A method for bus priority control on an intermittent bus lane

Abstract

The application provides a kind of intermittent bus lane bus priority control method, the method comprises: obtaining the driving data of intelligent connected vehicle and bus of the road section where current intelligent connected vehicle is located, then determine the lane where current intelligent connected vehicle is located, if current intelligent connected vehicle is in ordinary lane, the number of lane borrowing vehicle on the intermittent bus lane is determined according to the driving data and target limit value, and when the number of lane borrowing vehicle on the intermittent bus lane reaches the target limit value, control current intelligent connected vehicle not to borrow lane intermittent bus lane.The application avoids the situation that the number of lane borrowing vehicle is too much when intelligent connected vehicle borrows lane on intermittent bus lane, which causes the increase of bus delay, and realizes the fast lane changing of intelligent connected vehicle on the road while ensuring the priority driving of bus on intermittent bus lane.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology, specifically to a method for controlling bus priority on intermittent bus lanes. Background Technology

[0002] The government advocates for the development of public transportation and implements a public transport priority strategy. Setting up dedicated bus lanes is a key measure in this strategy. However, in practice, some roads experience low bus frequency and high traffic volume, resulting in excess capacity in the dedicated bus lanes. Because of the nature of dedicated bus lanes, other vehicles are not allowed to use them, leading to a waste of public transport resources. Intermittent bus lanes can effectively solve this problem. Furthermore, with the development of connected and automated vehicle (CAV) technology, human-driven vehicles may be replaced by CAVs in the future. In this scenario, coordinating CAVs to use intermittent bus lanes can not only alleviate travel delays for bus passengers and improve the service quality of the public transport system, but also effectively reduce traffic pressure in adjacent lanes and optimize urban traffic flow.

[0003] In existing technologies, there are no restrictions on intelligent connected vehicles using intermittent bus lanes to ensure bus priority. Summary of the Invention

[0004] In view of this, it is necessary to provide a bus priority control method on intermittent bus lanes to solve the technical problem in the existing technology that there is no restriction on intelligent connected vehicles using intermittent bus lanes to ensure bus priority.

[0005] To address the aforementioned problems, this invention provides a method for controlling bus priority in intermittent bus lanes, comprising:

[0006] Acquire driving data of intelligent connected vehicles and buses in the road segment where the intelligent connected vehicles are currently located, wherein the road segment includes intermittent bus lanes and adjacent ordinary lanes.

[0007] Determine the lane currently occupied by the intelligent connected vehicle;

[0008] If the current intelligent connected vehicle is in a regular lane, the number of vehicles using the intermittent bus lane and the target limit value are determined based on the driving data. When the number of vehicles using the intermittent bus lane reaches the target limit value, the current intelligent connected vehicle is controlled not to use the intermittent bus lane.

[0009] In some possible implementations, if the current intelligent connected vehicle is in a regular lane, the number of vehicles using the intermittent bus lane and a target limit are determined based on the driving data. When the number of vehicles using the intermittent bus lane reaches the target limit, the current intelligent connected vehicle is controlled to refrain from using the intermittent bus lane, including:

[0010] If the intelligent connected vehicle is currently in a regular lane, the number of vehicles using the intermittent bus lane and the target limit value are determined based on the driving data.

[0011] Determine whether the driving data meets the motivation and safety conditions for lane changing, and whether the number of vehicles using the intermittent bus lane reaches the target limit.

[0012] If the driving data satisfies the motive for lane borrowing and the safety conditions for lane changing, and the number of vehicles borrowing lanes on the intermittent bus lane does not reach the target limit, then control the current intelligent connected vehicle to borrow lanes into the intermittent bus lane.

[0013] If the driving data does not meet the motivation for lane-changing, or the driving data does not meet the safety conditions for lane-changing, or the number of vehicles using the intermittent bus lane reaches the target limit, then the current intelligent connected vehicle will be controlled not to use the intermittent bus lane.

[0014] In some possible implementations, the formula for calculating the target limit value is:

[0015]

[0016] In the formula, Indicates the target limit value. q represents the first limit value. c This represents the arrival traffic volume of the ordinary lane, t. on t indicates the opening hours of intermittent bus lanes. on1 t represents the time from when the first bus enters the intermittent bus lane to when it leaves the lane. on2 This indicates the time from when the last bus in an intermittent bus lane enters the lane until it leaves the lane. D represents the second limit value. buses d represents the spacing between adjacent buses on an intermittent bus lane. clear L indicates the distance the bus needs to be cleared. CAV d represents the length of the intelligent connected vehicle. safe This indicates the minimum safe distance that vehicles in front and behind must maintain.

[0017] In some possible implementations, the formula for determining whether the driving data satisfies the lane-changing motivation is:

[0018]

[0019] In the formula, D i (t) represents the current position of the intelligent connected vehicle at time t, D fi (t) represents the current position of the intelligent connected vehicle in the lane ahead of it, D afi (t) represents the position of the intelligent connected vehicle currently ahead of it on the intermittent bus lane, l CAV V represents the length of a connected vehicle. i (t) represents the velocity of the intelligent connected vehicle at time t, a represents the acceleration of the intelligent connected vehicle, and V max This indicates the maximum speed limit for regular lanes.

[0020] In some possible implementations, the formula for determining whether the driving data meets the lane-changing safety conditions is:

[0021]

[0022] In the formula, D i (t) represents the current position of the intelligent connected vehicle, D afi (t) represents the position of the intelligent connected vehicle currently ahead of it on the intermittent bus lane, l CAV V represents the length of a connected vehicle. abi (t) represents the speed of the vehicle following the intelligent connected vehicle on the intermittent bus lane, d safe This indicates the minimum safe distance that vehicles in front and behind must maintain.

[0023] In some possible implementations, the method further includes:

[0024] If the current intelligent connected vehicle is on an intermittent bus lane, the distance between the bus and the current intelligent connected vehicle, as well as the bus clearance distance, are determined based on the driving data.

[0025] Determine whether the distance between the bus and the current intelligent connected vehicle is greater than the clearing distance;

[0026] If the distance between the bus and the current intelligent connected vehicle is not greater than the clearance distance, then the length of the lane-changing space provided by the vehicles in front and behind the current intelligent connected vehicle in the ordinary lane is determined based on the driving data, and it is determined whether the lane-changing space length meets the safety distance.

[0027] If the lane-changing space length meets the safety distance, then control the current intelligent connected vehicle to change lanes to drive in the ordinary lane;

[0028] If the lane-changing space length does not meet the safety distance requirement, the vehicle in front of and behind the current intelligent connected vehicle in the ordinary lane will be controlled to accelerate or decelerate until the lane-changing space length meets the safety requirements, and then the current intelligent connected vehicle will be controlled to change lanes to the ordinary lane.

[0029] In some possible implementations, the formula for calculating the bus clearance distance is:

[0030]

[0031] In the formula, d clear V indicates the distance the bus needs to be cleared. bus Indicates the speed of the bus. d represents the average speed of intelligent connected vehicles on intermittent bus lanes. safe Let D represent the minimum safe distance that vehicles must maintain, D represent the length of the intermittent bus lane, and ρ be a 0-1 variable used to indicate whether there are bus stops on the intermittent bus lane. ρ = 0 indicates no bus stops, ρ = 1 indicates bus stops. When ρ = 1, D is divided into k+1 sub-segments based on the number of bus stops. j Let j be the length of the j-th sub-segment. D represents j The average speed of intelligent connected vehicles on the sub-segment, where T represents the stopping time of the bus at the bus stop.

[0032] In some possible implementations, the formula for determining the lane-changing space length provided by the vehicles in front and behind the current intelligent connected vehicle in the ordinary lane based on the driving data is as follows:

[0033]

[0034] In the formula, d afi d represents the lane-changing space provided by the vehicle preceding the current intelligent connected vehicle in the ordinary lane. abi D represents the lane-changing space provided by the vehicle behind the current intelligent connected vehicle in the ordinary lane. afi (t) represents the current position of the intelligent connected vehicle in the lane ahead of it, D affi (t) represents the position of the vehicle ahead of the current intelligent connected vehicle in the ordinary lane, D abi (t) represents the current position of the intelligent connected vehicle behind the vehicle in the ordinary lane, D abbi (t) represents the position of the vehicle following the current intelligent connected vehicle in the ordinary lane. CAV d represents the length of the intelligent connected vehicle. safe This indicates the minimum safe distance that vehicles in front and behind must maintain.

[0035] In some possible implementations, the method further includes:

[0036] If the current intelligent connected vehicle is in the intermittent bus lane, determine whether the current intelligent connected vehicle and the bus behind it can pass through the intersection within the green light time.

[0037] If the connected vehicle and the bus behind it cannot pass through the intersection within the green light time, the connected vehicle will be controlled to switch lanes to a regular lane, ending the lane-borrowing behavior.

[0038] In some possible implementations, the formula for determining whether the current connected vehicle and the bus behind it cannot pass through the intersection during the green light time is:

[0039]

[0040]

[0041] In the formula, ΔD CAV V represents the distance between the current intelligent connected vehicle and the traffic light intersection. i (t) represents the current speed of the intelligent connected vehicle, T s (t) represents the remaining green light time at the traffic light intersection at the current moment, D bus (t) represents the position of the bus, D stop Indicates the location of the bus stop, ΔD bus V represents the distance between the bus and the traffic light intersection. bus a represents the speed of the bus. bus Let ΔD represent the acceleration of the bus, T represent the time the target bus spends at the target bus stop, and ΔD represent the acceleration of the bus. stop V represents the distance between the bus stop and the traffic light intersection, and V represents the preset target speed of the bus.

[0042] The beneficial effects of the above embodiments are as follows: The bus priority control method for intermittent bus lanes provided by the present invention first obtains the driving data of intelligent connected vehicles and buses in the road segment where the intelligent connected vehicle is currently located, then determines the lane where the intelligent connected vehicle is currently located. If the intelligent connected vehicle is currently in a regular lane, the number of vehicles using the intermittent bus lane and the target limit value are determined based on the driving data. When the number of vehicles using the intermittent bus lane reaches the target limit value, the intelligent connected vehicle is controlled not to use the intermittent bus lane. This avoids the situation where too many vehicles using the intermittent bus lane cause increased bus delays when the intelligent connected vehicle uses the intermittent bus lane, and achieves priority driving of buses on the intermittent bus lane while the intelligent connected vehicle quickly changes lanes on the road. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A schematic flowchart of an embodiment of the intermittent bus priority control method for bus lanes provided by the present invention;

[0045] Figure 2 For the present invention Figure 1 A schematic flowchart of an embodiment of step S103;

[0046] Figure 3 A schematic flowchart illustrating an embodiment of the present invention where the current intelligent connected vehicle is on an intermittent bus lane;

[0047] Figure 4 This is a schematic flowchart illustrating another embodiment of the present invention when the current intelligent connected vehicle is on an intermittent bus lane. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0049] It should be understood that the illustrative drawings are not drawn to scale. The flowcharts used in this invention illustrate operations implemented according to some embodiments of the invention. It should be understood that the operations in the flowcharts may be implemented out of order, and steps without logical contextual relationships may be reversed or performed simultaneously. Furthermore, those skilled in the art, guided by the content of this invention, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0050] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. "And / or" describes the relationship between related objects, indicating that three relationships may exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone.

[0051] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0052] This invention provides a method for controlling bus priority on intermittent bus lanes, which will be described in detail below.

[0053] Figure 1 A schematic flowchart of an embodiment of the intermittent bus priority control method provided by the present invention is shown below. Figure 1 As shown, the bus priority control methods on intermittent bus lanes include:

[0054] S101. Obtain the driving data of intelligent connected vehicles and buses in the road segment where the intelligent connected vehicles are currently located. The road segment includes intermittent bus lanes and adjacent ordinary lanes.

[0055] S102. Determine the lane currently occupied by the intelligent connected vehicle;

[0056] S103. If the current intelligent connected vehicle is in a regular lane, the number of vehicles using the intermittent bus lane and the target limit value are determined based on the driving data. When the number of vehicles using the intermittent bus lane reaches the target limit value, the current intelligent connected vehicle is controlled not to use the intermittent bus lane.

[0057] It should be noted that this invention studies how to control the lane-changing behavior of intelligent connected vehicles when there are buses in the intermittent bus lane, so as to ensure that buses have priority.

[0058] Compared with existing technologies, this invention first acquires the driving data of intelligent connected vehicles and buses on the road segment where the intelligent connected vehicle is currently located, then determines the lane where the intelligent connected vehicle is currently located. If the intelligent connected vehicle is currently in a regular lane, the number of vehicles using the intermittent bus lane and the target limit value are determined based on the driving data. When the number of vehicles using the intermittent bus lane reaches the target limit value, the intelligent connected vehicle is controlled not to use the intermittent bus lane. This avoids the situation where too many vehicles using the intermittent bus lane cause increased bus delays when intelligent connected vehicles use the lane, and achieves priority driving of buses on the intermittent bus lane while intelligent connected vehicles quickly change lanes on the road.

[0059] In some embodiments, refer to Figure 2 Step S103 specifically includes:

[0060] S201. If the current intelligent connected vehicle is in a regular lane, the number of vehicles using the intermittent bus lane and the target limit value shall be determined based on the driving data.

[0061] S202. Determine whether the number of vehicles using the intermittent bus lane has reached the target limit, and whether the driving data meets the motivation for using the lane and the safety conditions for changing lanes.

[0062] S203. If the number of vehicles using the intermittent bus lane does not reach the target limit, and the driving data meets the motivation for using the lane and the safety conditions for changing lanes, then control the current intelligent connected vehicles to use the intermittent bus lane.

[0063] S204. If the number of vehicles using the intermittent bus lane reaches the target limit, or the driving data does not meet the motivation for using the lane, or the driving data does not meet the safety conditions for changing lanes, then control the current intelligent connected vehicles not to use the intermittent bus lane.

[0064] In some embodiments, when there are buses in the intermittent bus lane of the road segment where the intelligent connected vehicle is currently located, the formula for calculating the target limit value is:

[0065]

[0066] In the formula, Indicates the target limit value. q represents the first limit value. c This represents the arrival traffic volume of the ordinary lane, t. on t indicates the opening hours of intermittent bus lanes. on1 t represents the time from when the first bus enters the intermittent bus lane to when it leaves the lane. on2This indicates the time from when the last bus in an intermittent bus lane enters the lane until it leaves the lane. D represents the second limit value. buses d represents the spacing between adjacent buses on an intermittent bus lane. clear L indicates the distance the bus needs to be cleared. CAV d represents the length of the intelligent connected vehicle. safe This represents the minimum safe distance that the vehicles in front and behind must maintain, where t is determined. on The ideal operating condition is that two buses pass through the intermittent bus lane at a constant speed, which is independent of real-time driving data.

[0067] It should be noted that this invention addresses the working condition of intermittent bus lanes with buses, typically one or two. When there is only one bus in the intermittent bus lane, D... buses Unable to obtain, and thus Unable to obtain, at this time When there are two buses in the intermittent bus lane, normal calculation and Determined after comparison

[0068] In some embodiments, the lane-changing motivation is: when a CAV in a regular lane cannot reach its desired speed, and the CAV in an intermittent bus lane is traveling faster than the current lane, the vehicle will intend to change lanes. The formula for determining whether the driving data satisfies the lane-changing motivation is:

[0069]

[0070] In the formula, D i (t) represents the current position of the intelligent connected vehicle, D fi (t) represents the current position of the intelligent connected vehicle in the lane ahead of it, D afi (t) represents the position of the intelligent connected vehicle currently ahead of it on the intermittent bus lane, l CAV V represents the length of a connected vehicle. i (t) represents the current speed of the intelligent connected vehicle, a represents the current acceleration of the intelligent connected vehicle, and V max This indicates the maximum speed limit for regular lanes.

[0071] In some embodiments, the lane-changing safety conditions are: changing from the current lane to the target lane while maintaining a safe distance from vehicles in front and behind before and after the lane change. The formula for determining whether the driving data meets the lane-changing safety conditions is:

[0072]

[0073] In the formula, D i (t) represents the current position of the intelligent connected vehicle, D afi (t) represents the position of the intelligent connected vehicle currently ahead of it on the intermittent bus lane, l CAV V represents the length of a connected vehicle. abi (t) represents the speed of the vehicle following the intelligent connected vehicle on the intermittent bus lane, d safe This indicates the minimum safe distance that vehicles in front and behind must maintain.

[0074] To account for the clearance distance of buses and avoid situations where CAVs are too close to buses during lane-changing operations, affecting their normal operation, some embodiments refer to... Figure 3 The methods also include:

[0075] S301. If the current intelligent connected vehicle is on an intermittent bus lane, determine the distance between the bus and the current intelligent connected vehicle, as well as the bus clearance distance, based on the driving data, and determine whether the distance between the bus and the current intelligent connected vehicle is greater than the clearance distance.

[0076] S302. If the distance between the bus and the current intelligent connected vehicle is not greater than the clearance distance, then determine the lane-changing space length provided by the vehicles in front and behind the current intelligent connected vehicle in the ordinary lane based on the driving data, and determine whether the lane-changing space length meets the safety distance.

[0077] S303. If the lane-changing space length meets the safety distance, control the current intelligent connected vehicle to change lanes to drive in the ordinary lane.

[0078] S304. If the lane-changing space length does not meet the safety distance requirement, control the acceleration and deceleration behavior of the vehicles in front and behind the current intelligent connected vehicle in the ordinary lane until the lane-changing space length meets the safety requirements, and then control the current intelligent connected vehicle to change lanes to drive in the ordinary lane.

[0079] In some embodiments, under various conditions, the formula for calculating the bus clearance distance is as follows:

[0080]

[0081] In the formula, d clear V indicates the distance the bus needs to be cleared. bus Indicates the speed of the bus. d represents the average speed of intelligent connected vehicles on intermittent bus lanes. safeLet D represent the minimum safe distance that vehicles must maintain, D represent the length of the intermittent bus lane, and ρ be a 0-1 variable used to indicate whether there are bus stops on the intermittent bus lane. ρ = 0 indicates no bus stops, ρ = 1 indicates bus stops. When ρ = 1, D is divided into k+1 sub-segments based on the number of bus stops. j Let j be the length of the j-th sub-segment. D represents j The average speed of intelligent connected vehicles on the sub-segment, where T represents the stopping time of the bus at the bus stop.

[0082] In some embodiments, the formula for determining the lane-changing space length provided by the vehicles in front and behind the current intelligent connected vehicle in the ordinary lane based on driving data is as follows:

[0083]

[0084] In the formula, d afi d represents the lane-changing space provided by the vehicle preceding the current intelligent connected vehicle in the ordinary lane. abi D represents the lane-changing space provided by the vehicle behind the current intelligent connected vehicle in the ordinary lane. afi (t) represents the current position of the intelligent connected vehicle in the lane ahead of it, D affi (t) represents the position of the vehicle ahead of the current intelligent connected vehicle in the ordinary lane, D abi (t) represents the current position of the intelligent connected vehicle behind the vehicle in the ordinary lane, D abbi (t) represents the position of the vehicle following the current intelligent connected vehicle in the ordinary lane. CAV d represents the length of the intelligent connected vehicle. safe This indicates the minimum safe distance that vehicles in front and behind must maintain.

[0085] To account for traffic light conditions and avoid situations where intelligent connected vehicles stop in front of the bus and hinder its start when encountering a red light, in some embodiments, the method further includes:

[0086] S401. If the current intelligent connected vehicle is in an intermittent bus lane, determine whether the current intelligent connected vehicle and the bus behind it can pass through the intersection within the green light time.

[0087] S402. If the current intelligent connected vehicle and the bus behind it cannot pass through the intersection within the green light time, control the current intelligent connected vehicle to change lanes to the ordinary lane and end the lane-borrowing behavior.

[0088] In some embodiments, the formula for determining that the current connected vehicle and the bus behind it cannot pass through the intersection during the green light time is:

[0089]

[0090]

[0091] In the formula, ΔD CAV V represents the distance between the current intelligent connected vehicle and the traffic light intersection. i (t) represents the current speed of the intelligent connected vehicle, T s (t) represents the remaining green light time at the traffic light intersection at the current moment, D bus (t) represents the position of the bus, D stop Indicates the location of the bus stop, ΔD bus V represents the distance between the bus and the traffic light intersection. bus a represents the speed of the bus. bus Let ΔD represent the acceleration of the bus, T represent the time the target bus spends at the target bus stop, and ΔD represent the acceleration of the bus. stop V represents the distance between the bus stop and the traffic light intersection, and V represents the preset target speed of the bus.

[0092] The present invention provides a detailed description of a bus priority control method for intermittent bus lanes. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for bus priority control on an intermittent bus lane, characterized by, The method comprises the following steps: obtaining driving data of intelligent and connected vehicles and buses on a road section where a current intelligent and connected vehicle is located, wherein the road section comprises an intermittent bus lane and a general lane adjacent to the intermittent bus lane; determining a lane where the current intelligent and connected vehicle is located; if the current intelligent and connected vehicle is in the general lane, determining the number of vehicles on the intermittent bus lane and a target limit value according to the driving data, and controlling the current intelligent and connected vehicle not to borrow the intermittent bus lane when the number of vehicles on the intermittent bus lane reaches the target limit value; the calculation formula of the target limit value is: In the formula, denotes a target limit value, denotes a first limit value, denotes the arrival traffic volume of a general lane, denotes the opening time of an intermittent bus lane, denotes the time for a preceding bus in adjacent buses on the intermittent bus lane to enter a road section to leave the road section, denotes the time for a following bus in adjacent buses on the intermittent bus lane to enter a road section to leave the road section, denotes a second limit value, denotes the distance between adjacent buses on the intermittent bus lane, denotes the bus emptying distance, denotes the length of an intelligent connected vehicle, denotes the minimum safety distance required to be maintained between a preceding vehicle and a following vehicle; the calculation formula of the bus emptying distance is: wherein, denotes the emptying distance of the bus, denotes the speed of the bus, denotes the average speed of the intelligent connected vehicle on the intermittent bus lane, denotes the minimum safety distance that needs to be maintained between the front and rear vehicles, denotes the length of the intermittent bus lane, is a 0-1 variable for indicating whether there is a bus stop on the intermittent bus lane, denotes that there is no bus stop, denotes that there is a bus stop, when the bus stop is present, divides into sub-sections, is the length of the th sub-section, denotes the average speed of the intelligent connected vehicle on the th sub-section, denotes the stop time of the bus at the bus stop.

2. The intermittent bus lane bus priority control method according to claim 1, characterized in that, if the current intelligent and connected vehicle is in the general lane, determining the number of vehicles on the intermittent bus lane and a target limit value according to the driving data, and controlling the current intelligent and connected vehicle not to borrow the intermittent bus lane when the number of vehicles on the intermittent bus lane reaches the target limit value, comprising: if the current intelligent and connected vehicle is in the general lane, determining the number of vehicles on the intermittent bus lane and a target limit value according to the driving data; determining whether the number of vehicles on the intermittent bus lane reaches the target limit value and whether the driving data meets the borrowing motivation and the lane changing safety condition; if the number of vehicles on the intermittent bus lane does not reach the target limit value and the driving data meets the borrowing motivation and the lane changing safety condition, controlling the current intelligent and connected vehicle to borrow the intermittent bus lane; if the number of vehicles on the intermittent bus lane reaches the target limit value, or the driving data does not meet the borrowing motivation, or the driving data does not meet the lane changing safety condition, controlling the current intelligent and connected vehicle not to borrow the intermittent bus lane.

3. The intermittent bus lane bus priority control method according to claim 2, characterized in that, The formula for determining whether the driving data meets the borrowing motivation is: In the formula, represents the position of the current intelligent connected vehicle, represents the position of the front vehicle of the current intelligent connected vehicle on the ordinary lane, represents the position of the front vehicle of the current intelligent connected vehicle on the intermittent bus lane, represents the length of the intelligent connected vehicle, represents the speed of the current intelligent connected vehicle, represents the acceleration of the current intelligent connected vehicle, represents the maximum speed limit of the ordinary lane.

4. The intermittent bus lane bus priority control method according to claim 2, characterized in that, The formula for determining whether the driving data meets the lane changing safety condition is: In the formula, represents the position of the current intelligent connected vehicle, represents the position of the front vehicle of the current intelligent connected vehicle on the intermittent bus lane, represents the length of the intelligent connected vehicle, represents the speed of the rear vehicle of the current intelligent connected vehicle on the intermittent bus lane, represents the minimum safety distance that needs to be maintained between the front and rear vehicles.

5. The intermittent bus lane transit priority control method of claim 1, wherein, The method further comprises: if the current intelligent and connected vehicle is on the intermittent bus lane, determining the distance between the bus and the current intelligent and connected vehicle and the bus emptying distance according to the driving data, and determining whether the distance between the bus and the current intelligent and connected vehicle is greater than the emptying distance; if the distance between the bus and the current intelligent and connected vehicle is not greater than the emptying distance, determining the lane changing space length provided by the front and rear vehicles of the current intelligent and connected vehicle on the general lane according to the driving data, and determining whether the lane changing space length meets the safety distance; if the lane changing space length meets the safety distance, controlling the current intelligent and connected vehicle to change lanes to drive on the general lane; if the lane changing space length does not meet the safety distance, controlling the front and rear vehicles of the current intelligent and connected vehicle on the general lane to accelerate or decelerate until the lane changing space length meets the safety requirement, and controlling the current intelligent and connected vehicle to change lanes to drive on the general lane.

6. The intermittent bus lane transit priority control method of claim 1, wherein, The formula for determining the lane changing space length provided by the front and rear vehicles of the current intelligent and connected vehicle on the general lane according to the driving data is: In the formula, represents the lane-changing space distance provided by the front vehicle of the current intelligent connected vehicle on the ordinary lane for the current intelligent connected vehicle represents the lane-changing space distance provided by the rear vehicle of the current intelligent connected vehicle on the ordinary lane for the current intelligent connected vehicle, represents the position of the front vehicle of the current intelligent connected vehicle on the ordinary lane, represents the position of the front vehicle of the front vehicle of the current intelligent connected vehicle on the ordinary lane, represents the position of the rear vehicle of the current intelligent connected vehicle on the ordinary lane, represents the position of the rear vehicle of the rear vehicle of the current intelligent connected vehicle on the ordinary lane, represents the length of the intelligent connected vehicle, represents the minimum safety distance required to be maintained by the front and rear vehicles.

7. The intermittent bus lane transit priority control method of claim 1, wherein, The method further comprises: If the current intelligent connected vehicle is in the intermittent bus lane, it is judged whether the current intelligent connected vehicle and the bus behind it can pass through the intersection within the green light time; If the current intelligent connected vehicle and the bus behind it cannot pass through the intersection within the green light time, the current intelligent connected vehicle is controlled to change lanes to the ordinary lane, and the lane borrowing behavior is ended.

8. The intermittent bus lane bus priority control method of claim 7, wherein, The formula for judging that the current intelligent connected vehicle and the bus behind it cannot pass through the intersection within the green light time is: In the formula, represents the distance between the current intelligent connected vehicle and the traffic light intersection, represents the speed of the current intelligent connected vehicle, represents the remaining time of the green light at the current moment, represents the position of the bus, represents the position of the bus stop, represents the distance between the bus and the traffic light intersection, represents the speed of the bus, represents the acceleration of the bus represents the arrival time of the target bus at the target bus stop, represents the distance between the bus stop and the traffic light intersection, represents the preset target speed of the bus.

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