In this paper, a complete mathematical model is established for the traffic efficiency of autonomous vehicles under high traffic light. Under the background of the mature automatic driving technology, a model to calculate the traffic efficiency is established to calculate the time consumed by passing a certain vehicle. In the case of setting traffic lights, we first block off intersections that interfere with the operation of fire trucks, and then make dynamic planning for the traffic lights after the fire trucks pass, so as to finally restore traffic order. Based on the tabu search algorithm scheduling strategy under traffic lights, the scheduling mechanism of special vehicles under general conditions is obtained.