Apparatus and method for controlling avoidance of emergency vehicle, and vehicle system

A method for controlling avoidance of an emergency vehicle, the method comprising:

• receiving traveling data from vehicles traveling in a specific section on an expected traveling path of the emergency vehicle;
• identifying locations of the vehicles from the received traveling data and determining at least one control vehicle based on the identified locations of the vehicles;
• and
• determining an avoidance control time point of each control vehicle based on an expected approach time of the emergency vehicle to the control vehicle, and transmitting a control message to the control vehicle based on the avoidance control time point of the control vehicle,
• wherein the transmitting of the control message includes:
• determining whether to change a lane of the control vehicle;
• and
• generating the control message for the control vehicle, based on the determination of whether to change the lane of the control vehicle,
• wherein the determining of whether to change the lane of the control vehicle includes:
• determining to change a traveling lane of the control vehicle when a traveling speed of the control vehicle is a reference speed or more;
• and
• determining to move the control vehicle within the traveling lane when the traveling speed of the control vehicle is less than the reference speed.

A vehicle system comprising:

• an emergency vehicle;
• a management server to provide traveling data of the emergency vehicle;
• vehicles traveling in a specific section on an expected traveling path of the emergency vehicle;
• and
• an emergency vehicle avoidance control apparatus:
• to determine at least one control vehicle based on locations of the vehicles which are identified based on traveling data of the vehicles;
• to determine an avoidance control time point of each control vehicle based on an expected approach time of the emergency vehicle to the control vehicle;
• and
• to transmit a control message to the control vehicle based on the determined avoidance control time point of the control vehicle.