Emergency rescue scheduling and dynamic path integration method based on double-layer planning

The invention relates to the technical field of urban road intersection traffic signal control, and discloses an emergency rescue scheduling and dynamic path integration method based on double-layer planning, which comprises the following steps: 1), 2), 3), 4), 5), 6), 7) and 8). According to the emergency rescue scheduling and dynamic path integration method based on double-layer planning, emergency vehicles with different priorities and real-time changing traffic environments are fully considered, and on the basis of considering factors influencing emergency vehicle scheduling and dynamic path selection, an emergency rescue scheduling and dynamic path integration scheme based on double-layer planning is established; the emergency vehicles can avoid traffic jam in real time and quickly arrive at destinations, the emergency rescue operation efficiency is improved, meanwhile, the method has real-time performance and flexibility, and the effect that the optimal path selection of the emergency vehicles can be ad