intelligent transportation technologies, and in particular, to a method and an apparatus for scheduling an emergency vehicle.

Background technique

The intelligent transportation system (ITS) aims to establish a comprehensive, all-round, real-time, accurate and efficient integrated transportation management system by integrating advanced information, communication, sensing, control and computer technologies. . ITS can effectively use transportation facilities, reduce traffic load and environmental pollution, ensure traffic safety, and improve transportation efficiency. It is the future development direction of the transportation system and an important part of smart cities.

At present, in ITS, there are some emergency vehicles with special special purposes different from ordinary vehicles, such as police cars, fire engines, ambulances, etc. Emergency vehicles can be free from driving speed, driving route, driving direction and during the execution of emergency missions. The limits of the command light signal, other vehicles and pedestrians should give way.

In the existing vehicle networking system, the emergency vehicle periodically broadcasts a cooperative awareness message (CAM) message or a decentralized environmental notification message (DEMN) to indicate that it is an emergency vehicle during the driving process. It is to issue a warning to other vehicles to make it emergency.

However, the above-mentioned emergency vehicle alarm notification method does not ensure that other vehicles can effectively avoid the emergency vehicle in time when the road is congested, so that the emergency vehicle cannot quickly reach the destination address, which seriously affects the emergency vehicle's efficiency for emergency tasks.

Summary of the invention

Embodiments of the present application provide a method and apparatus for dispatching an emergency vehicle to save driving time of an emergency vehicle and improve efficiency of emergency vehicles for emergency tasks.

The specific technical solutions provided by the embodiments of the present application are as follows:

In a first aspect, an embodiment of the present application provides a method for scheduling an emergency vehicle, including:

The traffic control unit acquires a scheduling indication; the scheduling indication is used to instruct the traffic control unit to perform lane planning on the emergency vehicle; the traffic control unit acquires a driving route of the emergency vehicle; and the traffic control unit is configured according to the driving path Determining a fast driving lane; the traffic control unit dispatching traffic resources before the fast driving lane is occupied by the emergency vehicle.

With the method provided by the present application, the emergency vehicle can use the fast driving lane to reach the destination address as soon as possible, saving the emergency vehicle driving time and ensuring the rapid execution of the emergency mission.

In a possible design, the traffic control unit acquires a scheduling indication, including: the traffic control unit receives a scheduling indication sent by a central service unit; or the traffic control unit receives a scheduling indication sent by the emergency vehicle.

The method for obtaining two kinds of scheduling indications is provided in the application, which may be sent by the central service unit of the upper layer or sent by the emergency vehicle, which is convenient and flexible, and is applied to various traffic application scenarios.

In a possible design, the traffic control unit acquires a travel route of the emergency vehicle, including: the traffic control unit receives a travel route planned by the central service unit for the emergency vehicle; or the traffic control unit Receiving a travel route that the emergency vehicle plans for itself.

The driving route in the present application can adopt two acquisition modes, which can be planned and sent to the traffic control unit by the central service unit of the upper layer, or can be planned and sent by the emergency vehicle itself to the traffic control unit, which is convenient and flexible.

In a possible design, the driving path is planned according to at least one of the following principles, and specifically includes: the emergency vehicle arrives at the destination address with the shortest expected time; the emergency vehicle arrives at the destination address with the least traffic light; The destination address of the emergency vehicle is expected to be the smoothest.

In the present application, the travel route is planned according to the above principle, and the emergency vehicle can be driven according to the optimal route, thereby saving the travel time of the emergency vehicle.

In a possible design, the traffic control unit determines the fast driving lane according to the driving route, and the traffic control unit acquires at least the driving route in the management area of the traffic control unit a lane; the traffic control unit selects one lane from the at least one lane as a fast lane.

The method provided by the present application can quickly and accurately determine the fast driving lane of the emergency vehicle.

In a possible design, the traffic control unit selects one lane from the at least one lane as the fast driving lane, including: the traffic control unit selects a lane with the least traffic participation object from the at least one lane as a fast driving lane; or the traffic control unit selects a preset lane from the at least one lane as a fast driving lane; or the traffic control unit randomly selects one lane from the at least one lane as a fast driving lane.

In the present application, a plurality of selection methods for fast lanes are provided, which can be flexibly selected according to actual situations, and can be widely applied to various traffic scenarios.

In a possible design, the traffic control unit dispatches traffic resources before the fast driving lane is occupied by the emergency vehicle, including: the traffic control unit acquiring the emergency vehicle to the traffic control unit An estimated arrival time of the management area; the traffic control unit prohibits the intersection of the non-emergency vehicle passing the travel path in the management area within a preset time period before the estimated arrival time; or the traffic control unit Disabling the non-emergency vehicle to travel within the fast driving lane for a preset length of time before the estimated arrival time; or the traffic control unit scheduling the non-emergency vehicle at the preset time period before the estimated arrival time Driving on other lanes outside the fast driving lane.

With the method of the present application, since the traffic control unit has already dispatched traffic resources around the fast-traveling lane before the emergency vehicle is occupied, the emergency vehicle can be quickly driven in the fast-traveling lane, saving the travel time of the emergency vehicle.

In a possible design, the traffic control unit acquires an estimated arrival time of the emergency vehicle to the management area of the traffic control unit, including: the traffic control unit receiving the emergency vehicle arrival sent by the central service unit An estimated arrival time of a management area of the traffic control unit; or the traffic control unit acquires a speed and a current location of the emergency vehicle from a central service unit; the traffic control unit is based on the speed, the current location, and The travel path predicts an estimated time of arrival of the emergency vehicle to a management area of the traffic control unit.

In a possible design, the traffic control unit receives a notification that the emergency vehicle sent by the emergency vehicle or central service unit leaves the management area; the traffic control unit cancels the setting for the emergency vehicle Fast driving lane.

With the method of the present application, after the emergency vehicle leaves the fast driving lane, the other vehicles can be restored to the normal use of the fast driving lane, and the waste of resources caused by the long-term inability to use the fast driving lane is avoided.

In a possible design, after the traffic control unit dispatches the traffic resource, the traffic control unit sends, to the emergency vehicle, the indication to the emergency vehicle when the emergency vehicle arrives at the management area of the traffic control unit Lane planning information of a fast driving lane, wherein the lane planning information includes a vehicle identification of the emergency vehicle and an identification of the fast driving lane; or the traffic control unit arrives at the traffic control unit of the emergency vehicle When managing the area, the lane planning information for indicating the fast driving lane is transmitted to the emergency vehicle through the central service unit, and the lane planning information includes the vehicle identification of the emergency vehicle and the identification of the fast driving lane.

With the method of the present application, when the emergency vehicle enters the management area of the traffic control unit, the lane planning information is used to notify the fast driving lane that the emergency vehicle can travel fast.

In a second aspect, the embodiment of the present application provides a dispatching device for an emergency vehicle, which is applied to a traffic control unit, and includes:

a transceiver unit, configured to acquire a scheduling indication; the scheduling indication is used to instruct the traffic control unit to perform lane planning on an emergency vehicle; the transceiver unit is further configured to acquire a driving path of the emergency vehicle; and a processing unit, configured to: Determining a fast driving lane according to the driving route; the processing unit is further configured to schedule traffic resources before the fast driving lane is occupied by the emergency vehicle.

In a possible design, the transceiver unit is specifically configured to: receive a scheduling indication sent by the central service unit; or receive a scheduling indication sent by the emergency vehicle.

In a possible design, the transceiver unit is specifically configured to: receive a travel route planned by the central service unit for the emergency vehicle; or receive a travel route planned by the emergency vehicle for itself.

In a possible design, the driving path is planned according to at least one of the following principles, and specifically includes: the emergency vehicle arrives at the destination address with the shortest expected time; the emergency vehicle arrives at the destination address with the least traffic light; The destination address of the emergency vehicle is expected to be the smoothest.

In a possible design, the processing unit is specifically configured to: acquire at least one lane that coincides with the driving route in a management area of the traffic control unit; select one lane from the at least one lane as Fast driving lane.

In a possible design, the processing unit is specifically configured to: select a lane with the least traffic participation object as the fast driving lane in the at least one lane; or select a preset lane from the at least one lane as Fast driving lanes; or, randomly selecting one lane from the at least one lane as a fast driving lane.

In a possible design, the transceiver unit is further configured to: acquire an estimated arrival time of the emergency vehicle reaching a management area of the traffic control unit; the processing unit is specifically configured to: before the estimated arrival time For the preset time period, the non-emergency vehicle is prohibited from passing through the intersection where the driving path passes in the management area; or, the non-emergency vehicle is prohibited from being in the fast driving lane within a preset time period before the estimated arrival time Driving; or, scheduling a non-emergency vehicle to travel in a lane other than the fast driving lane within a preset time period before the estimated arrival time.

In a possible design, the transceiver unit is specifically configured to: receive an estimated arrival time of the emergency vehicle sent by the central service unit to the management area of the traffic control unit; or acquire the emergency from the central service unit. The speed and current position of the vehicle, based on the speed, the current position, and the travel path, predict an estimated time of arrival of the emergency vehicle to a management area of the traffic control unit.

In a possible design, the transceiver unit is further configured to: receive a notification that the emergency vehicle sent by the emergency vehicle or the central service unit leaves the management area; and the processing unit is further configured to cancel The fast driving lane set by the emergency vehicle.

In a possible design, the transceiver unit is further configured to: when the emergency vehicle arrives at the management area of the traffic control unit, send lane planning information indicating the fast driving lane to the emergency vehicle. And the lane planning information includes a vehicle identifier of the emergency vehicle and an identifier of the fast driving lane; or, when the emergency vehicle arrives at a management area of the traffic control unit, the emergency is performed by the central service unit The vehicle transmits lane planning information for indicating the fast driving lane, the lane planning information including a vehicle identification of the emergency vehicle and an identification of the fast driving lane.

In a third aspect, an embodiment of the present application provides a traffic control unit. The traffic control unit includes a memory for storing computer executable program code, a transceiver, and a processor coupled to the memory and the transceiver. The program code stored in the memory includes instructions that, when executed by the processor, cause the traffic control unit to perform the method performed by the traffic control unit of the first aspect above.

In a fourth aspect, an embodiment of the present application provides a method for scheduling an emergency vehicle, including:

The central service unit receives a registration request message sent by the emergency vehicle, where the registration request message includes a vehicle identification, a current location and a destination address of the emergency vehicle; and the central service unit sends a registration confirmation to the emergency vehicle corresponding to the vehicle identity a message, the registration confirmation message includes a travel route planned by the central service unit for the emergency vehicle according to a current location and a destination address; the central service unit determines a traffic control unit of the emergency vehicle; the central service unit And transmitting, to the traffic control unit, a scheduling indication, the scheduling indication is used to instruct the traffic control unit to perform lane planning on the emergency vehicle.

With the method of the present application, the central service unit receives the registration request of the emergency vehicle and plans the driving route for the emergency vehicle, and instructs the traffic control unit to perform lane planning for the emergency vehicle, so that the emergency vehicle can quickly reach the destination and save the driving time of the emergency vehicle. .

In a possible design, the central service unit updates the travel route of the emergency vehicle in real time during the emergency vehicle travel process according to the road condition information, and sends the updated travel route to the emergency vehicle.

According to the method of the present application, when the emergency vehicle is in the running process, if the planned route is not the optimal driving route, the emergency vehicle can be updated in real time to the emergency vehicle, and the emergency situation is caused by the traffic emergency, and the emergency vehicle is saved. Driving time.

In a fifth aspect, the embodiment of the present application provides a central service unit, including:

a transceiver, configured to receive a registration request message sent by the emergency vehicle, where the registration request message includes a vehicle identifier, a current location, and a destination address of the emergency vehicle;

The transceiver is further configured to send a registration confirmation message to the emergency vehicle corresponding to the vehicle identifier, where the registration confirmation message includes a travel route planned by the central service unit for the emergency vehicle according to a current location and a destination address;

a processor, configured to determine a traffic control unit of the emergency vehicle;

The transceiver is further configured to send a scheduling indication to the traffic control unit, where the scheduling indication is used to instruct the traffic control unit to perform lane planning on an emergency vehicle.

In a sixth aspect, an embodiment of the present application provides a computer program product, where the computer program product includes: computer program code, when the computer program code is run on a computer, causing the computer to perform the first aspect or the fourth aspect. The method in any possible implementation.

In a seventh aspect, the embodiment of the present application provides a computer readable medium storing program code, when the computer program code is run on a computer, causing the computer to perform the first aspect or the fourth aspect. The method in the implementation.

DRAWINGS

1 is a network architecture diagram of an embodiment of the present application;

2 is a flowchart of a method for scheduling an emergency vehicle according to an embodiment of the present application;

3 is an interaction flowchart of a method for scheduling an emergency vehicle according to an embodiment of the present application;

4 and FIG. 5 are schematic diagrams showing an example of a “green channel” provided in an embodiment of the present application;

6 is an interaction flowchart of a method for scheduling an emergency vehicle according to an embodiment of the present application;

7 is a schematic structural diagram of an apparatus for dispatching an emergency vehicle according to the present application;

Figure 8 is a schematic structural view of a traffic control unit in the present application;

9 is a schematic structural diagram of an apparatus for dispatching an emergency vehicle according to the present application;

FIG. 10 is a schematic structural diagram of a central service unit in the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described in the following with reference to the accompanying drawings in the embodiments.

FIG. 1 is a network architecture diagram of an embodiment of the present application, specifically including: a Traffic Control Unit (TCU), a Center Service Unit (CSU), and an onboard unit installed on an emergency vehicle. , OBU), where:

The TCU can coordinate and control the activities of traffic participation objects such as various vehicles, and divide the ITS management scope into multiple management areas based on the map information, and set a TCU for each management area. In this application, the TCU can open a fast driving lane for an emergency vehicle. The TCU can be deployed in the road side unit (RSU) in the ETSI ITS architecture of the European Telecommunications Standards Institute (ETSI). It should be noted that the TCU can be set independently as a functional entity, or can be combined with a network element of a communication network, for example, deploying a TCU in the vicinity of a wireless base station in its management area, so as to be more efficiently coordinated with it. Traffic participation objects communicate.

The CSU can perform optimal path calculation for the vehicle, realize the correspondence between the TCU and the managed area path, and monitor and manage the TCU. For example, before the emergency vehicle arrives at the management area of the TCU, the TCU is notified to prepare the fast driving lane in advance, and the CSU can be deployed. In the central subsystem of the ETSI ITS architecture, it should be noted that the CSU can be set independently as a functional entity or can be combined with the TCU.

The OBU, as a means of receiving and using the driving area or driving lane number, can be placed on a moving vehicle, including but not limited to:

Vehicle map terminal: such as the current vehicle terminal: navigation equipment, T-BOX, OBD, etc.; such as the vehicle driver equipment that implements the Advanced Driver Assistant System (ADAS) and ITS services; and the vehicle equipment that realizes the automatic driving service. .

Pedestrian map terminals: such as mobile phones, other handheld Global Positioning System (GPS) terminals.

Other terminals: such as terminals in the field of surveying and mapping.

The communication interface connection between the network elements in FIG. 1 is described in detail below, where:

Interface 1 is an application layer interface for communication between the OBU and the TCU. The OBU reports the status data of the vehicle position and speed to the TCU through the interface 1. The TCU sends the fast driving lane number and other data to the OBU through the interface 1.

Interface 2 is an application layer interface for communication between the TCU and the CSU. The CSU can send relevant vehicle information to the TCU through the structure 2.

The interface 3 is an application layer interface for communication between the OBU and the CSU. The OBU reports the status data of the vehicle position and speed to the CSU through the interface 3. The CSU sends the planned optimal path and other data to the OBU through the interface 3.

Specifically, the network architecture shown in FIG. 1 is a flowchart of a method for scheduling an emergency vehicle according to an embodiment of the present application, which specifically includes the following steps:

Step 200: The traffic control unit acquires a scheduling indication, where the scheduling indication is used to instruct the traffic control unit to perform lane planning on the emergency vehicle.

Optionally, the dispatch indication includes a vehicle identification and a vehicle type of the emergency vehicle, the vehicle identification is used to uniquely identify the vehicle identity, and the vehicle type is used to indicate the use of the vehicle.

Specifically, when the traffic control unit acquires the vehicle information of the emergency vehicle, the following two implementation manners may be implemented:

In a first implementation manner, the traffic control unit receives a scheduling indication sent by a central service unit.

In a second implementation manner, the traffic control unit receives a scheduling indication sent by the OBU installed on the emergency vehicle.

Step 210: The traffic control unit acquires a travel route of the emergency vehicle.

Specifically, when the traffic control unit acquires the driving path of the emergency vehicle, the following two implementation manners may be implemented:

In a first implementation manner, the traffic control unit receives a travel route planned by the central service unit for the emergency vehicle, and at this time, the travel route of the emergency vehicle is a central service unit that plans the emergency vehicle according to a preset principle. of.

In a second implementation manner, the traffic control unit receives a travel route planned by the emergency vehicle for itself, and at this time, the travel path of the emergency vehicle is planned according to a preset principle of the emergency vehicle.

Further, after the step T210 is performed, before the step 220 is executed, that is, before the traffic control unit determines the fast driving lane according to the driving route, the TCU needs to determine that the vehicle type is an emergency vehicle, for example, if When the vehicle type is a police car, a fire fighting vehicle or an ambulance, it is determined that the vehicle type is an emergency vehicle.

It should be noted that the fast driving lane in the embodiment of the present application may also be referred to as a “green lane”, which generally refers to a simple, safe, and fast way and channel.

The driving path of the emergency vehicle is the optimal driving path that the CSU or the emergency vehicle itself plans according to the preset principle. Specifically, the optimal driving path can be planned according to any one or more of the following principles, including: 1 The emergency vehicle arrives at the destination address with the shortest expected time; 2) the emergency vehicle arrives at the destination address with the least traffic light; 3) the emergency vehicle arrives at the destination address is expected to be the smoothest, that is, the probability of clogging is minimal.

Step 220: The traffic control unit determines a fast driving lane according to the driving route.

Wherein the emergency vehicle travels within the management area of the traffic control unit using the fast driving lane.

Specifically, the traffic control unit determines the fast driving lane according to the driving route, which can be implemented by the following process:

The traffic control unit acquires at least one lane that coincides with the travel route in a management area of the traffic control unit; the traffic control unit selects one lane from the at least one lane as a fast travel lane.

Further, the traffic control unit selects one lane from the at least one lane as a fast driving lane, and includes the following three possible selection methods:

The first selection mode: the traffic control unit selects a lane with the least traffic participation object as the fast driving lane from the at least one lane, and it should be understood that the traffic participation object may be a roadside infrastructure (such as a signal light), or A vehicle (such as a vehicle), or a pedestrian, or a vehicle user, or the like.

The second selection mode: the traffic control unit selects a preset lane from the at least one lane as a fast driving lane. At this time, the traffic control unit presets a certain lane as a fast driving lane.

A third option: the traffic control unit randomly selects one lane from the at least one lane as a fast driving lane.

It should be understood that, in the specific implementation, when determining the fast driving lane, it is not limited to the above three selection manners. Alternatively, in a possible implementation manner, the central service unit is determined in the management area of the traffic control unit. The fast driving lane of the emergency vehicle, the traffic control unit acquires the fast driving lane of the emergency vehicle from the central service unit.

Step 230: The traffic control unit dispatches traffic resources before the fast driving lane is occupied by the emergency vehicle.

Specifically, the traffic control unit can implement the following when the traffic resource is scheduled:

The traffic control unit acquires an estimated arrival time of the emergency vehicle reaching a management area of the traffic control unit; the traffic control unit prohibits the non-emergency vehicle from being in the management area within a preset time period before the estimated arrival time Passing the intersection where the travel path passes; or the traffic control unit prohibits the non-emergency vehicle from traveling in the fast travel lane for a preset period of time before the estimated arrival time; or the traffic control unit is at The non-emergency vehicle is scheduled to travel on a lane other than the fast driving lane within a preset time period before the estimated arrival time.

Further, when the traffic control unit acquires an estimated arrival time of the emergency vehicle to the management area of the traffic control unit, the following two possible real-time modes are included:

In a first possible implementation manner, the traffic control unit receives an estimated arrival time of the emergency vehicle sent by the central service unit to the management area of the traffic control unit.

In this embodiment, the central service unit acquires the speed of the emergency vehicle, the vehicle position, the travel route, the traffic control unit of the road segment to which the emergency vehicle is to be reached according to the speed, the vehicle position and the travel route, and the estimated arrival time T, according to the configuration. The road condition information of the road section managed by the current traffic control unit is transmitted in advance, and the vehicle information including the travel route, the estimated arrival time, the vehicle identification, and the vehicle type is transmitted to the traffic control unit in advance. For example, if the road section managed by the current traffic control unit is relatively congested, the central service unit sends the vehicle information to the traffic control unit in advance, so that the traffic control unit can schedule the traffic resources in advance.

In a second possible implementation manner, the traffic control unit acquires a speed and a current location of the emergency vehicle from a central service unit; the traffic control unit predicts the location according to the speed, the current location, and the driving route The estimated arrival time of the emergency vehicle arriving at the management area of the traffic control unit.

It should be understood that the speed of the vehicle herein may be the instantaneous speed of the vehicle or the average speed of the vehicle for a certain period of time, which is not limited in this application.

Further, after the traffic control unit dispatches the traffic resources, the related information of the fast driving lane is also required to be indicated to the emergency vehicle, and the specific implementation may be implemented in the following two manners:

Manner 1: The traffic control unit sends lane planning information for indicating the fast driving lane to the emergency vehicle when the emergency vehicle arrives at the management area of the traffic control unit, where the lane planning information includes The vehicle identification of the emergency vehicle and the identification of the fast driving lane.

Manner 2: the traffic control unit sends lane planning information indicating the fast driving lane to the emergency vehicle through the central service unit when the emergency vehicle arrives at the management area of the traffic control unit, the lane The planning information includes a vehicle identification of the emergency vehicle and an identification of the fast driving lane.

Further, after the emergency vehicle leaves the fast driving lane, the traffic control unit receives a notification that the emergency vehicle or the central service unit sends the emergency vehicle to leave the management area; The traffic control unit cancels the fast driving lane set for the emergency vehicle and restores the normal road management function for the fast driving lane.

With the above method, the TSU plans a travel route for the emergency vehicle, and the emergency vehicle travels according to the planned travel route. The TCU opens a "green channel" for the vehicle while the vehicle is traveling, and provides the lane number of the green passage to the vehicle. An emergency vehicle for use to quickly reach the destination address.

It can be seen that the above method can be applied to an emergency driving situation of an emergency vehicle. In an emergency vehicle automatic driving scenario, the emergency vehicle plans its own driving route in the travelable area, and can complete obstacle avoidance, lane change, etc. based on the travelable area. The above method can also be applied in the emergency vehicle assisted driving (ADAS/ITS/V2X) scenario, in which the emergency vehicle judges the time and space relationship between itself and the surrounding vehicles in the travelable area, and realizes collision prediction, lane change assist, intersection guidance, Functions such as violation identification.

In the following, in combination with two specific embodiments, the scheduling method of the emergency vehicle of the present application is described in detail by an interaction process between the network elements.

Embodiment 1

FIG. 3 is a schematic diagram showing the interaction process of the emergency vehicle scheduling method according to the first embodiment, and the specific steps are as follows:

Step 31: The OBU on the emergency vehicle sends a registration request message to the CSU, carrying the vehicle identification (ID) of the emergency vehicle, the vehicle type, the destination address, the current vehicle position, the speed, and the like. The type of vehicle can be a police car, a fire vehicle or an ambulance.

Step 32: The CSU returns a registration confirmation message to the OBU, where the registration confirmation message carries the CSU according to the destination address, the current vehicle location and the current traffic situation are the optimal driving paths planned by the emergency vehicle, and the CSU is planning the optimal path. The principle on which it is based may be the combination of one or more principles, such as the shortest time to reach the destination address, the minimum number of traffic lights passing through the destination address, or the route that is expected to be the most unobstructed at the destination address.

It should be noted that the optimal path of the CSU plan can be represented by a map form, or it will be represented by a street or road name. After the emergency vehicle is received, it travels according to the planned optimal route.

Step 33: During the emergency vehicle driving, the OBU reports the location information of the emergency vehicle to the CSU in real time.

Step 34: The CSU calculates the TCU that the emergency vehicle will pass according to the vehicle position and the driving path, and the CSU sends the vehicle information to the TCU, and the vehicle information includes information such as the vehicle ID, the vehicle type, the priority and the path, and the vehicle speed. Among them, the priority is used to indicate the urgency of the emergency vehicle to perform the task, and the more urgent the task is, the higher the priority.

Specifically, the timing at which the CSU sends vehicle information to the TCU is implemented in the following two ways:

Manner 1: The CSU calculates the estimated arrival time T of the road segment managed by the TCU according to the speed of the vehicle, the vehicle position and the driving path, and determines to send the vehicle information to the TCU according to the configured early transmission time period or the road condition of the current TCU managed road segment. time. For example, if the road section managed by the current TCU is relatively congested, the vehicle information is sent to the TCU in advance for the TCU to conveniently schedule the traffic resources in advance.

Method 2: The CSU sends the vehicle position, speed and driving path to the TCU in real time. The TCU calculates the time when the vehicle reaches the management section, and then the TCU decides when to schedule the traffic resource according to the congestion degree of the currently managed road section.

Step 35: The TCU prepares a green channel for the upcoming emergency vehicle to quickly pass through the area.

Specifically, the green channel may be, for example, an emergency vehicle reaching an intersection to prohibit other non-emergency vehicles from passing until the emergency vehicle passes, or a non-emergency vehicle guiding the road section to drive in one lane, leaving another lane to the emergency The vehicle is driving. Specifically, the TCU can open the "green channel" by:

(1) Intersection: Before the emergency vehicle arrives at the intersection, the TCU informs the non-emergency vehicle of the stop traffic message by broadcasting or unicast or sets the traffic light to the red state to prohibit the non-emergency vehicle traffic.

(2) Lane closure information: Before the emergency vehicle arrives, the TCU informs the non-emergency vehicle to block the lane closure information of a certain lane information by means of broadcast or unicast, and the lane closure information includes the type of the vehicle that is prohibited from passing, and the closed lane No. It is also possible to carry information such as the time period of the closed lane.

(3) Driven lane information: Before the emergency vehicle arrives, the TCU informs the travelable lane information of the lane that the non-emergency vehicle can drive by means of broadcast or unicast, and the travelable lane information includes the type of the vehicle allowed to travel, and can travel The lane number and other information.

For example, FIG. 4 is a schematic diagram of a green channel in a straight road scene, and FIG. 5 is a schematic diagram of a green channel in a crossroad scene.

Step 36: When the emergency vehicle travels to the management area of the TCU, the OBU will notify the TCU that the emergency vehicle arrives.

Step 37: The TCU informs the green channel that the emergency vehicle can travel through the lane planning information, and the lane planning information includes the vehicle ID and the lane number that can be driven.

Further, the emergency vehicle travels according to the travelable lane number indicated by the TCU in the lane planning information.

Optionally, in one possible design, the TCU notifies the CSU of the lane planning information, and the CSU notifies the emergency vehicle of the lane number that can be traveled in the TCU management area.

Step 38: After the emergency vehicle leaves the management area of the TCU, the CSU sends a vehicle departure notification to the TCU to notify the TCU that the emergency vehicle has left.

Optionally, when the emergency vehicle leaves the management area of the TCU, the OBU of the emergency vehicle sends a vehicle departure notification to the TCU to notify the TCU that the emergency vehicle is leaving.

Further, after receiving the departure notice of the emergency vehicle, the TCU cancels the “green channel” and restores the normal road management function of the green channel.

Step 39: The CSU calculates the optimal travel path of the emergency vehicle in real time. Inform the emergency vehicle if there is an update.

Optionally, in the first embodiment, in step 31, the emergency vehicle may also plan the driving path by itself, and carry the planned driving path in the registration request message and send it to the CSU. At this time, in a possible design. In step 34, the CSU calculates the TCU according to the planned information path of the emergency vehicle; in another possible design, if the CSU considers that the travel route of the emergency vehicle planning is not the optimal driving path, the CSU plans the optimal driving path, in step 32. The emergency vehicle is informed; the remaining steps are the same as in the first embodiment described above.

In the prior art, the emergency vehicle informs the arrival of the emergency vehicle of the surrounding vehicle through the broadcast mode during the running, which may occur when the road is congested or during the peak time period, the emergency vehicle cannot quickly reach the destination address, and the network side in the present application The TCU and CSU participate in the driving process of the emergency vehicle. The CSU plans the optimal driving route for it, and correspondingly selects the optimal driving path and the TCU. According to the vehicle position and driving path reported by the emergency vehicle, the emergency vehicle arrives at the TCU. The management area previously informs the TCU that the TCU plans a "green channel" for the emergency vehicle before the emergency vehicle arrives at the TCU management area, and indicates the lane number that the emergency vehicle can use, saving the travel time of the emergency vehicle, thereby enabling the emergency vehicle to quickly reach the destination. address.

Embodiment 2

The difference between the second embodiment and the first embodiment is that the CSU does not participate in the opening of the green channel, and when the emergency vehicle arrives at the management area of the TCU, the TCU opens the green channel for the emergency vehicle according to the driving route and the vehicle position of the emergency vehicle. 6 is shown.

Step 61: The OBU on the emergency vehicle sends a registration request message to the CSU, carrying the vehicle identification (ID) of the emergency vehicle, the vehicle type, the destination address, the current vehicle location, the planned driving route, the vehicle speed, and the like. The type of vehicle can be a police car, a fire vehicle or an ambulance.

The planned driving route is that the emergency vehicle is based on the destination address, the current vehicle location and the current traffic situation are the optimal driving route for the emergency vehicle. The principle that the emergency vehicle is planning the optimal path may be the shortest time to reach the destination address. A combination of one or more principles, such as the least number of traffic lights or the most unobstructed sections.

It should be noted that the driving route of the emergency vehicle planning may be represented by a map form, or may be represented by a street or a road name or the like. The emergency vehicle travels according to the planned driving route.

Step 62: The CSU returns a registration confirmation message to the OBU.

Step 63: When the emergency vehicle travels to the TCU management area according to the planned driving path, the vehicle information of the emergency vehicle is reported to the TCU, and the vehicle information includes the vehicle ID of the emergency vehicle, the vehicle type, the vehicle position, the speed, and the planned driving path.

Step 64: The TCU prepares a green channel for the emergency vehicle to quickly pass through the area.

Specifically, the green channel may be, for example, an emergency vehicle reaching an intersection to prohibit other non-emergency vehicles from passing until the emergency vehicle passes, or a non-emergency vehicle guiding the road section to drive in one lane, leaving another lane to the emergency The vehicle is driving. Specifically, the TCU can open the "green channel" by:

(1) Intersection: Before the emergency vehicle arrives at the intersection, the TCU informs the non-emergency vehicle of the stop traffic message by broadcasting or unicast or sets the traffic light to the red state to prohibit the non-emergency vehicle traffic.

(2) Lane closure information: Before the emergency vehicle arrives, the TCU informs the non-emergency vehicle to block the lane closure information of a certain lane information by means of broadcast or unicast, and the lane closure information includes the type of the vehicle that is prohibited from passing, and the closed lane No. It is also possible to carry information such as the time period of the closed lane.

(3) Driven lane information: Before the emergency vehicle arrives, the TCU informs the travelable lane information of the lane that the non-emergency vehicle can drive by means of broadcast or unicast, and the travelable lane information includes the type of the vehicle allowed to travel, and can travel The lane number and other information.

Step 65: The TCU informs the green channel that the emergency vehicle can travel through the lane planning information, and the lane planning information includes the vehicle ID and the lane number that can be driven.

Further, the emergency vehicle travels according to the travelable lane number indicated by the TCU in the lane planning information.

Optionally, in one possible design, the TCU notifies the CSU of the lane planning information, and the CSU notifies the emergency vehicle of the lane number that can be traveled in the TCU management area.

Step 66: After the emergency vehicle leaves the TCU management area, the CSU sends a vehicle departure notification to the TCU to notify the TCU that the emergency vehicle has left.

Optionally, after the emergency vehicle leaves the TCU management area, the OBU of the emergency vehicle sends a vehicle departure notification to the TCU to notify the TCU that the emergency vehicle leaves.

Further, after receiving the departure notice of the emergency vehicle, the TCU cancels the “green channel” and restores the normal road management function of the green channel.

In the second embodiment, the emergency vehicle itself plans a travel route, and the TCU prepares a "green channel" for the upcoming emergency vehicle according to the vehicle position information and the travel route of the emergency vehicle and indicates the fast-traveling lane number that can be used to quickly pass the TCU. The management area saves the emergency vehicle travel time, so that the emergency vehicle can quickly reach the destination address.

It should be noted that, in the first embodiment and the second embodiment, the TCU sets and opens a “green channel” for the emergency vehicle, that is, a fast driving lane. Alternatively, the CSU can also set a “green channel” for the emergency vehicle and pass the The lane planning message is notified to the TCU, and the "green channel" is turned on by the TCU, and the remaining steps are the same as the above embodiment.

Based on the above embodiment, referring to FIG. 7, the present application provides an emergency vehicle scheduling apparatus 700 for implementing the functions of the traffic control unit in the method shown in FIGS. 2-7. The apparatus 700 includes:

The transceiver unit 701 is configured to acquire a scheduling indication, where the scheduling indication is used to instruct the traffic control unit to perform lane planning on the emergency vehicle.

The transceiver unit 701 is further configured to acquire a travel path of the emergency vehicle;

The processing unit 702 is configured to determine a fast driving lane according to the driving route;

The processing unit 702 is further configured to schedule traffic resources before the fast driving lane is occupied by the emergency vehicle.

Optionally, the transceiver unit 701 is specifically configured to:

Receiving a dispatch instruction sent by the central service unit; or

Receiving a dispatch indication sent by the emergency vehicle.

Optionally, the transceiver unit 701 is specifically configured to:

Receiving a travel route planned by the central service unit for the emergency vehicle; or

Receiving a travel route that the emergency vehicle plans for itself.

Optionally, the driving path is planned according to at least one of the following principles, and specifically includes:

The emergency vehicle arrives at the destination address with the shortest expected time;

The emergency vehicle arrives at the destination address with the least number of traffic lights;

The emergency vehicle arrives at the destination address and is expected to be the smoothest.

Optionally, the processing unit 702 is specifically configured to:

Acquiring at least one lane coincident with the travel route in a management area of the traffic control unit;

A lane is selected from the at least one lane as a fast lane.

Optionally, the processing unit 702 is specifically configured to:

Selecting a lane with the least traffic participation object as the fast driving lane in the at least one lane; or

Selecting a preset lane from the at least one lane as a fast driving lane; or

A lane is randomly selected from the at least one lane as a fast lane.

Optionally, the transceiver unit 701 is further configured to: acquire an estimated arrival time of the emergency vehicle reaching a management area of the traffic control unit;

The processing unit 702 is specifically configured to prohibit, at a preset time period before the estimated arrival time, the intersection of the non-emergency vehicle passing through the travel path in the management area; or

Prohibiting non-emergency vehicles from traveling within the fast driving lane for a preset length of time before the estimated arrival time; or

The non-emergency vehicle is scheduled to travel on other lanes than the fast driving lane within a preset time period before the estimated arrival time.

Optionally, the transceiver unit 701 is specifically configured to:

Receiving, by the receiving center service unit, an estimated arrival time of the emergency vehicle reaching the management area of the traffic control unit; or

A speed and a current position of the emergency vehicle are obtained from a central service unit, and an estimated arrival time of the emergency vehicle to a management area of the traffic control unit is predicted based on the speed, the current location, and the travel route.

Optionally, the transceiver unit 701 is further configured to:

Receiving a notification that the emergency vehicle sent by the emergency vehicle or the central service unit leaves the management area;

The processing unit 702 is further configured to cancel a fast driving lane set for the emergency vehicle.

Optionally, the transceiver unit 701 is further configured to:

When the emergency vehicle arrives at the management area of the traffic control unit, transmitting lane planning information indicating the fast driving lane to the emergency vehicle, where the lane planning information includes the vehicle identification of the emergency vehicle and The identification of the fast driving lane; or

When the emergency vehicle arrives at the management area of the traffic control unit, lane planning information indicating the fast driving lane is transmitted to the emergency vehicle through a central service unit, and the lane planning information includes the emergency vehicle Vehicle identification and identification of the fast driving lane.

Based on the above embodiment, referring to FIG. 8, the embodiment of the present application further provides a traffic control unit 800. The traffic control unit 800 includes a transceiver 801, a processor 802, and a memory 803. The function of the transceiver unit 701 in FIG. 7 described above is implemented by the transceiver 801, and the function of the processing unit 702 is implemented by the processor 802.

The memory 803 is configured to store programs, instructions, and the like. In particular, the program can include program code, the program code including computer operating instructions. The memory 803 may include a random access memory (RAM), etc., and may also include a non-volatile memory, such as at least one disk storage. The processor 802 can be a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof. The processor 802 executes an application stored in the memory 803 to implement the above functions, thereby implementing an execution process of the traffic control unit of the method shown in FIG. 2, FIG. 3 or FIG.

Based on the above embodiment, referring to FIG. 9, the present application provides an emergency vehicle scheduling apparatus 900 for implementing the functions of the CSU in the method shown in FIG. 3 to FIG.

The transceiver unit 901 is configured to receive a registration request message sent by the emergency vehicle, where the registration request message includes a vehicle identifier, a current location, and a destination address of the emergency vehicle;

The transceiver unit 901 is further configured to send a registration confirmation message to the emergency vehicle corresponding to the vehicle identifier, where the registration confirmation message includes a travel route planned by the central service unit for the emergency vehicle according to a current location and a destination address. ;

a processing unit 902, configured to determine a traffic control unit of the emergency vehicle;

The transceiver unit 901 is further configured to send a scheduling indication to the traffic control unit, where the scheduling indication is used to instruct the traffic control unit to perform lane planning on an emergency vehicle.

In a possible design, the processing unit 902 is further configured to update a driving path of the emergency vehicle in real time during the running of the emergency vehicle according to the road condition information, and the transceiver unit 901 is further configured to use the updated driving The path is sent to the emergency vehicle.

Based on the above embodiment, referring to FIG. 10, the embodiment of the present application further provides a central service unit 1000, which includes a transceiver 1001, a processor 1002, and a memory 1003. The function of the transceiver unit 901 in FIG. 9 described above is implemented by the transceiver 1001, and the function of the processing unit 902 is implemented by the processor 1002.

The memory 1003 is configured to store programs, instructions, and the like. In particular, the program can include program code, the program code including computer operating instructions. The memory 1003 may include a random access memory (RAM), etc., and may also include a non-volatile memory, such as at least one disk storage. The processor 1002 may be a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof. The processor 1002 executes an application stored in the memory 1003 to implement the above functions, thereby implementing an execution process of a central service unit of the method shown in FIG. 3 or FIG. 6.

Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, system, or computer program product. Therefore, the embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Moreover, embodiments of the present application can 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, etc.) including computer usable program code.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

It is apparent that those skilled in the art can make various modifications and variations to the embodiments of the present application without departing from the spirit and scope of the application. Thus, it is intended that the present invention cover the modifications and variations of the embodiments of the present invention.

Claims (23)

An emergency vehicle scheduling method, comprising: The traffic control unit acquires a scheduling indication, where the scheduling indication is used to instruct the traffic control unit to perform lane planning on the emergency vehicle; The traffic control unit acquires a travel route of the emergency vehicle; The traffic control unit determines a fast driving lane according to the driving route; The traffic control unit dispatches traffic resources before the fast drive lane is occupied by the emergency vehicle. The method of claim 1, wherein the traffic control unit acquires a scheduling indication, comprising: Receiving, by the traffic control unit, a scheduling indication sent by a central service unit; or The traffic control unit receives a dispatch indication sent by the emergency vehicle. The method of claim 1, wherein the traffic control unit acquires a travel route of the emergency vehicle, including: The traffic control unit receives a travel route planned by the central service unit for the emergency vehicle; or The traffic control unit receives a travel route that the emergency vehicle plans for itself. The method of claim 3, wherein the travel route is planned according to at least one of the following principles, and specifically includes: The emergency vehicle arrives at the destination address with the shortest expected time; The emergency vehicle arrives at the destination address with the least number of traffic lights; The emergency vehicle arrives at the destination address and is expected to be the smoothest. The method according to claim 1, wherein the traffic control unit determines the fast driving lane according to the driving route, including: The traffic control unit acquires at least one lane that coincides with the travel route in a management area of the traffic control unit; The traffic control unit selects one lane from the at least one lane as a fast driving lane. The method of claim 5, wherein the traffic control unit selects one lane from the at least one lane as a fast driving lane, comprising: The traffic control unit selects, from the at least one lane, a lane with the least traffic participation object as a fast driving lane; or The traffic control unit selects a preset lane from the at least one lane as a fast driving lane; or the traffic control unit randomly selects one lane from the at least one lane as a fast driving lane. The method of claim 1 wherein said traffic control unit dispatches traffic resources before said fast-travel lane is occupied by said emergency vehicle, comprising: The traffic control unit acquires an estimated arrival time of the emergency vehicle reaching a management area of the traffic control unit; The traffic control unit prohibits the non-emergency vehicle from passing through the intersection of the travel route in the management area within a preset time period before the estimated arrival time; or The traffic control unit prohibits the non-emergency vehicle from traveling within the fast driving lane for a preset length of time before the estimated arrival time; or The traffic control unit schedules the non-emergency vehicle to travel on other lanes than the fast-traveling lane within a preset length of time before the estimated arrival time. The method of claim 7, wherein the traffic control unit acquires an estimated arrival time of the emergency vehicle to a management area of the traffic control unit, including: Receiving, by the traffic control unit, an estimated arrival time of the emergency vehicle sent by the central service unit to the management area of the traffic control unit; or The traffic control unit acquires a speed and a current location of the emergency vehicle from a central service unit; The traffic control unit predicts an estimated arrival time of the emergency vehicle to the management area of the traffic control unit based on the speed, the current location, and the travel route. The method of claim 7 wherein the method further comprises: Receiving, by the traffic control unit, a notification that the emergency vehicle sent by the emergency vehicle or the central service unit leaves the management area; The traffic control unit cancels a fast driving lane set for the emergency vehicle. The method of claim 7, wherein after the traffic control unit schedules the traffic resource, the method further includes: The traffic control unit transmits lane planning information for indicating the fast driving lane to the emergency vehicle when the emergency vehicle arrives at a management area of the traffic control unit, where the lane planning information includes the emergency a vehicle identification of the vehicle and an identification of the fast lane; or When the emergency vehicle arrives at the management area of the traffic control unit, the traffic control unit transmits lane planning information indicating the fast driving lane to the emergency vehicle through the central service unit, where the lane planning information is A vehicle identification of the emergency vehicle and an identification of the fast driving lane are included. An emergency vehicle dispatching device is applied to a traffic control unit, and includes: a transceiver unit, configured to acquire a scheduling indication, where the scheduling indication is used to instruct the traffic control unit to perform lane planning on an emergency vehicle; The transceiver unit is further configured to acquire a travel path of the emergency vehicle; a processing unit, configured to determine a fast driving lane according to the driving route; The processing unit is further configured to schedule traffic resources before the fast driving lane is occupied by the emergency vehicle. The device according to claim 11, wherein the transceiver unit is specifically configured to: Receiving a dispatch instruction sent by the central service unit; or Receiving a dispatch indication sent by the emergency vehicle. The device according to claim 11, wherein the transceiver unit is specifically configured to: Receiving a travel route planned by the central service unit for the emergency vehicle; or Receiving a travel route that the emergency vehicle plans for itself. The device according to claim 13, wherein the driving path is planned according to at least one of the following principles, and specifically includes: The emergency vehicle arrives at the destination address with the shortest expected time; The emergency vehicle arrives at the destination address with the least number of traffic lights; The emergency vehicle arrives at the destination address and is expected to be the smoothest. The device according to claim 11, wherein the processing unit is specifically configured to: Acquiring at least one lane coincident with the travel route in a management area of the traffic control unit; A lane is selected from the at least one lane as a fast lane. The device according to claim 15, wherein the processing unit is specifically configured to: Selecting a lane with the least traffic participation object as the fast driving lane in the at least one lane; or Selecting a preset lane from the at least one lane as a fast driving lane; or A lane is randomly selected from the at least one lane as a fast lane. The apparatus according to claim 11, wherein the transceiver unit is further configured to: acquire an estimated arrival time of the emergency vehicle reaching a management area of the traffic control unit; The processing unit is specifically configured to prohibit, during a preset time period before the estimated arrival time, the intersection of the non-emergency vehicle passing through the driving path in the management area; or Prohibiting non-emergency vehicles from traveling within the fast driving lane for a preset length of time before the estimated arrival time; or The non-emergency vehicle is scheduled to travel on other lanes than the fast driving lane within a preset time period before the estimated arrival time. The device according to claim 17, wherein the transceiver unit is specifically configured to: Receiving, by the receiving center service unit, an estimated arrival time of the emergency vehicle reaching the management area of the traffic control unit; or A speed and a current position of the emergency vehicle are obtained from a central service unit, and an estimated arrival time of the emergency vehicle to a management area of the traffic control unit is predicted based on the speed, the current location, and the travel route. The apparatus according to claim 17, wherein said transceiver unit is further configured to: Receiving a notification that the emergency vehicle sent by the emergency vehicle or the central service unit leaves the management area; The processing unit is further configured to cancel a fast driving lane set for the emergency vehicle. The apparatus according to claim 17, wherein said transceiver unit is further configured to: When the emergency vehicle arrives at the management area of the traffic control unit, transmitting lane planning information indicating the fast driving lane to the emergency vehicle, where the lane planning information includes the vehicle identification of the emergency vehicle and The identification of the fast driving lane; or When the emergency vehicle arrives at the management area of the traffic control unit, lane planning information indicating the fast driving lane is transmitted to the emergency vehicle through a central service unit, and the lane planning information includes the emergency vehicle Vehicle identification and identification of the fast driving lane. A traffic control unit, comprising: a transceiver and a processor, wherein: The transceiver is configured to acquire a scheduling indication, where the scheduling indication is used to instruct the traffic control unit to perform lane planning on an emergency vehicle; and acquire a driving route of the emergency vehicle; And a processor, configured to determine a fast driving lane according to the driving route; and dispatch the traffic resource before the fast driving lane is occupied by the emergency vehicle. An emergency vehicle scheduling method, comprising: The central service unit receives a registration request message sent by the emergency vehicle, where the registration request message includes the vehicle identification, current location and destination address of the emergency vehicle; The central service unit sends a registration confirmation message to the emergency vehicle corresponding to the vehicle identifier, where the registration confirmation message includes a travel route planned by the central service unit for the emergency vehicle according to the current location and the destination address; The central service unit determines a traffic control unit of the emergency vehicle; The central service unit sends a scheduling indication to the traffic control unit, the scheduling indication for instructing the traffic control unit to perform lane planning for an emergency vehicle. A central service unit, comprising: a transceiver, configured to receive a registration request message sent by the emergency vehicle, where the registration request message includes a vehicle identifier, a current location, and a destination address of the emergency vehicle; The transceiver is further configured to send a registration confirmation message to the emergency vehicle corresponding to the vehicle identifier, where the registration confirmation message includes a travel route planned by the central service unit for the emergency vehicle according to a current location and a destination address; a processor, configured to determine a traffic control unit of the emergency vehicle; The transceiver is further configured to send a scheduling indication to the traffic control unit, where the scheduling indication is used to instruct the traffic control unit to perform lane planning on an emergency vehicle.

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