Bus lane sharing method and device and storage medium

Abstract

The embodiment of the invention provides a bus lane sharing method and device and a storage medium, and the method comprises the steps: sending bus lane sharing request information to roadside service equipment, the bus lane sharing request information being used for requesting to use a target lane special for a bus; and receiving bus lane sharing guide information sent by the roadside service equipment, wherein the bus lane sharing guide information is used for determining that a request vehicle corresponding to the vehicle-mounted service equipment can use the target lane special for the bus. According to the bus lane sharing method and device and the storage medium provided by the embodiment of the invention, the vehicle-mounted service equipment sends the bus lane sharing request information to the roadside service equipment, and can realize the communication process of sharing the bus lane according to the received bus lane sharing guide information; therefore, the sharing strategy of the dynamic bus lane is realized, and the sharing flexibility of the bus lane is improved.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a bus lane sharing method, device and storage medium. Background Art

[0002] A bus lane refers to a lane specially set up for buses to pass through. It is one of the ways to solve urban congestion. However, vehicles allowed to pass through bus lanes include more than just buses. Generally, vehicles allowed to pass include urban and rural buses, emergency rescue and police vehicles, passenger vehicles, school buses, large and medium-sized transportation vehicles of various units, and other public transportation vehicles.

[0003] It is difficult to implement bus lanes in many cities. The passages where it is necessary to set up bus lanes are often due to the serious congestion of social vehicles. Setting up bus lanes requires competing with social vehicles for road resources, causing further congestion of social vehicles. There is great resistance to setting up bus lanes, and often compromises are made to set up bus lanes on passages with fewer social vehicles and buses. The utilization rate of many bus lanes is not high. In order to improve this phenomenon, some cities in my country have introduced bus lanes for multi-passenger passenger cars.

[0004] At present, the introduction of multi-passenger passenger cars into bus lanes is only based on subjective judgment, allowing some other social vehicles to enter the bus lane when there are very few buses in the bus lane. This lacks application data support, making it difficult to promote and apply, and there is a lack of dynamic adjustment methods. After the introduction of other social vehicles into the bus lane, there is a lack of clear direction for the future traffic rules of the lane. Summary of the invention

[0005] The embodiments of the present application provide a bus lane sharing method, device and storage medium to solve the technical problem in the prior art that the bus lane cannot be dynamically adjusted, resulting in low flexibility of the existing bus lane sharing strategy.

[0006] In a first aspect, an embodiment of the present application provides a bus lane sharing method, which is applied to an on-board service device, including: Sending bus lane sharing request information to a roadside service device, where the bus lane sharing request information is used to request the use of a target bus lane; The bus lane sharing guidance information sent by the roadside service device is received, where the bus lane sharing guidance information is used to determine whether the requesting vehicle corresponding to the onboard service device can use the bus lane.

[0007] In some embodiments, sending the bus lane sharing request information to the roadside service device includes: Determining the vehicle operating status of the requested vehicle and the number of passengers in the requested vehicle; When the vehicle operation status is in operation and the number of passengers in the vehicle reaches a preset threshold, bus lane sharing request information is sent to the roadside service device.

[0008] In some embodiments, the bus lane sharing request information includes one or more of the following information: Upstream node information of the target lane; Downstream node information of the target lane; The lane number of the target lane; Vehicle operating status; Number of passengers in the vehicle.

[0009] In a second aspect, an embodiment of the present application provides a bus lane sharing method, which is applied to a roadside service device, including: Receiving bus lane sharing request information sent by the vehicle-mounted service device, wherein the bus lane sharing request information is used to request to use a target bus lane; Sending bus lane sharing query information to a cloud service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; Receiving bus lane sharing feedback information sent by the cloud service device, wherein the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane; Determining a sharing result of the target lane based on the bus lane sharing feedback information, global perception information and signal light phase information; Based on the sharing result, bus lane sharing guidance information is sent to the in-vehicle service device, where the bus lane sharing guidance information is used to determine whether the requesting vehicle can use the bus lane.

[0010] In some embodiments, the method further comprises: The global perception information is obtained based on a roadside perception system, and the traffic light phase information is obtained based on a traffic signal control device.

[0011] In a third aspect, an embodiment of the present application provides a bus lane sharing method, which is applied to a cloud service device, including: Receiving bus lane sharing query information sent by the roadside service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; Based on the preset bus lane sharable vehicle information and the preset bus lane control strategy, bus lane sharing feedback information is sent to the roadside service device, and the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane.

[0012] In a fourth aspect, an embodiment of the present application provides an in-vehicle service device, including a memory, a transceiver, and a processor; A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Sending bus lane sharing request information to a roadside service device, where the bus lane sharing request information is used to request the use of a target bus lane; The bus lane sharing guidance information sent by the roadside service device is received, where the bus lane sharing guidance information is used to determine whether the requesting vehicle corresponding to the onboard service device can use the bus lane.

[0013] In some embodiments, sending the bus lane sharing request information to the roadside service device includes: Determining the vehicle operating status of the requested vehicle and the number of passengers in the requested vehicle; When the vehicle operation status is in operation and the number of passengers in the vehicle reaches a preset threshold, bus lane sharing request information is sent to the roadside service device.

[0014] In some embodiments, the bus lane sharing request information includes one or more of the following information: Upstream node information of the target lane; Downstream node information of the target lane; The lane number of the target lane; Vehicle operating status; Number of passengers in the vehicle.

[0015] In a fifth aspect, an embodiment of the present application provides a roadside service device, including a memory, a transceiver, and a processor; A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Receiving bus lane sharing request information sent by the vehicle-mounted service device, wherein the bus lane sharing request information is used to request to use a target bus lane; Sending bus lane sharing query information to a cloud service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; Receiving bus lane sharing feedback information sent by the cloud service device, wherein the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane; Determining a sharing result of the target lane based on the bus lane sharing feedback information, global perception information and signal light phase information; Based on the sharing result, bus lane sharing guidance information is sent to the in-vehicle service device, where the bus lane sharing guidance information is used to determine whether the requesting vehicle can use the bus lane.

[0016] In some embodiments, the processor is further configured to read the computer program in the memory and perform the following operations: The global perception information is obtained based on a roadside perception system, and the traffic light phase information is obtained based on a traffic signal control device.

[0017] In a sixth aspect, an embodiment of the present application provides a cloud service device, including a memory, a transceiver, and a processor; A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Receiving bus lane sharing query information sent by the roadside service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; Based on the preset bus lane sharable vehicle information and the preset bus lane control strategy, bus lane sharing feedback information is sent to the roadside service device, and the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane.

[0018] In a seventh aspect, an embodiment of the present application provides a bus lane sharing device, comprising: A first sending module is used to send bus lane sharing request information to the roadside service device, where the bus lane sharing request information is used to request to use a target bus lane; The first receiving module is used to receive the bus lane sharing guidance information sent by the roadside service device, and the bus lane sharing guidance information is used to determine whether the requesting vehicle corresponding to the on-board service device can use the bus lane.

[0019] In some embodiments, the first sending module includes: A first determination submodule, used to determine the vehicle operation status of the requested vehicle and the number of passengers in the requested vehicle; The first sending submodule is used to send bus lane sharing request information to the roadside service equipment when the vehicle operation status is in operation and the number of passengers in the vehicle reaches a preset threshold.

[0020] In some embodiments, the bus lane sharing request information includes one or more of the following information: Upstream node information of the target lane; Downstream node information of the target lane; The lane number of the target lane; Vehicle operating status; Number of passengers in the vehicle.

[0021] In an eighth aspect, an embodiment of the present application provides a bus lane sharing device, comprising: A second receiving module is used to receive bus lane sharing request information sent by the vehicle-mounted service device, where the bus lane sharing request information is used to request to use a target bus lane; A second sending module is used to send bus lane sharing query information to the cloud service device, where the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the on-board service device and the road control status of the target lane; A third receiving module is used to receive the bus lane sharing feedback information sent by the cloud service device, where the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane; A first determination module, configured to determine a sharing result of the target lane based on the bus lane sharing feedback information, global perception information and signal light phase information; The third sending module is used to send bus lane sharing guidance information to the vehicle-mounted service device based on the sharing result, and the bus lane sharing guidance information is used to determine whether the requesting vehicle can use the bus lane target lane.

[0022] In some embodiments, the bus lane sharing device further comprises: The first acquisition module is used to acquire the global perception information based on the roadside perception system, and to acquire the traffic light phase information based on the traffic signal control equipment.

[0023] In a ninth aspect, an embodiment of the present application provides a bus lane sharing device, comprising: A fourth receiving module, used to receive bus lane sharing query information sent by the roadside service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; The fourth sending module is used to send bus lane sharing feedback information to the roadside service equipment based on the preset bus lane sharable vehicle information and the preset bus lane control strategy, and the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane.

[0024] In the tenth aspect, an embodiment of the present application also provides a non-transitory readable storage medium, which stores a computer program, and the computer program is used to enable a processor to execute the bus lane sharing method described in the first aspect, the second aspect or the third aspect as described above.

[0025] In the eleventh aspect, an embodiment of the present application further provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the bus lane sharing method described in the first aspect, the second aspect, or the third aspect as described above.

[0026] In the twelfth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is used to enable a computer to execute the bus lane sharing method described in the first aspect, the second aspect, or the third aspect as described above.

[0027] In the thirteenth aspect, an embodiment of the present application further provides a communication device, in which a computer program is stored, and the computer program is used to enable the communication device to execute the bus lane sharing method described in the first aspect, the second aspect or the third aspect as described above.

[0028] In the fourteenth aspect, an embodiment of the present application further provides a chip product, wherein the chip product comprises a computer program, wherein the computer program is used to enable the chip product to execute the bus lane sharing method as described in the first aspect, the second aspect or the third aspect as described above.

[0029] The bus lane sharing method, device and storage medium provided in the embodiments of the present application, the on-board service equipment sends bus lane sharing request information to the roadside service equipment, and according to the received bus lane sharing guidance information, the communication process of sharing the bus lane can be implemented, thereby realizing a dynamic bus lane sharing strategy and improving the flexibility of bus lane sharing. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 This is one of the flowcharts of the bus lane sharing method provided in the embodiment of the present application; Figure 2 It is a system framework diagram of the bus lane sharing method provided in an embodiment of the present application; Figure 3 This is a schematic diagram of information interaction of a bus lane sharing method provided in an embodiment of the present application; Figure 4 This is a method for implementing the bus lane request information provided in the embodiment of the present application; Figure 5 This is a method for implementing the shared guidance information of bus lanes provided in the embodiment of the present application; Figure 6 It is a schematic diagram of the architecture of the message set provided in the embodiment of the present application; Figure 7 This is the second flow chart of the bus lane sharing method provided in the embodiment of the present application; Figure 8 This is the third flow chart of the bus lane sharing method provided in the embodiment of the present application; Fig. 9 is a structural diagram of the vehicle-mounted service device provided in an embodiment of the present application; Fig.10 It is a schematic diagram of the structure of the roadside service equipment provided in the embodiment of the present application; Fig.11 It is a structural diagram of a cloud service device provided in an embodiment of the present application; Fig.12 This is one of the structural schematic diagrams of the bus lane sharing device provided in the embodiment of the present application; Fig.13 This is the second structural diagram of the bus lane sharing device provided in the embodiment of the present application; Fig.14 This is the third structural schematic diagram of the bus lane sharing device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0032] With the acceleration of urbanization and the rapid growth of car ownership, urban traffic congestion has become increasingly prominent, especially during peak hours in the morning and evening, when limited road resources have doubled the traffic pressure. In this context, how to efficiently utilize existing road resources and improve the efficiency of urban traffic operation has become an urgent problem to be solved.

[0033] There is currently a solution called High Occupancy Vehicle (HOV) lanes. This type of lane usually only allows vehicles with a high occupancy rate to pass through, in order to reduce the road space occupied by a single vehicle and improve the road's traffic capacity. The design concept of this lane is to reduce the number of vehicles in urban traffic and increase the use of public transportation, thereby reducing traffic congestion and emissions. Therefore, the implementation of HOV lanes can effectively reduce the number of vehicles on the road, improve road use efficiency, reduce traffic congestion, and at the same time reduce exhaust emissions and promote energy conservation and emission reduction in transportation.

[0034] The bus lane sharing method provided in the embodiment of the present application, through the way of technology empowerment, relies on the existing vehicle to everything (V2X) technology, combines the bus lane and HOV lane solutions, and transforms the bus "dedicated" lane into a bus "priority" lane, which is a way of dynamic sharing of high-occupancy vehicles.

[0035] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Figure 1 is one of the flow charts of the bus lane sharing method provided in the embodiment of the present application, such as Figure 1 As shown, the embodiment of the present application provides a method for sharing a bus lane, and the execution subject may be an on-board service device. The method includes: Step 101: Send bus lane sharing request information to a roadside service device, where the bus lane sharing request information is used to request the use of a target bus lane.

[0037] Specifically, the vehicle-mounted service equipment can be installed on intelligent network-connected operating vehicles, social vehicles or other vehicles with operating attributes. The vehicle-mounted service equipment can be an on-board unit (OBU) or any device including an OBU. The roadside service equipment can be a roadside unit (RSU) or any device including an RSU.

[0038] After the requesting vehicle equipped with the on-board service device drives to an area with a bus lane, it can manually or automatically initiate a bus lane sharing request to the roadside service device as needed.

[0039] The bus lane area may be a lane parallel to the bus lane in the same direction. The manually initiated bus lane sharing request may be initiated manually. The automatically initiated bus lane sharing request may be automatically initiated immediately after entering the bus lane area, or automatically initiated after entering the bus lane area based on the road conditions. The bus lane sharing request information may include at least one of the target lane upstream node information, the target lane downstream node information, the lane number of the target lane, the vehicle operation status, and the number of passengers in the vehicle.

[0040] It is worth mentioning that the bus lane sharing request information can be sent through the Vehicle Intention And Request (VIR) field extension in the V2X message.

[0041] Figure 2 is a system framework diagram of the bus lane sharing method provided in the embodiment of the present application, such as Figure 2 As shown, the system architecture includes at least cloud services, roadside services and in-vehicle services.

[0042] Among them, the cloud service can provide the permission management function of the bus lane sharing service, including: vehicle registration (through license plate, vehicle-mounted equipment representation, real-name registration), generation of service whitelist; section / control strategy control, based on map information, to control the opening status and opening hours of bus lanes on all sections; record vehicle authorization and service logs for business data analysis; record vehicles that enter illegally, connect with the traffic management platform, and verify traffic management penalty information.

[0043] The roadside service is used to provide roadside information release for bus lane sharing services and conduct collaborative communication with the vehicle side, including: providing roadside V2X map information required by connected vehicles; providing V2X signal light data information; obtaining surrounding vehicle perception information and publishing it; RSU obtaining roadside traffic flow information as data basis; providing bus lane sharing application and information reporting cloud functions for on-board OBU; obtaining cloud authorization, and for the authorized status, judging whether to enter or exit the bus lane based on actual traffic information, and sending information to the on-board OBU.

[0044] Vehicle-side services include: for HOV vehicles, providing information such as the number of passengers on board and operating status; initiating bus lane sharing requests; prompting the driver or notifying the autonomous driving system whether the bus lane is authorized; and reporting the status of entering or exiting the bus lane.

[0045] Roadside service equipment can obtain holographic perception information of the road driving environment based on the roadside perception system. The holographic perception information includes at least one of the following: traffic participant (car, non-motor vehicle, person, etc.) information (vehicle type, speed, heading angle, size, appearance, license plate number, etc.), bus stop information, event information (illegal driving behavior, abnormal events, etc.).

[0046] The roadside service equipment can also interact with the roadside traffic signal control equipment (such as traffic signals) to obtain signal light phase information, which includes at least one of the following: signal machine operation status, signal machine control status, signal machine light color status; dynamic traffic signs, such as lane function status (variable lanes), lane / ramp control information; signal control parameters: signal scheme color step information, next cycle signal scheme color step information; traffic status information: traffic flow status (traffic flow, average speed, queue length, etc.); traffic event information (such as traffic accidents, road obstacles, etc.).

[0047] After receiving the bus lane sharing request information, the roadside service device can send bus lane sharing query information to the cloud service device according to the bus lane sharing request information. The bus lane sharing query information at least includes the vehicle operation status and bus lane information. Based on the received bus lane sharing query information, the cloud service device queries the bus lane sharable vehicle information through the vehicle operation status to confirm whether the vehicle has the right to share the bus lane, and then queries the bus lane control strategy based on the bus lane information to confirm whether the bus lane is open for sharing, and sends bus lane sharing feedback information to the roadside service device based on the result. The roadside service device can determine the vehicle authority of the requesting vehicle and the road control status of the target lane based on the bus lane sharing feedback information.

[0048] Among them, the cloud service device stores pre-set bus lane sharable vehicle information and bus lane management and control strategies.

[0049] Finally, the roadside service equipment determines whether the requesting vehicle can enter the bus lane based on the vehicle permissions of the requesting vehicle, the road control status of the target lane, the holographic perception information and the signal light phase information, and obtains the sharing result.

[0050] For example, when the requesting vehicle is a vehicle with permission to share the bus lane, the target lane is open for sharing and the environment around the requesting vehicle permits, the roadside service equipment can confirm that the requesting vehicle can use the target lane.

[0051] For another example, if the requesting vehicle is a vehicle with permission to share the bus lane, the target lane is open for sharing, but the environment around the requesting vehicle does not allow it, the roadside service device can confirm that the requesting vehicle cannot use the target lane. The environment around the requesting vehicle not allowing it may include that the target lane is already congested or is about to be congested.

[0052] Step 102: receiving bus lane sharing guidance information sent by the roadside service device, wherein the bus lane sharing guidance information is used to determine whether a requesting vehicle corresponding to the onboard service device can use the bus lane.

[0053] Specifically, the roadside service device sends the bus lane sharing guidance information to the on-board service device according to the determined sharing result, and the on-board service device receives the bus lane sharing guidance information and determines whether the requesting vehicle can use the target lane.

[0054] It is worth mentioning that the dedicated lane sharing guidance information can be realized by adding a bus lane sharing cooperation type to the cooperation information in the road side coordination (RSC) message, and adding a field to indicate whether it can be shared in the driving advice.

[0055] Furthermore, before the requesting vehicle enters the bus lane, if the request is not cancelled, it needs to periodically send a bus lane sharing request, and the roadside service equipment will send the request result to the vehicle according to the dynamic traffic situation. If the requesting vehicle has entered the bus lane, the request ends, or if the request is manually cancelled even though it has not entered the bus lane, the entire process ends.

[0056] The bus lane sharing method provided in the embodiment of the present application is that the on-board service equipment sends bus lane sharing request information to the roadside service equipment, and according to the received bus lane sharing guidance information, the communication process of sharing the bus lane can be implemented, thereby realizing a dynamic bus lane sharing strategy and improving the flexibility of bus lane sharing.

[0057] In some embodiments, sending the bus lane sharing request information to the roadside service device includes: Determining the vehicle operating status of the requested vehicle and the number of passengers in the requested vehicle; When the vehicle operation status is in operation and the number of passengers in the vehicle reaches a preset threshold, bus lane sharing request information is sent to the roadside service device.

[0058] Specifically, for vehicles entering the bus lane area, the on-board service equipment can first obtain the operating status (such as taxis, can obtain meter deduction information), and obtain the number of passengers in the car through the in-car camera.

[0059] If the vehicle meets the sharing conditions of the operating status being in operation and the number of passengers in the vehicle reaching the preset threshold, the vehicle can be marked as an HOV vehicle, and only HOV vehicles can initiate a bus lane sharing request. The preset threshold can be set to different fixed values ​​for different vehicles, or it can be set according to the ratio of the maximum number of passengers, for example, reaching more than 1 / 3 of the maximum number of passengers.

[0060] The bus lane sharing method provided in the embodiment of the present application sends bus lane sharing request information when the vehicle operating status and the number of passengers in the vehicle meet the conditions, which can implement a dynamic bus lane sharing strategy, and can flexibly adjust road rights and vehicle permissions as needed, thereby improving road control efficiency.

[0061] In some embodiments, the bus lane sharing request information includes one or more of the following information: Upstream node information of the target lane; Downstream node information of the target lane; The lane number of the target lane; Vehicle operating status; Number of passengers in the vehicle.

[0062] Specifically, the bus lane sharing request information may include at least one of the upstream node information of the target lane, the downstream node information of the target lane, the lane number of the target lane, the vehicle operating status, and the number of passengers in the vehicle.

[0063] Among them, the target lane upstream node information, target lane downstream node information, and target lane lane number are information about the bus shared lane, which is used by the roadside service equipment to determine the target lane. The vehicle operation status and the number of passengers in the vehicle are used by the roadside service equipment to determine whether the requesting vehicle meets the sharing conditions.

[0064] Furthermore, the bus lane sharing type can be added to the planned driving behavior in the VIR field of the V2X message, and the bus lane sharing information can be extended in the driving request information, including the upstream node information of the target lane, the downstream node information of the target lane, the lane number of the target lane, the vehicle operating status, and the number of passengers in the vehicle.

[0065] The bus lane sharing method provided in the embodiment of the present application can implement the communication process of the bus lane by adding some fields to the existing V2X standard message, with few message changes and good compatibility.

[0066] The method in the above embodiment is further described below with reference to a specific example.

[0067] Figure 3 is a schematic diagram of information interaction of the bus lane sharing method provided in the embodiment of the present application, such as Figure 3 As shown, in the bus lane sharing method provided in the embodiment of the present application, the on-board service device is an OBU, and the roadside service device is an RSU, including the following steps: Step 1. Cloud service: vehicle whitelist and road control strategy settings.

[0068] The cloud control platform records the sharable vehicle information in the bus lanes: license plate number, vehicle equipment ID, operating unit, driver and other information.

[0069] The cloud control platform sets the bus lane management and control strategy: LocalID of the road area, road name, bus lane number, whether to open sharing, and open sharing time setting.

[0070] Step 2: Roadside perception service.

[0071] The roadside perception system provides holographic perception information of the road driving environment, including information about traffic participants (cars, non-motor vehicles, people, etc.) (vehicle type, speed, heading angle, size, appearance, license plate number, etc.), bus stop information, and event information (illegal driving behavior, abnormal events, etc.).

[0072] Step 3: Roadside signal control information service.

[0073] RSU can obtain signal light phase information by interacting with roadside traffic signal control equipment (such as traffic signals). The signal light phase information includes at least one of the following: signal machine operation status, signal machine control status, signal machine light color status; dynamic traffic signs, such as lane function status (variable lanes), lane / ramp control information; signal control parameters: signal scheme color step information, next cycle signal scheme color step information; traffic status information: traffic flow status (traffic flow, average speed, queue length, etc.); traffic event information (such as traffic accidents, road obstacles, etc.).

[0074] Step 4: HOV vehicle determination.

[0075] Operating vehicles that enter the relevant area of ​​the bus lane will obtain their operating status (such as taxis, which can obtain meter deduction information) and the number of passengers in the vehicle through the in-vehicle camera. When the number of passengers in the vehicle reaches a certain threshold (for example, more than 1 / 3 of the maximum passenger capacity), it can be marked as an HOV vehicle. Only HOV vehicles can initiate bus lane sharing requests.

[0076] Step 5: Bus lane sharing request.

[0077] The on-board OBU obtains the vehicle's request to enter the bus lane and sends the request through the VIR field extension of the V2X message.

[0078] Figure 4 This is the implementation method of the bus lane request information provided in the embodiment of the present application, such as Figure 4 As shown in the figure, the busLaneSharing type is added to the planned driving behavior, and the value is 14. The bus lane sharing information busLaneSharing is extended in the driving request information, which includes the operating status of the vehicle, the number of passengers, and the upstream and downstream nodes and lane numbers of the bus shared lane requested to enter.

[0079] Step 6: Obtain control strategies and vehicle permissions.

[0080] The roadside RSU receives the VIR message initiated by the vehicle and sends the vehicle operation status and bus lane information to the cloud control platform.

[0081] Step 7: Query vehicle authority and road control status, and feedback the results to the RSU.

[0082] The cloud control platform queries the vehicle whitelist based on vehicle information: vehicle ID, operating status, and number of passengers to confirm whether the vehicle has the right to share the bus lane, and then confirms whether the bus lane is open for sharing based on the queried bus lane information.

[0083] Step 8: Determine the bus lane sharing result based on the roadside information.

[0084] The roadside RSU determines whether the requesting vehicle can enter the bus lane based on the results returned by the cloud control, combined with the traffic flow information of the bus lane, the status of the traffic lights, and the bus station information.

[0085] Step 9: RSU sends bus lane sharing guidance information.

[0086] The V2X RSC message is used to publish guidance information on whether the roadside vehicle can share the bus lane.

[0087] Figure 5 This is the implementation method of the bus lane sharing guidance information provided by the embodiment of the present application, such as Figure 5 As shown, a bus lane sharing cooperation type busLaneSharing is added to the cooperation information, and a busLaneSharing item is added to the driving suggestion, indicating that the bus lane can be shared. Otherwise, goStraightForward or other driving behavior items can be used to indicate that the bus lane cannot be shared.

[0088] Finally, requests and corresponding processes can be shared periodically.

[0089] Before the vehicle enters the bus lane, if the request is not cancelled, it needs to send VIR requests periodically, with a default period of 100ms. The RSU will send the request result to the vehicle based on the dynamic traffic conditions. If the vehicle has entered the bus lane, the request ends. If the request is manually cancelled even if the vehicle has not entered the bus lane, the entire process ends.

[0090] It is worth mentioning that the bus lane sharing method provided in the embodiment of the present application is based on V2X communication technology between the vehicle end and the road end, and the message set can be expanded on the basis of the defined messages.

[0091] Figure 6 is a schematic diagram of the architecture of the message set provided in the embodiment of the present application, such as Figure 6 As shown, the Intention Sharing Message (ISM) can be used to implement data interaction of the intent sharing function; the VIR message and the RSC message can be used to implement data interaction in the negotiation process, cancellation process, and execution process of the intent collaboration function; and the Service Announcement Message (SAM) can be used to implement data interaction in the discovery process of the intent collaboration function.

[0092] In the bus lane sharing method provided in the embodiment of the present application, a vehicle equipped with an OBU device traveling to an area with a bus lane can initiate a bus lane sharing request to the RSU. The RSU authenticates and reviews the business authority of the vehicle initiating the request through a business channel with the cloud control platform. The RSU receives the review result and, based on the review, determines whether the vehicle can enter the bus lane in combination with the actual road conditions, and sends the result to the OBU to guide the vehicle to enter or exit.

[0093] Figure 7 This is the second flow chart of the bus lane sharing method provided in the embodiment of the present application, such as Figure 7 As shown, the embodiment of the present application provides a method for sharing a bus lane, and the execution subject may be a roadside service device. The method includes: Step 701, receiving bus lane sharing request information sent by the vehicle-mounted service device, wherein the bus lane sharing request information is used to request to use a target bus lane; Step 702, sending bus lane sharing query information to a cloud service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; Step 703, receiving the bus lane sharing feedback information sent by the cloud service device, wherein the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane; Step 704, determining a sharing result of the target lane based on the bus lane sharing feedback information, global perception information and signal light phase information; Step 705: Send bus lane sharing guidance information to the in-vehicle service device based on the sharing result, where the bus lane sharing guidance information is used to determine whether the requesting vehicle can use the bus lane target lane.

[0094] In some embodiments, the method further comprises: The global perception information is obtained based on a roadside perception system, and the traffic light phase information is obtained based on a traffic signal control device.

[0095] Specifically, the bus lane sharing method provided in the embodiment of the present application can refer to the above-mentioned bus lane sharing method embodiment in which the execution subject is a vehicle-mounted service device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the above-mentioned corresponding method embodiments will not be described in detail here.

[0096] Figure 8 This is the third flow chart of the bus lane sharing method provided in the embodiment of the present application, such as Figure 8 As shown, the embodiment of the present application provides a method for sharing a bus lane, and the execution subject may be a cloud service device. The method includes: Step 801, receiving bus lane sharing query information sent by a roadside service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; Step 802: Send bus lane sharing feedback information to the roadside service device based on the preset bus lane sharable vehicle information and the preset bus lane control strategy. The bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane.

[0097] Specifically, the bus lane sharing method provided in the embodiment of the present application can refer to the above-mentioned bus lane sharing method embodiment in which the execution subject is a vehicle-mounted service device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the above-mentioned corresponding method embodiments will not be described in detail here.

[0098] Fig. 9 is a schematic diagram of the structure of the vehicle-mounted service device provided in the embodiment of the present application, such as Fig. 9As shown, the vehicle-mounted service device includes a memory 920, a transceiver 900, and a processor 910, wherein: The memory 920 is used to store computer programs; the transceiver 900 is used to send and receive data under the control of the processor 910; the processor 910 is used to read the computer program in the memory 920 and perform the following operations: Sending bus lane sharing request information to a roadside service device, where the bus lane sharing request information is used to request the use of a target bus lane; The bus lane sharing guidance information sent by the roadside service device is received, where the bus lane sharing guidance information is used to determine whether the requesting vehicle corresponding to the onboard service device can use the bus lane.

[0099] Specifically, in Fig. 9 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 910 and various circuits of memory represented by memory 920 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 900 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, which transmission medium includes a wireless channel, a wired channel, an optical cable, and other transmission media. For different user devices, the user interface 930 may also be an interface capable of externally and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0100] The processor 910 is responsible for managing the bus architecture and general processing, and the memory 920 can store data used by the processor 910 when performing operations.

[0101] In some embodiments, the processor 910 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0102] The processor calls the computer program stored in the memory to execute any of the methods provided in the embodiments of the present application according to the obtained executable instructions. The processor and the memory can also be arranged physically separately.

[0103] In some embodiments, sending the bus lane sharing request information to the roadside service device includes: Determining the vehicle operating status of the requested vehicle and the number of passengers in the requested vehicle; When the vehicle operation status is in operation and the number of passengers in the vehicle reaches a preset threshold, bus lane sharing request information is sent to the roadside service device.

[0104] In some embodiments, the bus lane sharing request information includes one or more of the following information: Upstream node information of the target lane; Downstream node information of the target lane; The lane number of the target lane; Vehicle operating status; Number of passengers in the vehicle.

[0105] It should be noted here that the above-mentioned in-vehicle service equipment provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment in which the above-mentioned execution subject is the in-vehicle service equipment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0106] Fig.10 is a schematic diagram of the structure of the roadside service equipment provided in the embodiment of the present application, such as Fig.10 As shown, the roadside service device includes a memory 1020, a transceiver 1000, and a processor 1010, wherein: The memory 1020 is used to store computer programs; the transceiver 1000 is used to send and receive data under the control of the processor 1010; the processor 1010 is used to read the computer program in the memory 1020 and perform the following operations: Receiving bus lane sharing request information sent by the vehicle-mounted service device, wherein the bus lane sharing request information is used to request to use a target bus lane; Sending bus lane sharing query information to a cloud service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; Receiving bus lane sharing feedback information sent by the cloud service device, wherein the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane; Determining a sharing result of the target lane based on the bus lane sharing feedback information, global perception information and signal light phase information; Based on the sharing result, bus lane sharing guidance information is sent to the in-vehicle service device, where the bus lane sharing guidance information is used to determine whether the requesting vehicle can use the bus lane.

[0107] Specifically, in Fig.10 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 1010 and memory represented by memory 1020. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1000 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, which transmission medium may include a wireless channel, a wired channel, an optical cable, and the like. The processor 1010 is responsible for managing the bus architecture and general processing, and the memory 1020 may store data used by the processor 1010 when performing operations.

[0108] The processor 1010 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0109] In some embodiments, the processor is further configured to read the computer program in the memory and perform the following operations: The global perception information is obtained based on a roadside perception system, and the traffic light phase information is obtained based on a traffic signal control device.

[0110] Specifically, the above-mentioned roadside service equipment provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment in which the above-mentioned execution subject is the roadside service equipment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0111] Fig.11 is a schematic diagram of the structure of the cloud service device provided in the embodiment of the present application, such as Fig.11 As shown, the cloud service device includes a memory 1120, a transceiver 1100, and a processor 1110, wherein: The memory 1120 is used to store computer programs; the transceiver 1100 is used to send and receive data under the control of the processor 1110; the processor 1110 is used to read the computer program in the memory 1120 and perform the following operations: Receiving bus lane sharing query information sent by the roadside service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; Based on the preset bus lane sharable vehicle information and the preset bus lane control strategy, bus lane sharing feedback information is sent to the roadside service device, and the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane.

[0112] Specifically, in Fig.11 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1110 and various circuits of memory represented by memory 1120 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1100 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, which transmission medium may include a wireless channel, a wired channel, an optical cable, and other transmission media. The processor 1110 is responsible for managing the bus architecture and general processing, and the memory 1120 may store data used by the processor 1110 when performing operations.

[0113] The processor 1110 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0114] Specifically, the above-mentioned cloud service device provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment in which the execution subject is the cloud service device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0115] Fig.12 is one of the structural schematic diagrams of the bus lane sharing device provided in the embodiment of the present application, such as Fig.12 As shown, the embodiment of the present application provides a bus lane sharing device, including a first sending module 1201 and a first receiving module 1202, wherein: The first sending module 1201 is used to send bus lane sharing request information to the roadside service device, where the bus lane sharing request information is used to request to use a target bus lane; The first receiving module 1202 is used to receive the bus lane sharing guidance information sent by the roadside service device, and the bus lane sharing guidance information is used to determine whether the requesting vehicle corresponding to the on-board service device can use the bus lane.

[0116] In some embodiments, the first sending module includes: A first determination submodule, used to determine the vehicle operation status of the requested vehicle and the number of passengers in the requested vehicle; The first sending submodule is used to send bus lane sharing request information to the roadside service equipment when the vehicle operation status is in operation and the number of passengers in the vehicle reaches a preset threshold.

[0117] In some embodiments, the bus lane sharing request information includes one or more of the following information: Upstream node information of the target lane; Downstream node information of the target lane; The lane number of the target lane; Vehicle operating status; Number of passengers in the vehicle.

[0118] Specifically, the above-mentioned bus lane sharing device provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment in which the above-mentioned execution subject is the on-board service equipment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0119] Fig.13 This is the second structural diagram of the bus lane sharing device provided in the embodiment of the present application, such as Fig.13 As shown, the embodiment of the present application provides a bus lane sharing device, including a second receiving module 1301, a second sending module 1302, a third receiving module 1303, a first determining module 1304 and a third sending module 1305, wherein: The second receiving module 1301 is used to receive bus lane sharing request information sent by the vehicle-mounted service device, where the bus lane sharing request information is used to request to use a bus-only target lane; The second sending module 1302 is used to send bus lane sharing query information to the cloud service device, where the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; The third receiving module 1303 is used to receive the bus lane sharing feedback information sent by the cloud service device, where the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane; A first determination module 1304 is used to determine the sharing result of the target lane based on the bus lane sharing feedback information, global perception information and signal light phase information; The third sending module 1305 is used to send bus lane sharing guidance information to the vehicle-mounted service device based on the sharing result, and the bus lane sharing guidance information is used to determine whether the requesting vehicle can use the bus lane target lane.

[0120] In some embodiments, the bus lane sharing device further comprises: The first acquisition module is used to acquire the global perception information based on the roadside perception system, and to acquire the traffic light phase information based on the traffic signal control equipment.

[0121] Specifically, the above-mentioned bus lane sharing device provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment in which the above-mentioned execution subject is the roadside service equipment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0122] Fig.14 This is the third structural diagram of the bus lane sharing device provided in the embodiment of the present application, such as Fig.14 As shown, the embodiment of the present application provides a bus lane sharing device, including a fourth receiving module 1401 and a fourth sending module 1402, wherein: The fourth receiving module 1401 is used to receive the bus lane sharing query information sent by the roadside service device, where the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; The fourth sending module 1402 is used to send bus lane sharing feedback information to the roadside service device based on the pre-set bus lane sharable vehicle information and the pre-set bus lane control strategy, and the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane.

[0123] Specifically, the above-mentioned bus lane sharing device provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment in which the execution subject is a cloud service device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those of the method embodiment will not be described in detail here.

[0124] It should be noted that the division of units / modules in the above embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, the functional units in the various embodiments of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated units may be implemented in the form of hardware or in the form of software functional units.

[0125] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the relevant technology or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0126] In some embodiments, a non-transitory readable storage medium is also provided, wherein the non-transitory readable storage medium stores a computer program, and the computer program is used to enable a processor to execute the bus lane sharing method provided by the above-mentioned method embodiments.

[0127] Specifically, the above-mentioned non-transitory readable storage medium provided in the embodiment of the present application can implement all the method steps implemented by the above-mentioned method embodiments, and can achieve the same technical effects. The parts and beneficial effects that are the same as the method embodiments in this embodiment will not be described in detail here.

[0128] It should be noted that the non-transitory readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)), etc.

[0129] In some embodiments, a processor-readable storage medium is also provided, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the bus lane sharing method provided by the above-mentioned method embodiments.

[0130] Specifically, the processor-readable storage medium provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned method embodiments, and can achieve the same technical effects. The parts and beneficial effects that are the same as those in the method embodiments will not be described in detail herein.

[0131] In some embodiments, a computer-readable storage medium is also provided, wherein the computer-readable storage medium stores a computer program, and the computer program is used to enable a computer to execute the bus lane sharing method provided by the above-mentioned method embodiments.

[0132] Specifically, the above-mentioned computer-readable storage medium provided in the embodiment of the present application can implement all the method steps implemented by the above-mentioned method embodiments, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0133] In some embodiments, a communication device is also provided, in which a computer program is stored, and the computer program is used to enable the communication device to execute the bus lane sharing method provided by the above-mentioned method embodiments.

[0134] Specifically, the above-mentioned communication device provided in the embodiment of the present application can implement all the method steps implemented by the above-mentioned method embodiments, and can achieve the same technical effects. The parts and beneficial effects that are the same as the method embodiments in this embodiment will not be described in detail here.

[0135] In some embodiments, a chip product is also provided, in which a computer program is stored, and the computer program is used to enable the chip product to execute the bus lane sharing method provided by the above-mentioned method embodiments.

[0136] Specifically, the above-mentioned chip product provided in the embodiment of the present application can implement all the method steps implemented by the above-mentioned method embodiments, and can achieve the same technical effects. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0137] It should also be noted that the terms "first", "second", etc. in the embodiments of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0138] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0139] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0140] The technical solution provided in the embodiment of the present application can be applicable to a variety of systems, especially 5G systems. For example, the applicable system can be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (WCDMA) general packet radio service (GPRS) system, a long term evolution (LTE) system, a LTE frequency division duplex (FDD) system, a LTE time division duplex (TDD) system, an advanced long term evolution (LTE-A) system, a universal mobile telecommunication system (UMTS), a world-wide interoperability for microwave access (WiMAX) system, a 5G new radio (NR) system, etc. These various systems include terminal equipment and network equipment. The system may also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0141] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program codes.

[0142] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer executable instructions. These computer executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0143] These processor executable instructions may also be stored in a processor readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0144] These processor-executable instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0145] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A bus lane sharing method, characterized in that: Applied to vehicle service equipment, including: Sending bus lane sharing request information to a roadside service device, where the bus lane sharing request information is used to request the use of a target bus lane; The bus lane sharing guidance information sent by the roadside service device is received, where the bus lane sharing guidance information is used to determine whether the requesting vehicle corresponding to the on-board service device can use the bus lane.

2. The bus lane sharing method according to claim 1, characterized in that: The sending of bus lane sharing request information to the roadside service device includes: Determining the vehicle operating status of the requested vehicle and the number of passengers in the requested vehicle; When the vehicle operation status is in operation and the number of passengers in the vehicle reaches a preset threshold, bus lane sharing request information is sent to the roadside service device.

3. The bus lane sharing method according to any one of claims 1 to 2, characterized in that: The bus lane sharing request information includes one or more of the following information: Upstream node information of the target lane; Downstream node information of the target lane; The lane number of the target lane; Vehicle operating status; Number of passengers in the vehicle.

4. A bus lane sharing method, characterized in that: Applied to roadside service equipment, including: Receiving bus lane sharing request information sent by the vehicle-mounted service device, wherein the bus lane sharing request information is used to request to use a target bus lane; Sending bus lane sharing query information to a cloud service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; Receiving bus lane sharing feedback information sent by the cloud service device, wherein the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane; Determining a sharing result of the target lane based on the bus lane sharing feedback information, global perception information and signal light phase information; Based on the sharing result, bus lane sharing guidance information is sent to the in-vehicle service device, where the bus lane sharing guidance information is used to determine whether the requesting vehicle can use the bus lane.

5. The bus lane sharing method according to claim 4, characterized in that: The method further comprises: The global perception information is obtained based on a roadside perception system, and the traffic light phase information is obtained based on a traffic signal control device.

6. A bus lane sharing method, characterized in that: Applied to cloud service equipment, including: Receiving bus lane sharing query information sent by the roadside service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; Based on the preset bus lane sharable vehicle information and the preset bus lane control strategy, bus lane sharing feedback information is sent to the roadside service device, and the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane.

7. A vehicle-mounted service device, characterized in that: Including memory, transceiver, processor; A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Sending bus lane sharing request information to a roadside service device, where the bus lane sharing request information is used to request the use of a target bus lane; The bus lane sharing guidance information sent by the roadside service device is received, where the bus lane sharing guidance information is used to determine whether the requesting vehicle corresponding to the on-board service device can use the bus lane.

8. The vehicle-mounted service device according to claim 7, characterized in that: The sending of bus lane sharing request information to the roadside service device includes: Determining the vehicle operating status of the requested vehicle and the number of passengers in the requested vehicle; When the vehicle operation status is in operation and the number of passengers in the vehicle reaches a preset threshold, bus lane sharing request information is sent to the roadside service device.

9. The vehicle-mounted service device according to any one of claims 7 to 8, characterized in that: The bus lane sharing request information includes one or more of the following information: Upstream node information of the target lane; Downstream node information of the target lane; The lane number of the target lane; Vehicle operating status; Number of passengers in the vehicle.

10. A roadside service device, characterized in that: Including memory, transceiver, processor; A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Receiving bus lane sharing request information sent by the vehicle-mounted service device, wherein the bus lane sharing request information is used to request to use a target bus lane; Sending bus lane sharing query information to a cloud service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; Receiving bus lane sharing feedback information sent by the cloud service device, wherein the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane; Determining a sharing result of the target lane based on the bus lane sharing feedback information, global perception information and signal light phase information; Based on the sharing result, bus lane sharing guidance information is sent to the in-vehicle service device, where the bus lane sharing guidance information is used to determine whether the requesting vehicle can use the bus lane.

11. The roadside service equipment according to claim 10, characterized in that: The processor is further configured to read the computer program in the memory and perform the following operations: The global perception information is obtained based on a roadside perception system, and the traffic light phase information is obtained based on a traffic signal control device.

12. A cloud service device, characterized in that: Including memory, transceiver, processor; A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Receiving bus lane sharing query information sent by the roadside service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; Based on the preset bus lane sharable vehicle information and the preset bus lane control strategy, bus lane sharing feedback information is sent to the roadside service device, and the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane.

13. A bus lane sharing device, characterized in that: include: A first sending module is used to send bus lane sharing request information to the roadside service device, where the bus lane sharing request information is used to request to use a target bus lane; The first receiving module is used to receive the bus lane sharing guidance information sent by the roadside service device, and the bus lane sharing guidance information is used to determine whether the requesting vehicle corresponding to the on-board service device can use the bus lane.

14. A bus lane sharing device, characterized in that: include: A second receiving module is used to receive bus lane sharing request information sent by the vehicle-mounted service device, where the bus lane sharing request information is used to request to use a target bus lane; A second sending module is used to send bus lane sharing query information to the cloud service device, where the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the on-board service device and the road control status of the target lane; A third receiving module is used to receive the bus lane sharing feedback information sent by the cloud service device, where the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane; A first determination module, configured to determine a sharing result of the target lane based on the bus lane sharing feedback information, global perception information and signal light phase information; The third sending module is used to send bus lane sharing guidance information to the vehicle-mounted service device based on the sharing result, and the bus lane sharing guidance information is used to determine whether the requesting vehicle can use the bus lane target lane.

15. A bus lane sharing device, characterized in that: include: A fourth receiving module, used to receive bus lane sharing query information sent by the roadside service device, wherein the bus lane sharing query information is used to obtain the vehicle authority of the requesting vehicle corresponding to the vehicle-mounted service device and the road control status of the target lane; The fourth sending module is used to send bus lane sharing feedback information to the roadside service equipment based on the preset bus lane sharable vehicle information and the preset bus lane control strategy, and the bus lane sharing feedback information includes the vehicle authority of the requesting vehicle and the road control status of the target lane.

16. A non-transitory readable storage medium, characterized in that: The non-transitory readable storage medium stores a computer program, and the computer program is used to enable a processor to execute the bus lane sharing method according to any one of claims 1 to 3.

17. A non-transitory readable storage medium, characterized in that: The non-transitory readable storage medium stores a computer program, and the computer program is used to enable a processor to execute the bus lane sharing method as described in any one of claims 4 to 5.

18. A non-transitory readable storage medium, characterized in that: The non-transitory readable storage medium stores a computer program, and the computer program is used to enable a processor to execute the bus lane sharing method described in claim 6.

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