A vehicle-road cooperation method, device and medium for intelligent public transport

Abstract

Embodiments of the present application disclose a vehicle-road cooperation method and device for intelligent public buses and a medium. A monitoring and shooting device arranged on an intelligent public bus is used to obtain first road condition information corresponding to the intelligent public bus. In the case that the first road condition information belongs to an abnormal traffic condition, current road abnormal traffic information is determined based on the first road condition information and a preset road condition recognition model. A public bus to be dispatched is determined based on the current time, the abnormal traffic information and a preset bus departure schedule. A road section key point corresponding to the current road is determined, and based on the road section key point, a plurality of other traffic paths corresponding to the current road are determined, and a to-be-traveled path is determined based on second road condition information corresponding to each of the plurality of other traffic paths. Route planning is performed again based on the position of the public bus to be dispatched and the to-be-traveled path, so as to realize vehicle-road cooperation of the intelligent public bus. The driving efficiency of the public bus is improved by the above method.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and in particular to a vehicle-road cooperative method, device and medium for intelligent public transportation. Background Technology

[0002] Public transportation management is a complex system. Relying on traditional traffic management methods, and considering only roads and vehicles, is insufficient to solve the increasingly serious problems of traffic congestion, frequent accidents, and environmental pollution that have arisen in recent years. In the process of urbanization, traffic congestion, especially in cities, has become a serious problem hindering urban development and affecting people's livelihoods.

[0003] However, in the current field of public transport dispatching, simply displaying the real-time location of buses does not truly reflect their operational status. Existing technologies fail to consider the distance between stops, as well as practical issues such as bus location information, traffic congestion, and other abnormal situations, thus reducing the efficiency and effectiveness of bus operations. Summary of the Invention

[0004] This application provides a vehicle-road cooperative method for intelligent buses to solve the following technical problem: the low driving efficiency and operational benefits of buses in the prior art.

[0005] The embodiments of this application adopt the following technical solutions:

[0006] This application provides a vehicle-road cooperative method for intelligent buses. It includes: acquiring first road condition information corresponding to the intelligent bus using a monitoring device installed on the intelligent bus; if the first road condition information indicates abnormal traffic conditions, determining the current abnormal traffic information based on the first road condition information and a preset road condition recognition model; determining the bus to be dispatched based on the current time, the abnormal traffic information, and a preset bus departure timetable; determining key points of the road segment corresponding to the current road, determining multiple other travel paths corresponding to the current road based on the key points, and determining the route to be traveled based on the second road condition information corresponding to each of the other multiple travel paths; sending an abnormal traffic warning to the bus to be dispatched, and replanning the route based on the location of the bus to be dispatched and the route to be traveled, thereby achieving intelligent bus-road cooperative operation.

[0007] This application embodiment utilizes a monitoring device on an intelligent bus to acquire real-time road condition information, enabling route planning for different buses based on this information and improving vehicle operating efficiency. Secondly, this application embodiment determines different passable routes based on key points of road segments and analyzes each passable route to determine the desired route. Based on the road conditions of different routes, it identifies the route with the shortest travel time, reducing the delays caused by unexpected road conditions. Furthermore, this application embodiment employs vehicle-to-infrastructure (V2I) technology in its 5G-enabled intelligent bus system, resolving the coordination issues between vehicles, improving bus operating efficiency and passenger satisfaction, and reducing traffic congestion and accident rates, resulting in significant economic and social benefits.

[0008] In one implementation of this application, abnormal traffic information of the current road is determined based on first road condition information and a preset road condition recognition model. Specifically, this includes: obtaining road condition features corresponding to the first road condition information; obtaining road features corresponding to the current road; inputting the road condition features and road features into the preset road condition recognition model to output the road condition state corresponding to the current road through the preset road condition recognition model; comparing the road condition state with a preset road condition database to determine the reference road condition state most similar to the current road condition state, and determining the duration of abnormal traffic on the current road based on the duration of the reference road condition state.

[0009] In one implementation of this application, the buses to be dispatched are determined based on the current time, abnormal traffic information, and a preset bus departure timetable. Specifically, this includes: determining the duration of abnormal traffic on the current road based on the abnormal traffic information; determining the end time of abnormal traffic based on the current time and the duration of abnormal traffic on the current road; determining the buses that have already departed and the buses waiting to depart based on the preset bus departure timetable and the end time of abnormal traffic; and determining the buses to be dispatched based on the buses that have already departed and the buses waiting to depart.

[0010] In one implementation of this application, key points of the current road segment are determined. Based on the key points, multiple other travel routes corresponding to the current road are determined. Based on the second traffic information corresponding to each of the other multiple travel routes, a travel route to be determined is determined. Specifically, this includes: determining the first and second key points of the current road segment; wherein the first and second key points of the current road segment are respectively related to the two ends of the current road; determining multiple travel routes between the first and second key points of the current road segment; determining the travel time corresponding to each of the multiple travel routes based on the second traffic information corresponding to each of the multiple travel routes; determining the adjusted travel route based on the travel time; and re-planning the route based on the adjusted travel route and the location of the second bus to be dispatched.

[0011] In one implementation of this application, before replanning the route based on the location and travel path of the bus to be dispatched, the method includes: determining the current travel position of each bus to be dispatched; determining the preset travel route corresponding to each bus to be dispatched; determining the remaining travel route of the bus to be dispatched to the first key point or the second key point based on the current travel route and the preset travel route; obtaining traffic information of the remaining travel route; wherein the traffic information includes at least one of the following: the number of traffic lights, the remaining travel route distance, the current vehicle speed, and the road congestion situation; and determining the travel time of each bus to be dispatched to the first key point or the second key point based on the remaining travel route and the traffic information of the remaining travel route.

[0012] In one implementation of this application, the travel time of each bus to be dispatched to the first or second key point of the road segment is determined based on the remaining travel route and its traffic information. Specifically, this includes: determining a reference travel time based on the remaining travel route distance and the current vehicle speed; determining a reference waiting time based on the number of traffic lights, road congestion, and preset weights; and determining the travel time based on the reference travel time and the reference waiting time.

[0013] In one implementation of this application, route planning is re-performed based on the location of the bus to be dispatched and the route to be traveled, in order to achieve intelligent bus-road cooperation. Specifically, this includes: determining the arrival time of key points of the road segment to which the bus to be dispatched will arrive; if the arrival time of key points is less than the end time of abnormal passage, sending route re-planning information to the bus to be dispatched, and sending the adjusted route to the bus to be dispatched, so as to complete intelligent bus-road cooperation.

[0014] In one implementation of this application, the method further includes: sending the current abnormal traffic information to the road segment information display device corresponding to the current road; wherein the road segment information display device is set at the location of key points of the road segment; and displaying the abnormal traffic information based on the road segment information display device.

[0015] This application provides a vehicle-road cooperative device for intelligent buses, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to: acquire first road condition information corresponding to the intelligent bus through a monitoring device installed on the intelligent bus; if the first road condition information indicates an abnormal traffic situation, determine the current abnormal traffic information based on the first road condition information and a preset road condition recognition model; determine the bus to be dispatched based on the current time, the abnormal traffic information, and a preset bus departure timetable; determine the key points of the road segment corresponding to the current road, determine multiple other traffic paths corresponding to the current road based on the key points of the road segment, and determine the route to be traveled based on the second road condition information corresponding to each of the multiple other traffic paths; send an abnormal traffic warning to the bus to be dispatched, and re-plan the route based on the location of the bus to be dispatched and the route to be traveled, so as to realize intelligent bus-road cooperation.

[0016] This application provides a non-volatile computer storage medium storing computer-executable instructions. These instructions are configured to: acquire first road condition information corresponding to the intelligent bus via a monitoring device installed on the intelligent bus; if the first road condition information indicates an abnormal traffic situation, determine the current abnormal traffic situation based on the first road condition information and a preset road condition recognition model; determine the bus to be dispatched based on the current time, the abnormal traffic situation, and a preset bus departure timetable; determine the key points of the road segment corresponding to the current road; determine multiple other traffic paths corresponding to the current road based on the key points of the road segment; and determine the route to be traveled based on the second road condition information corresponding to each of the other multiple traffic paths; send an abnormal traffic warning to the bus to be dispatched; and re-plan the route based on the location of the bus to be dispatched and the route to be traveled, thereby achieving intelligent bus-road cooperation.

[0017] The at least one technical solution adopted in this application embodiment can achieve the following beneficial effects: Firstly, by using a monitoring device on an intelligent bus, real-time road condition information can be acquired, enabling route planning for different buses based on this information, thereby improving vehicle operating efficiency. Secondly, this application embodiment determines different passable routes based on key points of road segments and analyzes each passable route to determine the path to be traveled. Based on the road conditions of different routes, the path with the shortest travel time is determined, reducing the delay impact of unexpected road conditions on bus operation. Furthermore, this application embodiment, through the vehicle-road cooperative technology of 5G on-board terminals for intelligent buses, solves the problem of vehicle-to-vehicle coordination, improving bus operating efficiency and passenger satisfaction, reducing traffic congestion and the incidence of traffic accidents, and demonstrating good economic and social benefits. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0019] Figure 1 A flowchart of a vehicle-road cooperative method for intelligent public transportation provided in this application embodiment;

[0020] Figure 2 This is a schematic diagram of the structure of a vehicle-road cooperative device for intelligent buses provided in an embodiment of this application. Detailed Implementation

[0021] This application provides a vehicle-road cooperative method, device, and medium for intelligent public transportation.

[0022] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0023] Currently, severe urban traffic congestion, poor efficiency and passenger experience of public transportation, and frequent traffic accidents are causing significant disruption to people's lives and work. Public transportation management is a complex and massive system. Relying on traditional traffic management methods, considering only roads and vehicles, is insufficient to solve the increasingly serious problems of traffic congestion, frequent accidents, and environmental pollution that have arisen in recent years. In the process of urbanization, especially the widespread traffic congestion in cities, has become a serious problem hindering urban development and impacting people's livelihoods.

[0024] However, in the current field of bus dispatching, simply having the real-time location of buses does not truly reflect their operational status. Existing technologies fail to consider the distance between stops, as well as practical issues such as bus location information, traffic congestion, and other abnormal situations, thus reducing the efficiency and effectiveness of bus dispatching.

[0025] By using monitoring devices on intelligent buses, real-time road condition information can be acquired, enabling route planning for different buses based on this information to improve vehicle operating efficiency. Secondly, this embodiment determines different passable routes based on key road points and analyzes each passable route to determine the final travel path. Based on the road conditions of different routes, the shortest travel time is determined to reduce the delays caused by unexpected road conditions. Furthermore, this embodiment utilizes 5G onboard terminal intelligent bus vehicle-road cooperative technology to solve the problem of inter-vehicle coordination, improving bus operating efficiency and passenger satisfaction, reducing traffic congestion and accident rates, and demonstrating significant economic and social benefits.

[0026] The technical solutions proposed in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0027] Figure 1 This is a flowchart illustrating a vehicle-road cooperative method for intelligent public transportation, provided as an embodiment of this application. Figure 1 As shown, the vehicle-road cooperative method for intelligent buses includes the following steps:

[0028] S101. Obtain the first road condition information corresponding to the intelligent bus through the monitoring device installed on the intelligent bus.

[0029] In one embodiment of this application, a monitoring device is installed on the deployed smart bus. The monitoring device takes real-time pictures during the vehicle's operation to capture the road environment in which the vehicle is currently traveling, so as to obtain the first road condition information corresponding to the smart bus through the captured road images.

[0030] In one embodiment of this application, vehicle-to-everything (V2X) technology is used to ensure traffic safety. Through communication between vehicles, dangerous situations on the road can be detected and avoided in a timely manner. This not only improves traffic safety but also reduces the incidence of traffic accidents.

[0031] (1) Establish a 5G communication network: Install 5G communication equipment at key locations on the road, such as intersections, overpasses, and toll stations, to achieve high-speed, low-latency communication between vehicles and roadside facilities.

[0032] (2) Construct a high-precision map: Collect road information and real-time traffic information through a high-precision map to build a high-precision map. The map needs to include information such as road width, slope, and curvature, as well as traffic information such as road congestion and construction.

[0033] (3) Deploy intelligent buses: Install on-board terminals on buses and equip them with relevant sensors, such as cameras, radar, GPS, etc., to realize real-time monitoring and dispatching of vehicles.

[0034] (4) Enable communication between vehicles: Through the vehicle terminal and 5G communication network, communication between vehicles can be realized. When a vehicle encounters traffic congestion, construction or other situations while driving, the vehicle can promptly notify other vehicles to adjust its route and speed.

[0035] (5) Enable communication between vehicles and roadside facilities: Through the 5G communication network and the roadside facilities, communication between vehicles and roadside facilities can be achieved. When a vehicle needs to use a roadside facility while driving, the vehicle can notify the roadside facility in a timely manner to improve the vehicle's driving efficiency.

[0036] (6) Ensuring traffic safety: Traffic safety is ensured through communication between vehicles and monitoring by sensors. When a vehicle encounters a dangerous situation while driving, it can promptly issue an alarm and notify other vehicles and roadside facilities to avoid traffic accidents.

[0037] S102. If the first road condition information indicates an abnormal traffic situation, the abnormal traffic situation of the current road is determined based on the first road condition information and the preset road condition recognition model.

[0038] In one embodiment of this application, road condition features corresponding to first road condition information and road features corresponding to the current road are obtained. The road condition features and road features are input into a preset road condition recognition model to output the road condition state corresponding to the current road. The road condition state is compared with a preset road condition database to determine a reference road condition state most similar to the current road condition state. Based on the duration of the reference road condition state, the duration of abnormal traffic on the current road is determined.

[0039] Specifically, image information corresponding to the current first road condition is acquired, and this image information is analyzed to determine the road condition features corresponding to the image information. For example, road condition features can be problems currently occurring on the road, such as road congestion or temporary road closures, and road features of the current road can be acquired, such as the road width and number of lanes. The acquired road condition features and the road features are input into a preset road condition recognition model, and the preset road condition recognition model outputs the road condition state corresponding to the current road. The road condition state is the severity of congestion on the current road. This application embodiment provides a preset road condition recognition model, which is obtained through training. The training process is as follows: a preset road condition feature sample set and a preset road feature sample set are used as input, and the preset road condition feature sample set and the corresponding road condition state sample set are used as output to train a preset neural network model to obtain the preset road condition recognition model.

[0040] Furthermore, the current road condition status, i.e., the current level of congestion, is compared with a pre-set road condition database to determine a reference road condition status that most closely resembles the current level of congestion. The duration of this reference road condition status is then determined using this pre-set road condition database, and this duration is used as the abnormal traffic duration for the current road.

[0041] S103. Based on the current time, abnormal traffic information, and the preset bus departure timetable, determine the buses to be dispatched.

[0042] In one embodiment of this application, the duration of abnormal traffic on the current road is determined based on abnormal traffic information. The end time of the abnormal traffic is determined based on the current time and the duration of the abnormal traffic. Based on a preset bus departure schedule and the end time of the abnormal traffic, buses that have already departed and buses waiting to depart are identified. Buses to be dispatched are determined based on the buses that have already departed and buses waiting to depart.

[0043] Specifically, after determining the duration of abnormal traffic flow on the current road, the end time of the abnormal traffic flow is calculated by adding the current time to the duration of the abnormal traffic flow. The departure time of each vehicle is determined from the pre-set bus departure schedule. This departure time is compared with the end time of the abnormal traffic flow, and buses whose departure times are earlier than the end time of the abnormal traffic flow are marked. Based on the buses that have already departed and are waiting to depart within this time frame, the buses to be dispatched for the current road are determined.

[0044] S104. Determine the key points of the road segment corresponding to the current road. Based on the key points of the road segment, determine multiple other travel routes corresponding to the current road. Based on the second road condition information corresponding to each of the multiple other travel routes, determine the route to be traveled.

[0045] In one embodiment of this application, a first road segment key point and a second road segment key point corresponding to the current road are determined; wherein, the first road segment key point and the second road segment key point are respectively related to the two ends of the current road. Multiple travel paths between the first road segment key points and the second road segment key points are determined. Based on the second traffic condition information corresponding to each of the multiple travel paths, the travel time corresponding to each of the multiple travel paths is determined. Based on the travel time, an adjusted travel route is determined, and based on the adjusted travel route and the location of the second bus to be dispatched, route planning is re-performed.

[0046] Specifically, the road segments that need to be planned are identified. Based on the current abnormal traffic segment, this application's embodiment identifies the preceding and following intersections of the abnormal traffic segment, designating these two intersections as the first and second key points of the road segment.

[0047] Furthermore, based on a pre-installed electronic map, multiple travel routes between key points in the first and second road segments are determined. Information about buses currently traveling along these routes is then identified. By analyzing traffic conditions captured by these buses, secondary traffic conditions are determined for each route. Based on the traffic congestion levels, route lengths, and bus speeds associated with these secondary traffic conditions, the travel time for each route is determined. Route planning for the buses is then performed based on these travel times.

[0048] In one embodiment of this application, the current driving position of each bus to be dispatched is determined, as well as the preset driving route corresponding to each bus. Based on the current driving route and the preset driving route, the remaining driving route for each bus to be dispatched to reach the first or second key point of the road segment is determined. Traffic information for the remaining driving route is obtained; wherein, the traffic information includes at least one of the following: the number of traffic lights, the remaining driving route distance, the current vehicle speed, and the road congestion situation. Based on the remaining driving route and the traffic information for the remaining driving route, the travel time for each bus to be dispatched to reach the first or second key point of the road segment is determined.

[0049] Specifically, information on multiple buses that need to pass through the irregular road is identified, and these buses are designated as buses to be dispatched. This embodiment of the application will perform route planning for the multiple buses heading to the irregular road.

[0050] Furthermore, the current driving position of each bus to be dispatched is determined, as well as the pre-set driving route for each bus. Based on the pre-set driving route, the remaining driving route for each bus to reach the key point of the first segment or the key point of the second segment can be obtained.

[0051] Furthermore, after determining the remaining driving route, it is necessary to analyze the traffic information for that route. Specifically, this involves determining one of the following: the number of traffic lights corresponding to the remaining driving route, the distance of the remaining route, the current vehicle speed, and the road congestion situation.

[0052] Specifically, a reference travel time is determined based on the remaining route distance and the current vehicle speed. A reference waiting time is determined based on the number of traffic lights, road congestion, and preset weights. The actual travel time is then determined based on both the reference travel time and the reference waiting time.

[0053] Furthermore, based on the ratio of the remaining route distance to the current vehicle speed, the reference travel time for each bus to be dispatched is determined. Based on the number of traffic lights and the reference waiting time for each traffic light, the traffic light waiting time is determined. Similarly, based on the current road congestion situation, the congestion time for each bus to be dispatched is determined. Using preset weights, the reference travel time, traffic light waiting time, and congestion time are weighted and calculated to obtain the travel time for each bus to be dispatched.

[0054] S105. Send an abnormal passage warning to the bus to be dispatched, and re-plan the route based on the location of the bus to be dispatched and the route to be traveled, so as to realize intelligent bus-road cooperation.

[0055] In one embodiment of this application, the arrival time of key points on the road segment to be dispatched by the bus is determined. If the arrival time of the key point is less than the end time of abnormal traffic, route replanning information is sent to the bus to be dispatched, and the adjusted travel route is sent to the bus to be dispatched to complete vehicle-road cooperation of intelligent buses.

[0056] Specifically, based on the current time and the required time for each bus to reach the key point on the road segment, the arrival time of the buses to be dispatched at the key point is determined. This time is then compared with the end time of the current abnormal traffic flow to determine whether the abnormal traffic flow has ended when each bus arrives at the current road segment. If the abnormal traffic flow has ended, the bus is notified to travel normally along the pre-set route. If the abnormal traffic flow has not ended, the adjusted travel route is sent to the buses to be dispatched to complete the vehicle-road coordination of the intelligent bus system.

[0057] In one embodiment of this application, abnormal traffic information is sent to a road segment information display device corresponding to the current road; wherein, the road segment information display device is located at a key point of the road segment. The abnormal traffic information is displayed based on the road segment information display device.

[0058] Specifically, this application embodiment includes a road segment information display device, which is installed at key points along the road segment. Simultaneously, 5G communication equipment is installed at key locations along the road, such as intersections, overpasses, and toll stations, to enable high-speed, low-latency communication between vehicles and the road segment information display device. This allows abnormal traffic information to be displayed through the road segment information display device.

[0059] This application embodiment utilizes a monitoring device on an intelligent bus to acquire real-time road condition information, enabling route planning for different buses based on this information and improving vehicle operating efficiency. Secondly, this application embodiment determines different passable routes based on key points of road segments and analyzes each passable route to determine the desired route. Based on the road conditions of different routes, it identifies the route with the shortest travel time, reducing the delays caused by unexpected road conditions. Furthermore, this application embodiment employs vehicle-to-infrastructure (V2I) technology in its 5G-enabled intelligent bus system, resolving the coordination issues between vehicles, improving bus operating efficiency and passenger satisfaction, and reducing traffic congestion and accident rates, resulting in significant economic and social benefits.

[0060] Figure 2 This is a schematic diagram of the structure of a vehicle-road cooperative device for intelligent public transportation, provided as an embodiment of this application. Figure 2As shown, the vehicle-road cooperative device for intelligent buses includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: acquire first road condition information corresponding to the intelligent bus via a monitoring device installed on the intelligent bus; if the first road condition information indicates an abnormal traffic situation, determine the current abnormal traffic situation based on the first road condition information and a preset road condition recognition model; determine the bus to be dispatched based on the current time, the abnormal traffic situation, and a preset bus departure timetable; determine the key points of the road segment corresponding to the current road, determine multiple other traffic paths corresponding to the current road based on the key points of the road segment, and determine the route to be traveled based on the second road condition information corresponding to each of the multiple other traffic paths; send an abnormal traffic warning to the bus to be dispatched, and re-plan the route based on the location of the bus to be dispatched and the route to be traveled, so as to realize intelligent bus-road cooperation.

[0061] This application embodiment also provides a non-volatile computer storage medium storing computer-executable instructions, which are configured to: acquire first road condition information corresponding to the intelligent bus through a monitoring device installed on the intelligent bus; if the first road condition information indicates an abnormal traffic situation, determine the current abnormal traffic information based on the first road condition information and a preset road condition recognition model; determine the bus to be dispatched based on the current time, the abnormal traffic information, and a preset bus departure timetable; determine the key points of the road segment corresponding to the current road, determine multiple other traffic paths corresponding to the current road based on the key points of the road segment, and determine the route to be traveled based on the second road condition information corresponding to each of the multiple other traffic paths; send an abnormal traffic warning to the bus to be dispatched, and re-plan the route based on the location of the bus to be dispatched and the route to be traveled, so as to realize intelligent bus road cooperation.

[0062] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, devices, and non-volatile computer storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0063] The above descriptions are merely embodiments of this application and are not intended to limit the scope of this application. For those skilled in the art, various modifications and variations can be made to the embodiments of this application. These modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions in the embodiments of this application.

Claims

1. A vehicle-infrastructure integration method for intelligent public transportation, characterized in that, The method comprises: obtaining first road condition information corresponding to the intelligent bus through a monitoring device arranged on the intelligent bus; in the case that the first road condition information belongs to an abnormal traffic condition, determining abnormal traffic information of the current road based on the first road condition information and a preset road condition recognition model; determining a bus to be dispatched based on the current time, the abnormal traffic information and a preset bus departure schedule; determining a road section key point corresponding to the current road, determining a plurality of other traffic paths corresponding to the current road based on the road section key point, and determining a path to be traveled based on second road condition information corresponding to the plurality of other traffic paths; sending an abnormal traffic warning to the bus to be dispatched, and re-planning a route based on the position of the bus to be dispatched and the path to be traveled, so as to realize intelligent bus road coordination; The method comprises: obtaining road condition features corresponding to the first road condition information; and obtaining road features corresponding to the current road; inputting the road condition features and the road features into the preset road condition recognition model to output a road condition state corresponding to the current road through the preset road condition recognition model; comparing the road condition state with a preset road condition database to determine a reference road condition state most similar to the road condition state, and determining an abnormal traffic duration of the current road based on the duration of the reference road condition state; The method comprises: determining the abnormal traffic duration of the current road based on the abnormal traffic information; determining an abnormal traffic end time according to the current time and the abnormal traffic duration of the current road; determining a bus that has departed and a bus to be dispatched based on the preset bus departure schedule and the abnormal traffic end time; determining the bus to be dispatched according to the bus that has departed and the bus to be dispatched; The method comprises: determining a first road section key point and a second road section key point corresponding to the current road; wherein the first road section key point and the second road section key point are respectively related to two end positions of the current road; determining a plurality of traffic paths between the first road section key point and the second road section key point; determining a traffic duration corresponding to each of the plurality of traffic paths based on second road condition information corresponding to each of the plurality of traffic paths; determining an adjusted travel path based on the traffic duration, and re-planning a route based on the adjusted travel path and the position of the second bus to be dispatched; The method comprises: Determine the current driving position corresponding to each of the to-be-adjusted buses; Determine the preset driving route corresponding to the to-be-adjusted buses; Determine the remaining driving route of the to-be-adjusted buses to the first road section key point or the second road section key point based on the current driving route and the preset driving route; Obtain traffic information of the remaining driving route, wherein the traffic information at least includes one of the number of traffic signal lights, the remaining driving route distance, the current vehicle driving speed, and the road congestion situation; Determine the driving time of each to-be-adjusted bus to the first road section key point or the second road section key point based on the remaining driving route and the traffic information of the remaining driving route; The determination of the driving time of each to-be-adjusted bus to the first road section key point or the second road section key point based on the remaining driving route and the traffic information of the remaining driving route specifically includes: Determine the reference driving time based on the remaining driving route distance and the current vehicle driving speed; Determine the reference waiting time based on the number of traffic signal lights, the road congestion situation, and a preset weight; Determine the driving time according to the reference driving time and the reference waiting time. 2.The car-road cooperation method of intelligent public transport according to claim 1, characterized in that, The re-planning of the route based on the position of the to-be-adjusted bus and the to-be-traveled path to achieve intelligent bus-road coordination specifically includes: Determine the key point arrival time of the to-be-adjusted bus to the road section key point; In the case that the key point arrival time is less than the non-normal passing end time, send path re-planning information to the to-be-adjusted bus and send the adjusted driving path to the to-be-adjusted bus to complete the intelligent bus-road coordination. 3.The car-road cooperation method of intelligent public transport according to claim 1, characterized in that, The method further includes: Send the current road non-normal passing information to a road section information display device corresponding to the current road, wherein the road section information display device is arranged at the position of the road section key point; Display the non-normal passing information based on the road section information display device.

4. An intelligent bus-road coordination device, comprising: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to: acquire first road condition information corresponding to the intelligent bus through a monitoring device arranged on the intelligent bus; in the case that the first road condition information belongs to a non-normal passing condition, determine current road non-normal passing information based on the first road condition information and a preset road condition recognition model; determine to-be-adjusted buses based on the current time, the non-normal passing information, and a preset bus departure schedule; determine road section key points corresponding to the current road, determine other multiple passing paths corresponding to the current road based on the road section key points, and determine to-be-traveled paths based on second road condition information corresponding to the other multiple passing paths, respectively. The non-normal passing warning is sent to the bus to be dispatched, and route planning is re-performed based on the position of the bus to be dispatched and the to-be-traveled path, so as to realize intelligent bus road coordination; The non-normal passing information of the current road is determined based on the first road condition information and a preset road condition recognition model, and specifically includes: obtaining road condition characteristics corresponding to the first road condition information; and obtaining road characteristics corresponding to the current road; inputting the road condition characteristics and the road characteristics into the preset road condition recognition model to output the road condition state corresponding to the current road through the preset road condition recognition model; The road condition state is compared with a preset road condition database to determine a reference road condition state most similar to the road condition state, and the non-normal passing duration of the current road is determined based on the duration of the reference road condition state. The bus to be dispatched is determined based on the current time, the non-normal passing information, and a preset bus departure schedule, and specifically includes: determining the non-normal passing duration of the current road based on the non-normal passing information; determining the non-normal passing end time according to the current time and the non-normal passing duration of the current road; determining the bus that has departed and the bus to be dispatched based on the preset bus departure schedule and the non-normal passing end time; determining the bus to be dispatched according to the bus that has departed and the bus to be dispatched; The road section key points corresponding to the current road are determined, the other multiple passing paths corresponding to the current road are determined based on the road section key points, and the to-be-traveled path is determined based on the second road condition information corresponding to the other multiple passing paths, and specifically includes: determining the first road section key point and the second road section key point corresponding to the current road; wherein the first road section key point and the second road section key point are respectively related to the positions of the two ends of the current road; determining multiple passing paths between the first road section key point and the second road section key point; determining the passing duration corresponding to the multiple passing paths based on the second road condition information corresponding to the multiple passing paths; determining the adjusted travel path based on the passing duration, and re-performing route planning based on the adjusted travel path and the position of the second bus to be dispatched; Before re-performing route planning based on the position of the bus to be dispatched and the to-be-traveled path, it further includes: determining the current travel position corresponding to the bus to be dispatched; and determining the preset travel route corresponding to the bus to be dispatched; determining the remaining travel route of the bus to be dispatched to the first road section key point or the second road section key point based on the current travel route and the preset travel route; obtaining traffic information of the remaining travel route; wherein the traffic information at least includes one of the number of traffic signal lights, the remaining travel route distance, the current vehicle travel speed, and the road congestion situation; determine a driving time length of each bus to be dispatched to drive to the first key point or the second key point of the first road section based on the remaining driving route and traffic information of the remaining driving route; determine a driving time length of each bus to be dispatched to drive to the first key point or the second key point of the first road section based on the remaining driving route and traffic information of the remaining driving route, specifically including: determine a reference driving time length based on the remaining driving route distance and the current vehicle driving speed; determine a reference waiting time length based on the number of traffic lights, the road congestion condition, and a preset weight; determine the driving time length according to the reference driving time length and the reference waiting time length.

5. A non-volatile computer storage medium storing computer executable instructions, the computer executable instructions being arranged to: obtain first road condition information corresponding to the intelligent bus through a monitoring device arranged on the intelligent bus; in a case where the first road condition information belongs to an abnormal traffic condition, determine current road abnormal traffic information based on the first road condition information and a preset road condition recognition model; determine a bus to be dispatched based on a current time, the abnormal traffic information, and a preset bus departure schedule; determine road section key points corresponding to the current road, determine a plurality of other traffic paths corresponding to the current road based on the road section key points, and determine a driving path to be driven based on second road condition information corresponding to the plurality of other traffic paths; send an abnormal traffic warning to the bus to be dispatched, and re-plan a route based on a position of the bus to be dispatched and the driving path to be driven, so as to realize intelligent bus route coordination; determine current road abnormal traffic information based on the first road condition information and a preset road condition recognition model, specifically including: obtain road condition features corresponding to the first road condition information; and obtain road features corresponding to the current road; input the road condition features and the road features into the preset road condition recognition model, so as to output a road condition state corresponding to the current road through the preset road condition recognition model; compare the road condition state with a preset road condition database to determine a reference road condition state most similar to the road condition state, and determine a current road abnormal traffic time length based on a duration of the reference road condition state; determine a bus to be dispatched based on a current time, the abnormal traffic information, and a preset bus departure schedule, specifically including: determine the current road abnormal traffic time length based on the abnormal traffic information; determine an abnormal traffic end time according to the current time and the current road abnormal traffic time length; determine a bus that has departed and a bus to be dispatched based on the preset bus departure schedule and the abnormal traffic end time; determine the bus to be dispatched according to the bus that has departed and the bus to be dispatched. ​ The determining the section key points corresponding to the current road, the determining the other multiple passing paths corresponding to the current road based on the section key points, and the determining the to-be-traveled path based on the second road condition information corresponding to the other multiple passing paths, specifically include: The first section key point and the second section key point corresponding to the current road are determined, wherein the first section key point and the second section key point are respectively related to the positions of two ends of the current road; The multiple passing paths between the first section key point and the second section key point are determined; The passing time lengths corresponding to the multiple passing paths are determined based on the second road condition information corresponding to the multiple passing paths; The adjusted traveling path is determined based on the passing time lengths, so as to perform route planning again based on the adjusted traveling path and the position of the second to-be-dispatched bus; Before the performing route planning again based on the position of the to-be-dispatched bus and the to-be-traveled path, the method further includes: The current traveling positions corresponding to the to-be-dispatched buses are determined; and The preset traveling routes corresponding to the to-be-dispatched buses are determined; The remaining traveling routes of the to-be-dispatched buses to the first section key point or the second section key point are determined based on the current traveling routes and the preset traveling routes; Traffic information of the remaining traveling routes is acquired, wherein the traffic information at least includes one of the number of traffic signal lights, the remaining traveling route distance, the current vehicle traveling speed, and the road congestion condition; The traveling time lengths of the to-be-dispatched buses to the first section key point or the second section key point are determined based on the remaining traveling routes and the traffic information of the remaining traveling routes; The determining the traveling time lengths of the to-be-dispatched buses to the first section key point or the second section key point based on the remaining traveling routes and the traffic information of the remaining traveling routes specifically includes: The reference traveling time length is determined based on the remaining traveling route distance and the current vehicle traveling speed; The reference waiting time length is determined based on the number of traffic signal lights, the road congestion condition, and a preset weight; The traveling time length is determined according to the reference traveling time length and the reference waiting time length.

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