Bus lane control method, device and electronic equipment

Abstract

The present invention provides a bus lane control method, device and electronic device. The bus lane control method comprises: determining a bus lane control strategy for a first intersection based on first information, wherein the first information comprises at least one of the following: vehicle traffic status information at the first intersection; bus route information at the first intersection; basic vehicle safety information of buses at the first intersection; bus-related information at a second intersection, wherein the second intersection is an intersection adjacent to the first intersection; phase information of an intersection signal at the first intersection; and sending a bus lane control signal to a target device based on the bus lane control strategy. The solution of the present invention can lend bus lanes to social vehicles, thereby maximizing the use of road traffic resources.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a bus lane control method, device and electronic equipment. Background Art

[0002] Bus lanes refer to the use of road separation facilities or road separation facilities on specific sections of urban roads to separate one or more lanes from other lanes for buses to travel throughout the day or during a certain period of time, thereby achieving the redistribution of road traffic resources, with the purpose of ensuring the priority right of way for buses. By setting up bus lanes to give buses more road rights, people are encouraged to use buses to travel, and thereby limit car travel, thereby alleviating the congestion of urban road traffic. However, the current bus lanes make the already crowded intersections even more crowded, and the utilization rate of bus lanes is low. There are often congested lanes for social vehicles on one side and empty bus lanes on the other side, which brings inconvenience to travel. Summary of the invention

[0003] The purpose of the present invention is to provide a bus lane control method, device and electronic equipment to solve the problem in the prior art that the social vehicle lanes are crowded but the bus lanes have low utilization rate.

[0004] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0005] An embodiment of the present invention provides a bus lane control method, comprising:

[0006] Determine a bus lane control strategy at the first intersection according to the first information, wherein the first information includes at least one of the following:

[0007] Vehicle traffic status information at the first intersection;

[0008] bus route information at the first intersection;

[0009] Basic vehicle safety information of the public transport vehicles at the first intersection;

[0010] Public transport related information at a second intersection, where the second intersection is adjacent to the first intersection;

[0011] Phase information of the intersection signal at the first intersection;

[0012] According to the bus lane control strategy, a bus lane control signal is sent to a target device.

[0013] Optionally, the bus lane control method, wherein determining the bus lane control strategy at the first intersection according to the first information, includes:

[0014] Determine the length of the traffic flow at the first intersection according to the vehicle traffic status information, and determine whether the bus vehicle goes straight into the first intersection according to the bus route information;

[0015] When it is determined according to the vehicle traffic status information that the traffic length of the first intersection is greater than or equal to the traffic length threshold, and it is determined according to the bus route information that the bus enters the first intersection straight, the bus entry time of the first intersection is determined according to the vehicle basic safety information and / or the bus related information of the second intersection;

[0016] A bus lane control strategy for the first intersection is determined according to the bus entry time at the first intersection and the phase information.

[0017] Optionally, the bus lane control method, wherein determining the entry time of the bus at the first intersection according to the basic vehicle safety information and / or the bus-related information at the second intersection, comprises:

[0018] When the distance between the first intersection and the second intersection is greater than or equal to a distance threshold, determining an entry time of a public transport vehicle at the first intersection according to the basic vehicle safety information;

[0019] When the distance between the first intersection and the second intersection is less than the distance threshold, the entry time of the public transport vehicle at the first intersection is determined according to the basic vehicle safety information and / or the public transport vehicle related information at the second intersection.

[0020] Optionally, the bus lane control method, wherein determining the entry time of the bus at the first intersection according to the basic vehicle safety information, comprises:

[0021] An entry time of the public bus at the first intersection is determined according to the position information and speed information in the basic safety information of the vehicle.

[0022] Optionally, the bus lane control method, wherein determining the entry time of the bus at the first intersection according to the bus related information at the second intersection, comprises:

[0023] The bus entry time at the first intersection is determined according to the time length of the bus traveling from the second intersection to the first intersection and the bus entry time in the bus related information at the second intersection.

[0024] Optionally, the bus lane control method, wherein determining the bus lane control strategy at the first intersection according to the bus vehicle entry time at the first intersection and the phase information, comprises:

[0025] According to the phase information, a plurality of green light straight driving cycles after the current moment are acquired;

[0026] When the bus entering the first intersection does not enter the first green light through cycle among the multiple green light through cycles, determining the bus lane control strategy of the first intersection to be an open bus lane;

[0027] When the bus entering the first intersection belongs to the first green light straight cycle among the multiple green light straight cycles, the bus lane control strategy of the first intersection is determined to close the bus lane.

[0028] Optionally, the bus lane control method, wherein sending a bus lane control signal to a target device according to the bus lane control strategy, includes:

[0029] In the case where the bus lane control strategy is to open the bus lane, the bus lane control signal sent to the target device is a bus lane opening signal, and the bus lane opening signal indicates that social vehicles can use the bus lane;

[0030] In the case where the bus lane control strategy is to close the bus lane, the bus lane control signal sent to the target device is a bus lane closing signal, and the bus lane closing signal indicates that private vehicles cannot use the bus lane.

[0031] Optionally, in the bus lane control method, after determining the bus entry time of the first intersection according to the basic vehicle safety information and / or the bus entry time of the second intersection, the method further comprises:

[0032] The public transport related information at the first intersection is sent to the second intersection through the roadside unit.

[0033] Optionally, in the bus lane control method, the bus-related information includes at least one of the following:

[0034] Intersection number;

[0035] Bus number;

[0036] Bus route number;

[0037] Basic vehicle safety information;

[0038] The time when the public transport vehicle enters the city;

[0039] The time when public transport passes.

[0040] An embodiment of the present invention further provides an electronic device, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the steps in the bus lane control method as described in any one of the preceding claims are implemented.

[0041] The embodiment of the present invention further provides a bus lane control device, comprising:

[0042] A determination module is used to determine a bus lane control strategy at a first intersection according to first information, wherein the first information includes at least one of the following:

[0043] Vehicle traffic status information at the first intersection;

[0044] bus route information at the first intersection;

[0045] Basic vehicle safety information of the public transport vehicles at the first intersection;

[0046] Public transport related information at a second intersection, where the second intersection is adjacent to the first intersection;

[0047] Phase information of the intersection signal at the first intersection;

[0048] The first sending module is used to send a bus lane control signal to a target device according to the bus lane control strategy.

[0049] Optionally, in the bus lane control device, the determination module includes:

[0050] a first determining unit, configured to determine a length of a traffic flow at the first intersection according to the vehicle traffic status information, and to determine whether a bus vehicle drives straight into the first intersection according to the bus route information;

[0051] A second determining unit is configured to determine the entry time of the bus into the first intersection according to the basic vehicle safety information and / or bus-related information of the second intersection, when it is determined according to the vehicle traffic state information that the traffic length of the first intersection is greater than or equal to a traffic length threshold, and it is determined according to the bus route information that the bus enters the first intersection straightly;

[0052] The third determining unit is used to determine a bus lane control strategy for the first intersection according to the bus entry time of the first intersection and the phase information.

[0053] Optionally, in the bus lane control device, the second determining unit includes:

[0054] A first determining subunit is used to determine the entry time of the public transport vehicle at the first intersection according to the basic vehicle safety information when the distance between the first intersection and the second intersection is greater than or equal to a distance threshold;

[0055] The second determining subunit is used to determine the entry time of the public bus at the first intersection according to the basic vehicle safety information and / or the public bus related information at the second intersection when the distance between the first intersection and the second intersection is less than the distance threshold.

[0056] Optionally, in the bus lane control device, the first determining subunit is specifically used for:

[0057] An entry time of the public bus at the first intersection is determined according to the position information and speed information in the basic safety information of the vehicle.

[0058] Optionally, in the bus lane control device, the second determining subunit is specifically used for:

[0059] The bus entry time at the first intersection is determined according to the time length of the bus traveling from the second intersection to the first intersection and the bus entry time in the bus related information at the second intersection.

[0060] Optionally, in the bus lane control device, the third determination unit is specifically used to:

[0061] According to the phase information, a plurality of green light straight driving cycles after the current moment are acquired;

[0062] When the bus entering the first intersection does not enter the first green light through cycle among the multiple green light through cycles, determining the bus lane control strategy of the first intersection to be an open bus lane;

[0063] When the bus entering the first intersection belongs to the first green light straight cycle among the multiple green light straight cycles, the bus lane control strategy of the first intersection is determined to close the bus lane.

[0064] Optionally, in the bus lane control device, the first sending module is specifically used for:

[0065] In the case where the bus lane control strategy is to open the bus lane, the bus lane control signal sent to the target device is a bus lane opening signal, and the bus lane opening signal indicates that social vehicles can use the bus lane;

[0066] In the case where the bus lane control strategy is to close the bus lane, the bus lane control signal sent to the target device is a bus lane closing signal, and the bus lane closing signal indicates that private vehicles cannot use the bus lane.

[0067] Optionally, the bus lane control device further comprises:

[0068] The second sending module is used to send the public transport related information of the first intersection to the second intersection through the road side unit.

[0069] Optionally, in the bus lane control device, the bus-related information includes at least one of the following:

[0070] Intersection number;

[0071] Bus number;

[0072] Bus route number;

[0073] Basic vehicle safety information;

[0074] The time when the public transport vehicle enters the city;

[0075] The time when public transport passes.

[0076] An embodiment of the present invention provides a readable storage medium, on which a program is stored. When the program is executed by a processor, the steps in the bus lane control method as described in any one of the above items are implemented.

[0077] The beneficial effects of the above technical solution of the present invention are as follows:

[0078] In an embodiment of the present invention, a bus lane control strategy for the first intersection is determined based on the first information; and a bus lane control signal is sent to a target device based on the bus lane control strategy. In this way, not only is priority for buses achieved, but the bus lanes can also be dynamically lent to social vehicles in a time-sharing manner, thereby maximizing the use of road traffic resources, alleviating intersection congestion, improving the travel efficiency of social vehicles, and solving the problem of crowded lanes for social vehicles and low utilization of bus lanes. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 A schematic diagram of an application system architecture of the bus lane control method according to an embodiment of the present invention;

[0080] Figure 2 This is a flow chart of the bus lane control method according to an embodiment of the present invention;

[0081] Figure 3 A schematic diagram of a scenario of the method described in an embodiment of the present invention;

[0082] Figure 4 It is a schematic diagram of the structure of the bus lane control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0083] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0084] In various embodiments of the present invention, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0085] Additionally, the terms "system" and "network" are often used interchangeably herein.

[0086] The terms "first", "second", etc. in the specification and claims of the present invention are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0087] The application system architecture of the bus lane control method according to the embodiment of the present invention is as follows: Figure 1 As shown, the application system includes a Mobile Edge Computing (MEC) unit, also known as an algorithm and strategy formulation unit, which is a system for road occupant classification and identification, intelligent traffic event detection and information collection developed based on an embedded mobile hardware platform; one or more Road Side Units (RSU) that are connected to the MEC unit and configured at each intersection; one or more road traffic sensing devices that are connected to the MEC unit and configured at each intersection;

[0088] Among them, one or more RSUs can be interconnected with the regional cloud and vehicles equipped with on-board units (OBU) based on the vehicle to everything (V2X) technology. Here, they communicate with the regional cloud through wired Ethernet or wireless 4G / 5G, so as to communicate with the RSUs at adjacent intersections, that is, RSUs between different intersections can also communicate. V2X technology has great potential to improve the safety and efficiency of road transportation systems. It uses high-speed and stable wireless communications between vehicles (V2V), vehicles and infrastructure (V2I), vehicles and pedestrians (V2P), and vehicles and external networks (V2N) to timely perceive the environmental conditions around the vehicle, and has 360° non-differential perception, and is not easily affected by factors such as road environment and weather changes. It is centered on vehicles under the traffic system, shares information between vehicles through wireless communication channels, expands the perception range of vehicles, and can effectively avoid up to 80% of traffic accidents.

[0089] Road traffic sensing equipment can be a high-definition video camera installed at an intersection. The high-definition video camera can effectively identify vehicles in the road field of view and identify information such as the vehicle's position, heading angle, and speed. It can also detect the length of vehicle queues at intersections and other abnormal traffic events.

[0090] See also Figure 2 , an embodiment of the present invention provides a bus lane control method, comprising:

[0091] Step S210: determining a bus lane control strategy at a first intersection according to first information, wherein the first information includes at least one of the following:

[0092] Vehicle traffic status information at the first intersection;

[0093] The bus route information at the first intersection;

[0094] Basic vehicle safety information of public transport vehicles at the first intersection;

[0095] Information related to public transportation vehicles at a second intersection, where the second intersection is an intersection adjacent to the first intersection;

[0096] Phase information of the intersection signal at the first intersection.

[0097] It should be noted that the bus lane control method described in the embodiment of the present invention can be executed by the above-mentioned MEC unit. The first intersection is any crossroads / T-junction, and the second intersection is an intersection adjacent to the first intersection, including the previous intersection and the next intersection of the first intersection. The MEC unit obtains the above-mentioned first information, and determines, based on the above-mentioned first information, whether the bus lane control strategy at the first intersection is to open the bus lane or to close the bus lane.

[0098] In the embodiment of the present invention, the vehicle traffic status information at the first intersection may include vehicle positions, the number of vehicles in a queue, etc. Here, the vehicle traffic status information at the first intersection may be obtained through a road traffic sensing device.

[0099] In an embodiment of the present invention, the bus route information of the first intersection may include a correspondence between a bus number (which may be understood as a license plate) and a bus route number, and a correspondence between a bus route number and a driving route of the first intersection, wherein the driving route of the first intersection is used to indicate whether the bus is driving straight into the first intersection. Here, the bus route information may be input in advance.

[0100] In the embodiment of the present invention, the basic safety message (BSM) of the vehicle includes the position, heading angle (indicating the direction of movement of the vehicle) and speed, etc. Here, the basic safety information of the vehicle can be obtained by communicating with the public transport vehicle equipped with the OBU through the RSU. Of course, the position, heading angle and speed, etc. of the public transport vehicle at the first intersection can also be obtained through the road traffic sensing device.

[0101] In an embodiment of the present invention, the bus-related information includes the intersection number (Cross No) of the second intersection and the bus information (Bus Msg) passing the second intersection, wherein the bus information includes at least one of the bus number (which can be understood as a license plate), the bus line number, the basic vehicle safety information, the bus entry time, and the bus passing time, and its data format is defined as follows:

[0102] The intersection number is used as the first field, followed by the bus information field, and finally the end information flag is used as the end field.

[0103] Here, the bus related information at the second intersection can be obtained through the RSU.

[0104] It should be noted that the RSUs between the intersections share bus-related information at a frequency of no less than 1 Hz.

[0105] In the embodiment of the present invention, the phase information of the intersection signal at the first intersection can be obtained through the network or serial port connection. According to the phase information, it can be divided into multiple complete time slots, each time slot includes the complete phase time of the first intersection. For example, the next time slots of a complete intersection signal are T1, T2, T3, ..., T n , each time slot T i They all include all phases of the first intersection, namely phase 1, phase 2, ..., phase N.

[0106] Phase can be understood as the combined status of traffic lights in different directions at an intersection within a signal cycle.

[0107] Step S220: sending a bus lane control signal to a target device according to the bus lane control strategy.

[0108] Optionally, the target device includes at least one of the following:

[0109] Social vehicles equipped with on-board multimedia terminals;

[0110] Public buses equipped with on-board multimedia terminals;

[0111] A bus lane sign installed above the bus lane;

[0112] The warning light strip is arranged on the lane dividing line, wherein the lane dividing line is arranged between the bus lane and the private vehicle lane.

[0113] Among them, the MEC unit can send bus lane control signals to social vehicles and public buses that support V2X functions and are equipped with on-board multimedia terminals in a broadcast manner through the RSU to prompt or warn social vehicles and public bus drivers.

[0114] Optionally, the data format of the bus lane control signal in the embodiment of the present invention may be defined as follows:

[0115] Start information, intersection number, one or more bus lane numbers, openness information and opening time corresponding to each bus lane number (indicating the time when private vehicles can use the bus lane), and end information.

[0116] Furthermore, the vehicle-mounted multimedia terminal performs display based on the bus lane control signal. Optionally, the display information may include:

[0117] Vehicle speed, whether bus lanes can be used, and the phase time of traffic lights at intersections.

[0118] In addition, the bus lane signboard dynamically indicates the usage status of the bus lane in text form based on the bus lane control signal.

[0119] The warning light strip switches to the corresponding color based on the bus lane control signal. For example, if the bus lane cannot be used, the warning light strip switches to red; if the bus lane can be used, the warning light strip switches to green. Alternatively, the MEC unit can directly send a color switching instruction to the warning light strip through the RSU.

[0120] The embodiment of the present invention determines the bus lane control strategy of the first intersection based on the first information; and sends the bus lane control signal to the target device based on the bus lane control strategy. In this way, not only the priority passage of buses is achieved, but the bus lane can also be dynamically lent to social vehicles in a time-sharing manner, so as to maximize the use of road traffic resources, alleviate the congestion at the intersection, improve the travel efficiency of social vehicles, and solve the problem of crowded lanes for social vehicles and low utilization rate of bus lanes.

[0121] Optionally, in the bus lane control method in the embodiment of the present invention, step S210 may include:

[0122] Determine the length of the traffic flow at the first intersection according to the vehicle traffic status information, and determine whether the bus vehicle goes straight into the first intersection according to the bus route information;

[0123] When it is determined according to the vehicle traffic status information that the traffic length at the first intersection is greater than or equal to the traffic length threshold, and it is determined according to the bus route information that the bus is driving straight into the first intersection, the bus entry time at the first intersection is determined according to the vehicle basic safety information and / or bus-related information at the second intersection;

[0124] According to the entry time and phase information of the bus at the first intersection, a bus lane control strategy for the first intersection is determined.

[0125] It should be noted that the length of traffic flow in each direction of the first intersection can be calculated in real time according to the vehicle position or the number of vehicles in the vehicle traffic status information. When the length of traffic flow in any direction of the first intersection is less than the traffic flow length threshold, it is considered that the current traffic flow at the intersection in that direction of the first intersection is not large, no congestion has occurred, and there is no need to open the bus lane; when the length of traffic flow in any direction of the first intersection is greater than or equal to the traffic flow length threshold, it is considered that the current traffic flow at the intersection in that direction of the first intersection is large, congestion has occurred or there is a high probability of congestion, and it is necessary to open the bus lane to relieve traffic pressure. The size of the traffic flow length threshold in the embodiment of the present invention can be flexibly set according to actual needs.

[0126] Of course, it is also possible to directly determine whether traffic congestion occurs in any direction of the first intersection based on the number of vehicle queues in the vehicle traffic status information. Specifically, when the number of vehicle queues in any direction of the first intersection is less than the vehicle queue number threshold, it is considered that the current intersection traffic flow in that direction of the first intersection is not large and no congestion occurs; otherwise, the traffic flow is large and congestion has occurred or is likely to occur.

[0127] According to the bus route information, determine whether the bus goes straight into the first intersection. If the bus does not go straight into the first intersection, that is, the bus turns left or right into the first intersection, there is no need to open the bus lane.

[0128] When the traffic length is greater than or equal to the traffic length threshold and the bus is driving straight into the first intersection, the bus entry time of the first intersection is determined according to the basic safety information of vehicles at the first intersection and / or the bus-related information at the second intersection, the second intersection is an adjacent intersection of the first intersection, and the bus at the second intersection is about to drive straight into the first intersection.

[0129] Then, according to the bus entry time and phase information of the first intersection, the bus lane control strategy of the first intersection is determined to be whether to open the bus lane or close the bus lane. Optionally, the bus lane control method, wherein the bus entry time of the first intersection is determined according to the basic vehicle safety information and / or the bus related information of the second intersection, includes:

[0130] When the distance between the first intersection and the second intersection is greater than or equal to the distance threshold, determining the entry time of the public transport vehicle at the first intersection according to the basic vehicle safety information;

[0131] When the distance between the first intersection and the second intersection is less than a distance threshold, the entry time of the public transport vehicle at the first intersection is determined according to the basic vehicle safety information and / or the public transport vehicle related information at the second intersection.

[0132] The distance threshold is determined based on the distance that a bus can travel within a green light cycle.

[0133] Figure 3 Schematic diagram of a scenario of the method described in an embodiment of the present invention. Figure 3 This is a common scene of two adjacent intersections in the city. The first intersection is adjacent to the second intersection, and the second intersection and the first intersection are set from east to west. As can be seen from the figure, there are two types of public transportation vehicles:

[0134] Category 1 public transport: located between the first intersection and the second intersection, and will go straight through the first intersection according to the intersection signal at the first intersection.

[0135] The second type of public transport vehicle: will go straight through the second intersection according to the intersection signal at the second intersection, and then go straight through the first intersection according to the intersection signal at the first intersection.

[0136] It can be understood that, when the distance between the first intersection and the second intersection is greater than or equal to the distance threshold, that is, when the bus cannot pass through two consecutive intersections within one green light cycle, if the first type of bus mentioned above exists, the bus entry time of the first intersection is determined according to the basic vehicle safety information of the first type of bus. Of course, if the first bus does not exist, there is no need to confirm the bus entry time of the first intersection.

[0137] When the distance between the first intersection and the second intersection is less than the distance threshold, that is, when the bus can pass through two consecutive intersections within one green light cycle, the bus entry time of the first intersection is determined based on the basic vehicle safety information of the first type of bus and / or the bus related information of the second type of bus. Here, the bus entry time of the first intersection can be determined by one of the following:

[0138] If there is a first-category public bus, the entry time of the public bus at the first intersection is determined according to the basic vehicle safety information of the first-category public bus;

[0139] If there is a second type of public bus, the entry time of the public bus at the first intersection is determined based on the public bus related information of the second type of public bus;

[0140] If there are both the first and second types of buses, usually, the first type of bus is closer to the first intersection than the second type of bus, so the first type of bus enters the first intersection earlier than the second type of bus. Therefore, the bus entry time at the first intersection should be determined based on the basic safety information of the first type of bus, and then the bus entry time at the first intersection should be determined based on the bus-related information of the second type of bus. That is, the bus entry time at the first intersection includes the two bus entry times. Further, the bus lane control strategy at the first intersection is determined based on the entry time and phase information of each bus.

[0141] Of course, if neither the first category of public buses nor the second category of public buses exist, there is no need to confirm the entry time of the public buses at the first intersection.

[0142] It should be noted that if a bus can pass through three intersections within a green light cycle, then the time when the bus at the third intersection enters the first intersection can also be determined based on the relevant information of the bus at the third intersection, that is, the time when the bus at the first intersection enters. The third intersection is an intersection adjacent to the second intersection and is located on the east side of the second intersection.

[0143] Optionally, the bus lane control method in the embodiment of the present invention, wherein determining the entry time of the bus at the first intersection according to the basic safety information of the vehicle, includes:

[0144] The entry time of the public bus at the first intersection is determined based on the position information and speed information in the basic safety information of the vehicle.

[0145] It can be understood that, based on the current position information of the bus, the current distance between the bus and the first intersection is obtained; then, based on the current distance and speed information between the bus and the first intersection, the time it takes for the bus to travel to the first intersection is determined; then, based on the time it takes for the bus to enter the first intersection and the current time, the entry time of the bus into the first intersection is determined.

[0146] Optionally, the bus lane control method in the embodiment of the present invention, wherein determining the entry time of the bus at the first intersection according to the bus related information at the second intersection, includes:

[0147] The bus entry time at the first intersection is determined according to the time duration for the bus to travel from the second intersection to the first intersection and the bus entry time in the bus related information at the second intersection.

[0148] It should be noted that the time taken by the bus to travel from the second intersection to the first intersection can be understood as a time constant, which is determined based on the average speed of the bus and the distance from the second intersection to the first intersection.

[0149] The time when the bus enters the first intersection is determined based on the time it takes the bus to travel from the second intersection to the first intersection and the time when the bus enters the second intersection (i.e. the bus entry time at the second intersection), i.e. the bus entry time at the first intersection.

[0150] Optionally, the bus lane control method in the embodiment of the present invention, wherein the bus lane control strategy at the first intersection is determined according to the entry time and phase information of the bus vehicle at the first intersection, comprises:

[0151] According to the phase information, a plurality of green light straight-going cycles after the current moment are obtained;

[0152] When the bus entering the first intersection does not belong to the first green light through cycle among the multiple green light through cycles, the bus lane control strategy of the first intersection is determined to be an open bus lane;

[0153] When the bus entering the first intersection belongs to the first green light straight going cycle among multiple green light straight going cycles, the bus lane control strategy of the first intersection is determined to close the bus lane.

[0154] That is, according to the phase information, a plurality of green light straight-through cycles next at the current moment are obtained, and the number of the green light straight-through cycles is determined according to the distance between the first intersection and the second intersection and the phase cycle of the intersection signal.

[0155] Determine which green light straight-through cycle the bus entry time at the first intersection belongs to. If the bus entry time at the first intersection does not belong to the first green light straight-through cycle, determine that the bus driving state of the bus lane at the first intersection is idle, and thus determine that the bus lane strategy for the first intersection is to open the bus lane in the first green light straight-through cycle after the current moment, and private vehicles can use the bus lane.

[0156] If the bus entering the first intersection is in the first green light straight cycle, the bus driving state of the bus lane at the first intersection is determined to be non-idle, so that the bus lane strategy at the first intersection is determined to close the bus lane in the first green light straight cycle after the current moment, ensuring that buses have absolute priority at the intersection and always have priority.

[0157] It should be noted that the number of buses at the first intersection and the second intersection may be more than one, and the method for determining the bus entry time and bus driving status of each bus is the same.

[0158] Optionally, in the bus lane control method in the embodiment of the present invention, step S220 includes:

[0159] When the bus lane control strategy is to open the bus lane, the bus lane control signal sent to the target device is a bus lane opening signal, and the bus lane opening signal indicates that social vehicles can use the bus lane;

[0160] When the bus lane control strategy is to close the bus lane, the bus lane control signal sent to the target device is a bus lane closing signal, and the bus lane closing signal indicates that private vehicles cannot use the bus lane.

[0161] That is to say, on one hand, when the bus lane control strategy at the first intersection is to open the bus lane, a bus lane opening signal for the first intersection is sent to the target device, the bus lane at the first intersection is opened for a limited time, and the bus lane at the first intersection is allocated to social vehicles in a time-sharing manner to allow social vehicles to use the bus lane at the first intersection, thereby avoiding the problem of crowded lanes for social vehicles and low utilization of bus lanes.

[0162] Compared with the prior art, bus lanes are open only at fixed times (generally non-peak hours), which means that private vehicles can only use the bus lanes at these fixed times, and then intersections are usually congested during peak hours. Obviously, it is unreasonable to open bus lanes at fixed times. The bus lane control method described in the embodiment of the present invention uses the real-time driving status of buses to control whether the bus lanes are open, thereby avoiding congestion at intersections due to the accumulation of private vehicles. This is more reasonable and has application value.

[0163] On the other hand, when the bus lane control strategy at the first intersection is to close the bus lane, a bus lane closing signal for the first intersection is sent to the target device to close the bus lane at the first intersection, and private vehicles are not allowed to use the bus lane.

[0164] It should be noted that the above bus lane control strategy is a real-time bus lane control strategy at the current moment. The bus lane control method described in the embodiment of the present invention can be used at preset intervals to dynamically control the bus lane in real time. Alternatively, the bus lane control method described in the embodiment of the present invention can be used only during peak hours.

[0165] Optionally, in the bus lane control method in the embodiment of the present invention, after determining the bus entry time of the first intersection according to the basic vehicle safety information and / or the bus entry time of the second intersection, the method further includes:

[0166] The public transport related information at the first intersection is sent to the second intersection through the roadside unit.

[0167] It should be noted that the MEC unit corresponding to the first intersection can receive information related to the bus at the second intersection. Of course, the MEC unit corresponding to the second intersection can also receive information related to the bus at the first intersection. The MEC units corresponding to each intersection communicate through RSU based on V2X technology.

[0168] Optionally, in the bus lane control method in the embodiment of the present invention, the bus-related information includes at least one of the following:

[0169] Intersection number;

[0170] Bus number;

[0171] Bus route number;

[0172] Basic vehicle safety information;

[0173] The time when the public transport vehicle enters the city;

[0174] The time when public transport passes.

[0175] It should be noted that the bus entry time is the time when the bus enters the first intersection; the bus passing time is the time when the bus passes the first intersection. The MEC units between the intersections can communicate their respective bus-related information through the RSU.

[0176] In summary, the bus lane control method described in the embodiment of the present invention is used to dynamically control the opening and closing of the bus lane in real time through the traffic length at the intersection, the basic safety information of the vehicle, the phase information of the intersection signal, and the relevant information of the bus at the adjacent intersection, so as to always ensure that the bus has priority passage, and enable private vehicles to use the bus lane when the bus lane is open, so as to maximize the utilization of road traffic resources.

[0177] An embodiment of the present invention further provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps in the above-mentioned bus lane control method when executing the computer program.

[0178] See also Figure 4 The embodiment of the present invention further provides a bus lane control device, comprising:

[0179] The determination module 410 is used to determine the bus lane control strategy at the first intersection according to the first information, wherein the first information includes at least one of the following:

[0180] Vehicle traffic status information at the first intersection;

[0181] bus route information at the first intersection;

[0182] Basic vehicle safety information of the public transport vehicles at the first intersection;

[0183] Public transport related information at a second intersection, where the second intersection is adjacent to the first intersection;

[0184] Phase information of the intersection signal at the first intersection;

[0185] The first sending module 420 is used to send a bus lane control signal to a target device according to the bus lane control strategy.

[0186] The embodiment of the present invention determines the bus lane control strategy of the first intersection based on the first information; and sends the bus lane control signal to the target device based on the bus lane control strategy. In this way, not only the priority passage of buses is achieved, but the bus lane can also be dynamically lent to social vehicles in a time-sharing manner, so as to maximize the use of road traffic resources, alleviate the congestion at the intersection, improve the travel efficiency of social vehicles, and solve the problem of crowded lanes for social vehicles and low utilization rate of bus lanes.

[0187] Optionally, in the bus lane control device, the determination module 410 includes:

[0188] a first determining unit, configured to determine a length of a traffic flow at the first intersection according to the vehicle traffic status information, and to determine whether a bus vehicle drives straight into the first intersection according to the bus route information;

[0189] A second determining unit is configured to determine the entry time of the bus into the first intersection according to the basic vehicle safety information and / or bus-related information of the second intersection, when it is determined according to the vehicle traffic state information that the traffic length of the first intersection is greater than or equal to a traffic length threshold, and it is determined according to the bus route information that the bus enters the first intersection straightly;

[0190] The third determining unit is used to determine a bus lane control strategy for the first intersection according to the bus entry time of the first intersection and the phase information.

[0191] Optionally, in the bus lane control device, the second determining unit includes:

[0192] A first determining subunit is used to determine the entry time of the public transport vehicle at the first intersection according to the basic vehicle safety information when the distance between the first intersection and the second intersection is greater than or equal to a distance threshold;

[0193] The second determining subunit is used to determine the entry time of the public bus at the first intersection according to the basic vehicle safety information and / or the public bus related information at the second intersection when the distance between the first intersection and the second intersection is less than the distance threshold.

[0194] Optionally, in the bus lane control device, the first determining subunit is specifically used for:

[0195] An entry time of the public bus at the first intersection is determined according to the position information and speed information in the basic safety information of the vehicle.

[0196] Optionally, in the bus lane control device, the second determining subunit is specifically used for:

[0197] The bus entry time at the first intersection is determined according to the time length of the bus traveling from the second intersection to the first intersection and the bus entry time in the bus related information at the second intersection.

[0198] Optionally, in the bus lane control device, the third determination unit is specifically used to:

[0199] According to the phase information, a plurality of green light straight driving cycles after the current moment are acquired;

[0200] When the bus entering the first intersection does not enter the first green light through cycle among the multiple green light through cycles, determining the bus lane control strategy of the first intersection to be an open bus lane;

[0201] When the bus entering the first intersection belongs to the first green light straight cycle among the multiple green light straight cycles, the bus lane control strategy of the first intersection is determined to close the bus lane.

[0202] Optionally, in the bus lane control device, the first sending module 420 is specifically used for:

[0203] In the case where the bus lane control strategy is to open the bus lane, the bus lane control signal sent to the target device is a bus lane opening signal, and the bus lane opening signal indicates that social vehicles can use the bus lane;

[0204] In the case where the bus lane control strategy is to close the bus lane, the bus lane control signal sent to the target device is a bus lane closing signal, and the bus lane closing signal indicates that private vehicles cannot use the bus lane.

[0205] Optionally, the bus lane control device further comprises:

[0206] The second sending module is used to send the public transport related information of the first intersection to the second intersection through the road side unit.

[0207] Optionally, in the bus lane control device, the bus-related information includes at least one of the following:

[0208] Intersection number;

[0209] Bus number;

[0210] Bus route number;

[0211] Basic vehicle safety information;

[0212] The time when the public transport vehicle enters the city;

[0213] The time when public transport passes.

[0214] It should be noted that the embodiment of the bus lane control device of the present invention is a device corresponding to the embodiment of the above-mentioned bus lane control method. All implementation means in the above-mentioned bus lane control method embodiment are applicable to the embodiment of the bus lane control device and can achieve the same technical effect.

[0215] An embodiment of the present invention further provides a readable storage medium, on which a program is stored. When the program is executed by a processor, the steps in the bus lane control method as described above are implemented.

[0216] A readable storage medium according to an embodiment of the present invention stores a program or instruction thereon. When the program or instruction is executed by a processor, the steps in the bus lane control method as described above are implemented and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0217] The processor is the processor of the vehicle in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0218] It should be further explained that the terminals described in this specification include but are not limited to smart phones, tablet computers, etc., and many of the functional components described are called modules in order to more particularly emphasize the independence of their implementation methods.

[0219] In the embodiment of the present invention, the module can be implemented with software so that it can be executed by various types of processors. For example, an executable code module of an identification can include one or more physical or logical blocks of computer instructions, for example, it can be constructed as an object, process or function. Nevertheless, the executable code of the identified module does not need to be physically located together, but can include different instructions stored in different positions, and when these instructions are logically combined together, it constitutes a module and realizes the specified purpose of the module.

[0220] In fact, executable code module can be a single instruction or many instructions, and can even be distributed on a plurality of different code segments, distributed among different programs, and distributed across a plurality of memory devices. Similarly, operating data can be identified in the module, and can be implemented and organized in the data structure of any appropriate type according to any appropriate form. The operating data can be collected as a single data set, or can be distributed in different locations (including on different storage devices), and can only be present on a system or network as an electronic signal at least in part.

[0221] When a module can be implemented by software, considering the level of existing hardware technology, a person skilled in the art can build a corresponding hardware circuit to implement the corresponding function of the module that can be implemented by software without considering the cost. The hardware circuit includes a conventional very large scale integration (VLSI) circuit or gate array and existing semiconductors such as logic chips, transistors, or other discrete components. The module can also be implemented by a programmable hardware device, such as a field programmable gate array, a programmable array logic, a programmable logic device, etc.

[0222] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A bus lane control method, characterized in that: include: Determine a bus lane control strategy at the first intersection according to the first information, wherein the first information includes at least one of the following: Vehicle traffic status information at the first intersection; bus route information at the first intersection; Basic vehicle safety information of the public transport vehicles at the first intersection; Public transport related information at a second intersection, where the second intersection is adjacent to the first intersection; Phase information of the intersection signal at the first intersection; According to the bus lane control strategy, sending a bus lane control signal to a target device; Wherein, determining the bus lane control strategy at the first intersection according to the first information includes: Determine the length of the traffic flow at the first intersection according to the vehicle traffic status information, and determine whether the bus vehicle goes straight into the first intersection according to the bus route information; When it is determined according to the vehicle traffic status information that the traffic length of the first intersection is greater than or equal to the traffic length threshold, and it is determined according to the bus route information that the bus enters the first intersection straight, the bus entry time of the first intersection is determined according to the vehicle basic safety information and / or the bus related information of the second intersection; Determine a bus lane control strategy for the first intersection according to the bus entry time at the first intersection and the phase information; Determining the entry time of the public transport vehicle at the first intersection according to the basic vehicle safety information and / or the public transport vehicle related information at the second intersection includes: When the distance between the first intersection and the second intersection is greater than or equal to a distance threshold, determining an entry time of a public transport vehicle at the first intersection according to the basic vehicle safety information; When the distance between the first intersection and the second intersection is less than the distance threshold, determining the entry time of the public transport vehicle at the first intersection according to the basic vehicle safety information and / or the public transport vehicle related information at the second intersection; Determining the entry time of the public transport vehicle at the first intersection according to the basic vehicle safety information includes: Determining the entry time of the public transport vehicle at the first intersection according to the position information and speed information in the basic safety information of the vehicle; Determining the entry time of the public transport vehicle at the first intersection according to the public transport vehicle related information at the second intersection includes: Determine the bus entry time of the first intersection according to the time it takes for the bus to travel from the second intersection to the first intersection and the bus entry time in the bus related information of the second intersection; Determining a bus lane control strategy for the first intersection according to the bus entry time at the first intersection and the phase information includes: According to the phase information, a plurality of green light straight driving cycles after the current moment are acquired; When the bus entering the first intersection does not enter the first green light through cycle among the multiple green light through cycles, determining the bus lane control strategy of the first intersection to be an open bus lane; When the bus entering the first intersection belongs to the first green light straight cycle among the multiple green light straight cycles, the bus lane control strategy of the first intersection is determined to close the bus lane.

2. The bus lane control method according to claim 1, characterized in that: According to the bus lane control strategy, sending a bus lane control signal to a target device includes: In the case where the bus lane control strategy is to open the bus lane, the bus lane control signal sent to the target device is a bus lane opening signal, and the bus lane opening signal indicates that social vehicles can use the bus lane; In the case where the bus lane control strategy is to close the bus lane, the bus lane control signal sent to the target device is a bus lane closing signal, and the bus lane closing signal indicates that private vehicles cannot use the bus lane.

3. The bus lane control method according to claim 1, characterized in that: After determining the entry time of the public transport vehicle at the first intersection according to the basic vehicle safety information and / or the entry time of the public transport vehicle at the second intersection, the method further includes: The public transport related information at the first intersection is sent to the second intersection through the roadside unit.

4. The bus lane control method according to claim 1, characterized in that: The public transport related information includes at least one of the following: Intersection number; Bus number; Bus route number; Basic vehicle safety information; The time when the public transport vehicle enters the city; The time when public transport passes.

5. An electronic device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the bus lane control method as described in any one of claims 1 to 4 when executing the computer program.

6. A bus lane control device, characterized in that: include: A determination module is used to determine a bus lane control strategy at a first intersection according to first information, wherein the first information includes at least one of the following: Vehicle traffic status information at the first intersection; bus route information at the first intersection; Basic vehicle safety information of the public transport vehicles at the first intersection; Public transport related information at a second intersection, where the second intersection is adjacent to the first intersection; Phase information of the intersection signal at the first intersection; A first sending module, configured to send a bus lane control signal to a target device according to the bus lane control strategy; Wherein, the determination module includes: a first determining unit, configured to determine a length of a traffic flow at the first intersection according to the vehicle traffic status information, and to determine whether a bus vehicle drives straight into the first intersection according to the bus route information; A second determining unit is configured to determine the entry time of the bus into the first intersection according to the basic vehicle safety information and / or bus-related information of the second intersection, when it is determined according to the vehicle traffic state information that the traffic length of the first intersection is greater than or equal to a traffic length threshold, and it is determined according to the bus route information that the bus enters the first intersection straightly; A third determining unit, configured to determine a bus lane control strategy for the first intersection according to the bus entry time at the first intersection and the phase information; The second determining unit includes: A first determining subunit is used to determine the entry time of the public transport vehicle at the first intersection according to the basic vehicle safety information when the distance between the first intersection and the second intersection is greater than or equal to a distance threshold; A second determining subunit is configured to determine a time when a public transport vehicle enters the first intersection according to the basic vehicle safety information and / or public transport vehicle related information at the second intersection when the distance between the first intersection and the second intersection is less than the distance threshold; The first determining subunit is specifically used for: Determining the entry time of the public transport vehicle at the first intersection according to the position information and speed information in the basic safety information of the vehicle; The second determining subunit is specifically used for: Determine the bus entry time of the first intersection according to the time it takes for the bus to travel from the second intersection to the first intersection and the bus entry time in the bus related information of the second intersection; The third determining unit is specifically configured to: According to the phase information, a plurality of green light straight driving cycles after the current moment are acquired; When the bus entering the first intersection does not enter the first green light through cycle among the multiple green light through cycles, determining the bus lane control strategy of the first intersection to be an open bus lane; When the bus entering the first intersection belongs to the first green light straight cycle among the multiple green light straight cycles, the bus lane control strategy of the first intersection is determined to close the bus lane.

7. A readable storage medium, characterized in that: The readable storage medium stores a program, and when the program is executed by the processor, the steps in the bus lane control method according to any one of claims 1 to 4 are implemented.

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