Vehicle-road cooperative control method, device, equipment and readable storage medium

Abstract

The present invention provides a vehicle-road cooperative control method, device, equipment and readable storage medium, including: when the distance from a bus to a target station is less than a preset distance, if the number of passengers getting off the bus at the target station is zero, obtaining the number of passengers getting on the bus at the target station; determining the theoretical time for the bus to enter and exit the target station according to road condition information; determining the theoretical number of passengers getting on the bus according to the theoretical time; detecting whether the number of passengers getting on the bus at the target station is less than the theoretical number of passengers; if the number of passengers getting on the bus at the target station is less than the theoretical number of passengers, outputting a prompt that the bus does not stop at the target station; if the number of passengers getting on the bus at the target station is not less than the theoretical number of passengers, outputting a prompt that the bus stops at the target station. Through the present invention, the selectivity of passengers is increased, thereby improving the transportation efficiency of bus lines.

Description

Technical Field

[0001] The present invention relates to the field of traffic control, and in particular to a vehicle-road collaborative control method, device, equipment and a readable storage medium. Background Art

[0002] At present, the urban public transportation industry is developing rapidly, the level of public transportation informatization is constantly improving, and the number of buses in large and medium-sized cities is also increasing. Buses have become the main means of transportation for the public.

[0003] However, during rush hour, road conditions are complicated and it is very inconvenient for buses to enter and exit stations. This not only wastes the time of passengers on the bus, but also delays the bus's arrival at the next stop, causing great inconvenience to passengers. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle-road cooperative control method, device, equipment and readable storage medium, aiming to increase the passengers' choice of riding options through the present invention, thereby improving the transportation efficiency of bus lines.

[0005] In a first aspect, the present invention provides a vehicle-road cooperative control method, the vehicle-road cooperative control method comprising:

[0006] When the distance from the bus to the target station is less than the preset distance, if the number of passengers getting off the bus at the target station is zero, obtain the number of passengers getting on the bus at the target station;

[0007] Determine the theoretical time for the bus to enter and exit the target station according to the road condition information;

[0008] Determine the theoretical number of passengers based on the theoretical duration;

[0009] Detecting whether the number of people boarding the target platform is less than the theoretical number of people boarding the target platform;

[0010] If the number of people getting on the bus at the target station is less than the theoretical number of people getting on the bus, outputting a prompt that the bus does not stop at the target station;

[0011] If the number of people getting on the bus at the target station is not less than the theoretical number of people getting on the bus, a prompt is outputted that the bus stops at the target station.

[0012] Optionally, the step of determining the theoretical time for the bus to enter and exit the target station according to the road condition information includes:

[0013] Determine the number of vehicles in the bus stop lane and adjacent lanes within a preset range centered on the target station;

[0014] The theoretical time length for the bus to enter and exit the target station is determined according to the number of vehicles.

[0015] Optionally, the step of determining the theoretical time for a bus to enter and exit the target station according to the road condition information includes:

[0016] Acquiring perception data of the bus;

[0017] determining the number of vehicles based on the perception data;

[0018] The theoretical time length for the bus to enter and exit the target station is determined according to the number of vehicles.

[0019] Optionally, if the number of people getting on the bus at the target station is less than the theoretical number of people getting on the bus, the step of outputting a prompt that the bus does not stop at the target station includes:

[0020] If the number of passengers getting on the bus at the target station is less than the theoretical number of passengers getting on the bus, check whether the next bus arrives at the target station within the theoretical time and whether the number of passengers getting off the bus at the target station is not zero; wherein the next bus has the same bus route as the bus;

[0021] If the next bus arrives at the target station within the theoretical time and the number of passengers getting off the next bus at the target station is not zero, a prompt is outputted indicating that the bus does not stop at the target station.

[0022] Optionally, if the number of people getting on the bus at the target station is not less than the theoretical number of people getting on the bus, the step of outputting a prompt that the bus stops at the target station includes:

[0023] If the number of people boarding the bus at the target station is not less than the theoretical number of people boarding the bus, check whether the sum of the number of people on the bus and the number of people boarding the bus at the target station is less than the approved number of people on the bus;

[0024] If the sum of the number of people on the bus and the number of people getting on at the target station is less than the approved number of people for the bus, a prompt is outputted that the bus stops at the target station.

[0025] In a second aspect, the present invention further provides a vehicle-road cooperative control device, the vehicle-road cooperative control device comprising:

[0026] An acquisition module, used for acquiring the number of passengers getting on the bus at the target station when the distance between the bus and the target station is less than a preset distance and if the number of passengers getting off the bus at the target station is zero;

[0027] A first determination module is used to determine the theoretical time for the bus to enter and exit the target station according to the road condition information;

[0028] The second determination module is used to determine the theoretical number of passengers according to the theoretical duration;

[0029] A detection module, used to detect whether the number of people getting on the bus at the target platform is less than the theoretical number of people getting on the bus;

[0030] A control module, configured to output a prompt that the bus does not stop at the target station if the number of people getting on the bus at the target station is less than the theoretical number of people getting on the bus;

[0031] The control module is also used to output a prompt that the bus stops at the target station if the number of people getting on the bus at the target station is not less than the theoretical number of people getting on the bus.

[0032] Optionally, the first determining module is specifically configured to:

[0033] Determine the number of vehicles in the bus stop lane and adjacent lanes within a preset range centered on the target station;

[0034] The theoretical time length for the bus to enter and exit the target station is determined according to the number of vehicles.

[0035] Optionally, the first determining module is further configured to:

[0036] Acquiring sensing data of the bus;

[0037] determining the number of vehicles based on the perception data;

[0038] The theoretical time length for the bus to enter and exit the target station is determined according to the number of vehicles.

[0039] In the third aspect, the present invention also provides a vehicle-road cooperative control device, which includes a processor, a memory, and a vehicle-road cooperative control program stored in the memory and executable by the processor, wherein when the vehicle-road cooperative control program is executed by the processor, the steps of the vehicle-road cooperative control method as described above are implemented.

[0040] In a fourth aspect, the present invention further provides a readable storage medium, on which a vehicle-road cooperative control program is stored, wherein when the vehicle-road cooperative control program is executed by a processor, the steps of the vehicle-road cooperative control method as described above are implemented.

[0041] In the present invention, when the distance from the bus to the target station is less than a preset distance, if the number of passengers getting off the bus at the target station is zero, the number of passengers getting on the bus at the target station is obtained; the theoretical time for the bus to enter and exit the target station is determined according to the road condition information; the theoretical number of passengers getting on the bus is determined according to the theoretical time; it is detected whether the number of passengers getting on the bus at the target station is less than the theoretical number of passengers; if the number of passengers getting on the bus at the target station is less than the theoretical number of passengers, a prompt is outputted that the bus does not stop at the target station; if the number of passengers getting on the bus at the target station is not less than the theoretical number of passengers, a prompt is outputted that the bus stops at the target station. By means of the present invention, based on the premise that the passengers on the bus do not get off at the target station, the theoretical number of passengers matching the theoretical time length is calculated according to the theoretical time length of the bus entering and leaving the target station, and the theoretical number of passengers is used as a criterion for whether the bus stops at the target station; under the condition that the theoretical time length of the bus remains basically unchanged, if the number of passengers getting on the bus at the target station is less than the theoretical number of passengers getting on the bus, the bus does not need to spend time entering and leaving the target station for the passengers on the target station, and can choose not to stop at the target station, thus increasing the selectivity of the passengers on the target station and saving the time of the passengers on the bus; if the number of passengers getting on the bus at the target station is not less than the theoretical number of passengers getting on the bus, it is necessary to choose to stop at the target station for the passengers getting on the bus at the target station, thus reducing the waiting time of the passengers on the target station, avoiding an increasing number of waiting passengers, and improving the transportation efficiency of the bus line. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of a flow chart of an embodiment of a vehicle-road cooperative control method of the present invention;

[0043] Figure 2 A schematic diagram of a first scenario of the vehicle-road cooperative control method of the present invention;

[0044] Figure 3 A schematic diagram of a second scenario of the vehicle-road cooperative control method of the present invention;

[0045] Figure 4 Schematic diagram of a detailed flow chart of step S50 of the vehicle-road cooperative control method of the present invention;

[0046] Figure 5 Schematic diagram of a detailed flow chart of step S60 of the vehicle-road cooperative control method of the present invention;

[0047] Figure 6 It is a schematic diagram of the functional modules of the vehicle-road cooperative control device of the present invention;

[0048] Figure 7 It is a schematic diagram of the hardware structure of the vehicle-road cooperative control device involved in the embodiment of the present invention.

[0049] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0051] In a first aspect, an embodiment of the present invention provides a vehicle-road cooperative control method.

[0052] Please refer to Figure 1 , Figure 1 FIG. 1 is a flow chart of an embodiment of the vehicle-road cooperative control method of the present invention. Figure 1 As shown, in one embodiment, the vehicle-road cooperative control method includes:

[0053] Step S10, when the distance from the bus to the target station is less than a preset distance, if the number of passengers getting off the bus at the target station is zero, obtaining the number of passengers getting on the bus at the target station;

[0054] In this embodiment, when the distance between the bus and the target platform is less than the preset distance, if the number of people getting off the bus at the target platform is zero, the number of people getting on the target platform can be obtained (Note: as long as the number of people getting on the target platform is obtained before step S40), the target platform is the next platform on the route ahead of the bus. For example, the preset distance can be 30 meters. During the driving of the bus, it can be known how far the bus is from the target platform through the GPS positioning system, radar sensing or binocular camera detection. In addition, passenger flow detection and identification technology can be used or the passenger's get-off instruction can be directly received to determine how many passengers get off the target platform. When the distance between the bus and the target platform is less than 30 meters, it is found that there are no passengers getting off the bus, and the bus obtains how many passengers want to get on the target platform from the cloud. It should be noted that the values ​​listed in this embodiment, such as "30 meters", are only used to illustrate the content of this embodiment and are not specific limiting values.

[0055] Step S20, determining the theoretical time for the bus to enter and exit the target station according to the road condition information;

[0056] In this embodiment, the theoretical time for the bus to enter and exit the target station is further determined based on the road condition information, where the theoretical time is the sum of the time for entering and exiting the target station. For example, the road condition information may include the running status of the vehicle ahead, signal light information, and complex road conditions. In this example, we only need to obtain the number of vehicles on the road ahead of the bus, and determine the theoretical time for the bus to enter and exit the target station based on the number of vehicles.

[0057] Further, in one embodiment, please refer to Figure 2 , Figure 2 Schematic diagram of the first scenario of step S20 of the vehicle-road cooperative control method of the present invention. Figure 2 As shown, step S20 includes:

[0058] Determine the number of vehicles in the bus stop lane and adjacent lanes within a preset range centered on the target station; and determine the theoretical time for the bus to enter and exit the target station based on the number of vehicles.

[0059] In this embodiment, after determining the number of vehicles in the bus stop lane and adjacent lanes within a preset range centered on the target platform, the number of vehicles is substituted into a preset formula to obtain the theoretical time for the bus to enter and exit the target platform. The process of obtaining the preset formula is as follows:

[0060] Data sampling is performed on the target platform in advance to obtain multiple groups of sample data, each group of sample data includes the measured number of vehicles and the measured time for buses to enter and exit the target platform. Based on the sample data, a two-dimensional coordinate system is established, with the measured number of vehicles as the X-axis and the measured time for buses to enter and exit the target platform as the Y-axis. Each group of sample data obtained in advance is transformed into the two-dimensional coordinate system to obtain multiple coordinate points, and each coordinate point is connected with a smooth curve or line segment to fit a two-dimensional curve that can truly reflect the trend of changes in large amounts of data, and then the two-dimensional curve is finally fitted into a preset formula for the number of vehicles and the theoretical time for buses to enter and exit the target platform.

[0061] The GPS positioning system is used to collect data within a 15-meter radius (i.e. Figure 2 The number of vehicles in the bus stop lane and adjacent lanes is substituted into a preset formula, and the theoretical time for the bus to enter and exit the target platform is determined based on the number of vehicles. It should be noted that the values ​​listed in this embodiment, such as "15 meters", are only used to illustrate the content of this embodiment and are not specific limiting values.

[0062] Further, in another embodiment, please refer to Figure 3 , Figure 3 Schematic diagram of the second scenario of step S20 of the vehicle-road cooperative control method of the present invention. Figure 3 As shown, step S20 includes:

[0063] Acquire the perception data of the bus; determine the number of vehicles according to the perception data; and determine the theoretical time for the bus to enter and exit the target station according to the number of vehicles.

[0064] In this embodiment, the bus takes pictures of the road ahead through the on-board binocular camera and determines the number of vehicles based on the acquired vehicle condition images; or uses radar to scan the road area ahead and determines the number of vehicles based on the point cloud on the radar dial. The number of vehicles is substituted into a preset formula to obtain the theoretical time it takes for the bus to enter and exit the target platform.

[0065] The preset formula is the preset formula in the previous embodiment, and its determination process will not be described in detail here.

[0066] For example, see Figure 3 The shaded area in the figure is the vehicle-mounted binocular camera and radar recognition area. The number of vehicles appearing in the shaded area is substituted into the preset formula to determine the theoretical time for the vehicle to enter and exit the target platform.

[0067] Step S30, determining the theoretical number of people on the vehicle according to the theoretical duration;

[0068] In this embodiment, the theoretical duration is substituted into the preset formula of the duration of the bus entering and exiting the target station and the number of people on board to obtain the theoretical number of people on board. For example, there is a certain correspondence between the duration of the bus entering and exiting the target station and the number of people on board. According to the theoretical duration of the bus entering and exiting the target station, the theoretical number of people on board is calculated, and only when the number of people on board at the target station reaches this theoretical number of people on board, the bus is necessary to stop at the target station. Assuming that the theoretical duration is 15 minutes, the theoretical number of people on board is calculated to be 15 people according to the preset formula of the duration of the bus entering and exiting the target station and the number of people on board. That is, only when the number of people on board at the target station really reaches more than 15 people, the bus is necessary to spend these 15 minutes to stop at the target station. It should be noted that the values ​​listed in this embodiment, such as "15 minutes" and "15 people", are only used to illustrate the content of this embodiment and are not specific limiting values.

[0069] Step S40, detecting whether the number of people getting on the target platform is less than the theoretical number of people getting on the platform;

[0070] In this embodiment, the number of people getting on the bus at the target platform is compared with the theoretical number of people getting on the bus, and it is further detected whether the number of people getting on the bus at the target platform is less than the theoretical number of people getting on the bus.

[0071] Step S50, if the number of people getting on the bus at the target station is less than the theoretical number of people getting on the bus, outputting a prompt that the bus does not stop at the target station;

[0072] In this embodiment, if the number of people boarding the bus at the target station is less than the theoretical number of people boarding the bus, it is further determined to output a prompt that the bus does not stop at the target station. For example, if the number of people boarding the bus at the target station is 8 and the theoretical number of people boarding the bus is 15, it is considered unnecessary for the bus to spend too much time driving in and out of the target station for these 8 people, so the bus chooses not to stop at the target station, and the bus and the target station can remind passengers by voice or information screen. It should be noted that the values ​​listed in this embodiment, such as "15 people" and "8 people", are only used to illustrate the content of this embodiment and are not specific limiting values.

[0073] Further, in one embodiment, please refer to Figure 4 , Figure 4 FIG. 5 is a schematic diagram of a specific flow chart of step S50 of the vehicle-road cooperative control method of the present invention. Figure 4 As shown, in step S50, the vehicle-road cooperative control method includes:

[0074] Step 501, if the number of passengers getting on the target bus station is less than the theoretical number of passengers getting on the bus station, check whether a subsequent bus arrives at the target bus station within the theoretical time and whether the number of passengers getting off the subsequent bus at the target bus station is not zero; wherein the subsequent bus has the same bus route as the bus;

[0075] Step 502: If the next bus reaches the target station within the theoretical time and the number of passengers getting off the next bus at the target station is not zero, output a prompt that the bus does not stop at the target station.

[0076] In this embodiment, if the number of people getting on the target platform is less than the theoretical number of people getting on the bus, it is further detected whether the next bus reaches the target platform within the theoretical time and whether the number of people getting off the next bus at the target platform is not zero; wherein, the next bus has the same bus route as the current bus. For example, if the number of people getting on the bus at the target platform is 8 and the theoretical number of people getting on the bus is 15, it is considered unnecessary to choose to stop at the target platform for these 8 people. It is also necessary to see how long the next bus is expected to arrive at the target platform and whether there are people getting off the next bus. Only if the next bus arrives at the target platform within the theoretical time and at least one person gets off the bus, the current bus can choose not to stop at the target platform and remind passengers by voice or information screen that the current bus will pass through without stopping. It should be noted that the values ​​listed in this embodiment, such as "15 people" and "8 people", are only used to illustrate the content of this embodiment and are not specific limiting values.

[0077] Step S60: If the number of people getting on the bus at the target station is not less than the theoretical number of people getting on the bus, a prompt is outputted that the bus stops at the target station.

[0078] In this embodiment, if the number of people boarding the bus at the target station is not less than the theoretical number of people boarding the bus, a prompt is further outputted that the bus stops at the target station. For example, if the number of people boarding the bus at the target station is 25 and the theoretical number of people boarding the bus is 15, and the time for the bus to enter and exit the target station remains basically unchanged, for the sake of these 25 people, the bus needs to stop at the target station, and a reminder can be given by voice or information screen. The values ​​listed in this embodiment, such as "25 people" and "15 people", are only used to illustrate the content of this embodiment and are not specific limiting values.

[0079] Further, in one embodiment, please refer to Figure 5 , Figure 5 FIG. 6 is a schematic diagram of a specific flow chart of step S60 of the vehicle-road cooperative control method of the present invention. Figure 5 As shown, in step S60, the vehicle-road cooperative control method includes:

[0080] Step S601, if the number of people boarding the bus at the target station is not less than the theoretical number of people boarding the bus, check whether the sum of the number of people on the bus and the number of people boarding the bus at the target station is less than the approved number of people on the bus;

[0081] Step S602: If the sum of the number of people on the bus and the number of people getting on the bus at the target station is less than the approved number of people for the bus, a prompt is outputted that the bus stops at the target station.

[0082] In this embodiment, if the number of people boarding the bus at the target station is not less than the theoretical number of people on board, it is detected whether the sum of the number of people on the bus and the number of people boarding the bus at the target station is less than the approved number of people on the bus; if the sum of the number of people on the bus and the number of people boarding the bus at the target station is less than the approved number of people on the bus, a prompt is further outputted that the bus stops at the target station. For example, if the number of people boarding the bus at the target station is 25, the theoretical number of people on board is 15, the number of people on the bus is 40, and the approved number of people on the bus is 80. Based on the fact that the time for the bus to enter and exit the target station is constant at 15 minutes, and the number of people on the target station, 25, is much larger than the theoretical number of 15 people on the bus, when it is considered necessary to stop at the target station for the passengers on the target station, it is also necessary to observe whether the bus will be overloaded after the passengers on the target station get on the bus. The number of people on the bus, 40, plus the number of people on the bus, 25, who get on the bus at the target station, is compared with the bus's rated capacity of 80. If the bus is not overloaded after the 25 people on the target station get on the bus, the bus and the target station will remind passengers by voice or information screen that the bus is about to arrive at the target station. It should be noted that the values ​​listed in this embodiment, such as "25 people", "15 people", "40 people" and "80", are only used to illustrate the content of this embodiment and are not specific limiting values.

[0083] In this embodiment, when the distance from the bus to the target station is less than a preset distance, if the number of passengers getting off the bus at the target station is zero, the number of passengers getting on the bus at the target station is obtained; the theoretical time for the bus to enter and exit the target station is determined according to the road condition information; the theoretical number of passengers getting on the bus is determined according to the theoretical time; it is detected whether the number of passengers getting on the bus at the target station is less than the theoretical number of passengers; if the number of passengers getting on the bus at the target station is less than the theoretical number of passengers, a prompt is outputted that the bus does not stop at the target station; if the number of passengers getting on the bus at the target station is not less than the theoretical number of passengers, a prompt is outputted that the bus stops at the target station. Through this embodiment, based on the premise that the passengers on the bus do not get off at the target platform, the theoretical number of passengers matching the theoretical time is calculated according to the theoretical time for the bus to enter and exit the target platform, and the theoretical number of passengers is used as a criterion for whether the bus stops at the target platform; under the condition that the theoretical boarding time remains basically unchanged, if the number of passengers getting on the target platform is less than the theoretical number of passengers, the bus does not need to waste time entering and exiting the target platform for the passengers on the target platform, and can choose not to stop at the target platform, which increases the selectivity of the passengers on the target platform and saves the time of the passengers on the bus; if the number of passengers getting on the target platform is not less than the theoretical number of passengers, it is necessary to choose to stop at the target platform for the passengers getting on the bus at the target platform, which reduces the waiting time of the passengers at the target platform, avoids an increasing number of waiting passengers, and improves the transportation efficiency of the bus line.

[0084] In a second aspect, an embodiment of the present invention further provides a vehicle-road cooperative control device.

[0085] In one embodiment, please refer to Figure 6 , Figure 6 Schematic diagram of the functional modules of the vehicle-road cooperative control device involved in the embodiment of the present invention. Figure 6 As shown, the vehicle-road cooperative control device includes:

[0086] An acquisition module 10 is used to acquire the number of passengers getting on the bus at the target station when the distance from the bus to the target station is less than a preset distance and if the number of passengers getting off the bus at the target station is zero;

[0087] A first determination module 20, for determining the theoretical time for the bus to enter and exit the target station according to the road condition information;

[0088] The second determination module 30 is used to determine the theoretical number of passengers according to the theoretical duration;

[0089] A detection module 40, used to detect whether the number of people getting on the bus at the target platform is less than the theoretical number of people getting on the bus;

[0090] The control module 50 is used to output a prompt that the bus does not stop at the target station if the number of people getting on the bus at the target station is less than the theoretical number of people getting on the bus;

[0091] The control module 50 is further configured to output a prompt indicating that the bus stops at the target station if the number of people getting on the bus at the target station is not less than the theoretical number of people getting on the bus.

[0092] Furthermore, in one embodiment, the vehicle-road cooperative control device includes: a first determination module 20, which is specifically used to:

[0093] Determine the number of vehicles in the bus stop lane and adjacent lanes within a preset range centered on the target station;

[0094] The theoretical time length for the bus to enter and exit the target station is determined according to the number of vehicles.

[0095] Furthermore, in one embodiment, the vehicle-road cooperative control device includes: a first determination module 20, which is further configured to:

[0096] Acquiring sensing data of the bus;

[0097] determining the number of vehicles based on the perception data;

[0098] The theoretical time length for the bus to enter and exit the target station is determined according to the number of vehicles.

[0099] Furthermore, in one embodiment, the vehicle-road cooperative control device includes: a control module 50, which is specifically used to:

[0100] If the number of passengers getting on the bus at the target station is less than the theoretical number of passengers getting on the bus, check whether the next bus arrives at the target station within the theoretical time and whether the number of passengers getting off the bus at the target station is not zero; wherein the next bus has the same bus route as the bus;

[0101] If the next bus arrives at the target station within the theoretical time and the number of passengers getting off the next bus at the target station is not zero, a prompt is outputted indicating that the bus does not stop at the target station.

[0102] Furthermore, in one embodiment, the vehicle-road cooperative control device includes: a control module 50, which is further configured to:

[0103] If the number of people getting on the bus at the target platform is not less than the theoretical number of people getting on the bus;

[0104] Detecting whether the sum of the number of people on the bus and the number of people boarding at the target station is less than the approved number of people on the bus;

[0105] If the sum of the number of people on the bus and the number of people getting on at the target station is less than the approved number of people for the bus, a prompt is outputted that the bus stops at the target station.

[0106] Among them, the functional implementation of each module in the above-mentioned vehicle-road cooperative control device corresponds to the various steps in the above-mentioned vehicle-road cooperative control method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0107] In a third aspect, an embodiment of the present invention provides a vehicle-road cooperative control device, which may be a device with data processing function such as a personal computer (PC), a laptop computer, or a server.

[0108] Reference Figure 7 , Figure 7 It is a schematic diagram of the hardware structure of the vehicle-road cooperative control device involved in the embodiment of the present invention. In the embodiment of the present invention, the vehicle-road cooperative control device may include a processor 1001 (such as a central processing unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM), or a stable memory (non-volatile memory), such as a disk storage. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that Figure 7 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0109] Continue to refer to Figure 7 , Figure 7 The memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a vehicle-road cooperative control program. The processor 1001 may call the vehicle-road cooperative control program stored in the memory 1005 and execute the vehicle-road cooperative control method provided in the embodiment of the present invention.

[0110] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.

[0111] A vehicle-road cooperative control program is stored on the readable storage medium of the present invention, and when the vehicle-road cooperative control program is executed by a processor, the steps of the vehicle-road cooperative control method as described above are implemented.

[0112] Among them, the method implemented when the vehicle-road cooperative control program is executed can refer to the various embodiments of the vehicle-road cooperative control method of the present invention, and will not be repeated here.

[0113] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0114] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0115] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present invention.

[0116] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle-road cooperative control method, characterized in that: The vehicle-road cooperative control method comprises: When the distance from the bus to the target station is less than the preset distance, if the number of passengers getting off the bus at the target station is zero, obtain the number of passengers getting on the bus at the target station; Determine the theoretical time for the bus to enter and exit the target station according to the road condition information; Determine the theoretical number of passengers based on the theoretical duration; Detecting whether the number of people boarding the target platform is less than the theoretical number of people boarding the target platform; If the number of passengers getting on the bus at the target station is less than the theoretical number of passengers getting on the bus, check whether the next bus arrives at the target station within the theoretical time and whether the number of passengers getting off the bus at the target station is not zero; wherein the next bus has the same bus route as the bus; If the next bus arrives at the target station within the theoretical time, and the number of passengers getting off the next bus at the target station is not zero, output a prompt that the bus does not stop at the target station; If the number of people getting on the bus at the target station is not less than the theoretical number of people getting on the bus, a prompt is outputted that the bus stops at the target station.

2. The vehicle-road cooperative control method according to claim 1, characterized in that: The step of determining the theoretical time for the bus to enter and exit the target station according to the road condition information includes: Determine the number of vehicles in the bus stop lane and adjacent lanes within a preset range centered on the target station; The theoretical time length for the bus to enter and exit the target station is determined according to the number of vehicles.

3. The vehicle-road cooperative control method according to claim 1, characterized in that: The step of determining the theoretical time for the bus to enter and exit the target station according to the road condition information includes: Acquiring perception data of the bus; determining the number of vehicles based on the perception data; The theoretical time length for the bus to enter and exit the target station is determined according to the number of vehicles.

4. The vehicle-road cooperative control method according to claim 1, characterized in that: The step of outputting a prompt that the bus stops at the target station if the number of people getting on the bus at the target station is not less than the theoretical number of people getting on the bus includes: If the number of people boarding the bus at the target station is not less than the theoretical number of people boarding the bus, check whether the sum of the number of people on the bus and the number of people boarding the bus at the target station is less than the approved number of people on the bus; If the sum of the number of people on the bus and the number of people getting on at the target station is less than the approved number of people for the bus, a prompt is outputted that the bus stops at the target station.

5. A vehicle-road cooperative control device, characterized in that: The vehicle-road cooperative control device comprises: An acquisition module, used for acquiring the number of passengers getting on the bus at the target station when the distance between the bus and the target station is less than a preset distance and if the number of passengers getting off the bus at the target station is zero; A first determination module is used to determine the theoretical time for the bus to enter and exit the target station according to the road condition information; The second determination module is used to determine the theoretical number of passengers according to the theoretical duration; A detection module, used to detect whether the number of people getting on the bus at the target platform is less than the theoretical number of people getting on the bus; The control module is used to detect whether a subsequent bus arrives at the target station within the theoretical time and whether the number of passengers getting off the subsequent bus at the target station is not zero if the number of passengers getting on the subsequent bus at the target station is less than the theoretical number of passengers getting on the subsequent bus; wherein the subsequent bus has the same bus route as the bus; if the subsequent bus arrives at the target station within the theoretical time and the number of passengers getting off the subsequent bus at the target station is not zero, output a prompt that the bus does not stop at the target station; The control module is also used to output a prompt that the bus stops at the target station if the number of people getting on the bus at the target station is not less than the theoretical number of people getting on the bus.

6. The vehicle-road cooperative control device according to claim 5, characterized in that: The first determining module is specifically configured to: Determine the number of vehicles in the bus stop lane and adjacent lanes within a preset range centered on the target station; The theoretical time length for the bus to enter and exit the target station is determined according to the number of vehicles.

7. The vehicle-road cooperative control device according to claim 5, characterized in that: The first determining module is further specifically configured to: Acquiring perception data of the bus; determining the number of vehicles based on the perception data; The theoretical time length for the bus to enter and exit the target station is determined according to the number of vehicles.

8. A vehicle-road cooperative control device, characterized in that: The vehicle-road cooperative control device includes a processor, a memory, and a vehicle-road cooperative control program stored in the memory and executable by the processor, wherein when the vehicle-road cooperative control program is executed by the processor, the steps of the vehicle-road cooperative control method as described in any one of claims 1 to 4 are implemented.

9. A readable storage medium, characterized in that: The readable storage medium stores a vehicle-road cooperative control program, wherein when the vehicle-road cooperative control program is executed by a processor, the steps of the vehicle-road cooperative control method according to any one of claims 1 to 4 are implemented.

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