Control method, device and equipment for realizing dynamic convergence of special lane

Abstract

The invention discloses a control method, device and equipment for realizing dynamic convergence of a bus lane, which are used for improving the utilization rate of the bus lane. The method comprises the following steps: acquiring vehicle information of buses in an upstream bus lane of a target station; according to the occupation state information of the target station and the vehicle information, determining a bus group leaving the target station in a green light phase of a target intersection at the downstream of the target station and a departure time window of the bus group leaving the target station; determining an accessible time interval among the front-end time interval, the intermediate time interval and / or the rear-end time interval; and according to the convertible time interval, a convertible indicator light is controlled, so that the convertible indicator light has a green light phase within the convertible time interval, and the convertible indicator light is used for indicating whether the social vehicle can converge into the bus lane at the downstream of the target station at the convertible point at the downstream of the target station to run in the bus lane at the downstream of the target station.

Description

Technical Field

[0001] The present application relates to the field of public transportation technology, and in particular to a control method, device and equipment for realizing dynamic merging into a dedicated lane. Background Art

[0002] Bus lanes are motorway lanes designated exclusively for buses, with other vehicles prohibited from occupying or using them during designated hours. Their core purpose is to improve the efficiency, punctuality, and attractiveness of public transportation, thereby encouraging citizens to choose public transportation, alleviating urban congestion and reducing exhaust pollution.

[0003] However, in some cases, the utilization rate of bus lanes is not high, resulting in idle road resources. How to increase the utilization rate of bus lanes and balance the priority of buses with the demand of social vehicles is a technical problem that needs to be solved urgently. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a control method, device, and apparatus for achieving dynamic merging into a dedicated lane, so as to improve the utilization rate of the bus lane.

[0005] To solve the above problems, the technical solutions provided in the embodiments of the present application are as follows:

[0006] A control method for realizing dynamic merging of a dedicated lane, the method comprising:

[0007] Obtain vehicle information of buses in the upstream bus lane of the target station;

[0008] Determining, based on the occupancy status information of the target station and the vehicle information, a bus formation that leaves the target station within a green light phase of a target intersection downstream of the target station and a departure time window for the bus formation to leave the target station;

[0009] Determining the mergeable time interval from a front-end time interval, an intermediate time interval, and / or a rear-end time interval, wherein the front-end time interval is a time interval between a first moment before the start of a green light phase of the target intersection and a start time of a first departure time window, the intermediate time interval is a time interval between the departure time windows, and the rear-end time interval is a time interval between an end time of the last departure time window and a second moment before the end of the green light phase of the target intersection;

[0010] The merging indicator light is controlled according to the merging time interval so that the merging indicator light has a green light phase within the merging time interval. The merging indicator light is used to indicate whether private vehicles can merge into the bus lane downstream of the target station at the merging point downstream of the target station.

[0011] In a possible implementation, determining the importable time interval in the front-end time interval, the middle time interval, and / or the back-end time interval includes:

[0012] When the front-end time interval is greater than a first threshold, determining the front-end time interval as an importable time interval;

[0013] When the intermediate time interval is greater than a second threshold, determining the intermediate time interval as a time interval that can be merged;

[0014] When the backend time interval is greater than a first threshold, determining the backend time interval as an importable time interval;

[0015] The first threshold and the second threshold are determined according to the time it takes for a single private vehicle to merge into the bus lane and the safe time distance of a bus, and the second threshold is greater than the first threshold.

[0016] In a possible implementation, the method further includes:

[0017] When the intermediate time interval is not determined as the mergeable time interval, the intermediate time interval that is not determined as the mergeable time interval and the adjacent departure time windows are merged into one departure time window.

[0018] In a possible implementation, when the import-enabled time interval is a front-end time interval, controlling the import indicator light according to the import-enabled time interval includes:

[0019] At the first moment, determining whether there is a vehicle in the downstream bus lane of the target station;

[0020] When there is no vehicle in the downstream bus lane of the target station, the merging indicator light is controlled to change to a green light phase at the first moment and to a red light phase at a third moment; wherein the third moment is the start time of the first departure time window minus the safe distance of the bus;

[0021] When there is a vehicle in the bus lane downstream of the target station, determining a time when the bus lane downstream of the target station is cleared of vehicles;

[0022] If the clearing time is less than the start time of the first departure time window, the incoming indicator light is controlled to change to a green light phase at the clearing time and to a red light phase at the third time.

[0023] In a possible implementation, when the merging-enabled time interval is an intermediate time interval, and the merging-enabled time interval is adjacent to a preceding departure time window and a subsequent departure time window, controlling the merging indicator light according to the merging-enabled time interval includes:

[0024] The merging indicator light is controlled to change to a green light phase at a fourth moment and to a red light phase at a fifth moment; wherein the fourth moment is the end moment of the preceding departure time window plus a safe distance to the bus, and the fifth moment is the start moment of the succeeding departure time window minus the safe distance to the bus.

[0025] In a possible implementation, when the import-enabled time interval is a backend time interval, controlling the import indicator light according to the import-enabled time interval includes:

[0026] At the end of the last departure time window, determining whether there is a vehicle in the downstream bus lane of the target station;

[0027] When there is no vehicle in the downstream bus lane of the target station, the merging indicator light is controlled to change to a green light phase at the sixth moment and to a red light phase at the second moment; wherein the sixth moment is the end time of the last departure time window plus the safe distance of the bus;

[0028] When there is a vehicle in the bus lane downstream of the target station, determining a time when the bus lane downstream of the target station is cleared of vehicles;

[0029] If the clearing time is less than the second time, the incoming indicator light is controlled to change to a green light phase at the clearing time and to a red light phase at the second time.

[0030] In one possible implementation, the first moment is the start moment of the green light phase of the target intersection minus the statistical time of traveling from the merging point to the target intersection; the second moment is the end moment of the green light phase of the target intersection minus the statistical time of traveling from the merging point to the target intersection.

[0031] A control device for realizing dynamic merging of a dedicated lane, the device comprising:

[0032] An acquisition unit, configured to acquire vehicle information of buses in the upstream bus lane of a target station;

[0033] a first determining unit, configured to determine, based on the occupancy status information of the target station and the vehicle information, a bus formation departing from the target station within a green light phase of a target intersection downstream of the target station and a departure time window for the bus formation to depart from the target station;

[0034] a second determining unit, configured to determine a mergeable time interval from a front-end time interval, an intermediate time interval, and / or a rear-end time interval, wherein the front-end time interval is a time interval between a first moment before the start of a green light phase of the target intersection and a start time of a first departure time window, the intermediate time interval is a time interval between the departure time windows, and the rear-end time interval is a time interval between an end time of the last departure time window and a second moment before the end of the green light phase of the target intersection;

[0035] A control unit is used to control the merging indicator light according to the merging time interval so that the merging indicator light has a green light phase within the merging time interval. The merging indicator light is used to indicate whether private vehicles can merge into the bus lane downstream of the target station at the merging point downstream of the target station.

[0036] A control device for implementing dynamic merging of dedicated lanes, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements a control method for implementing dynamic merging of dedicated lanes as described in any one of the above items.

[0037] A computer-readable storage medium stores instructions, which, when executed on a terminal device, cause the terminal device to execute any of the control methods described above for achieving dynamic integration of dedicated lanes.

[0038] It can be seen that the embodiments of the present application have the following beneficial effects:

[0039] The embodiment of the present application obtains the vehicle information of the buses in the bus lane upstream of the target station. Based on the occupancy status information and vehicle information of the target station, the bus formations leaving the target station during the green light phase of the target intersection downstream of the target station and the departure time windows of each bus formation when leaving the target station can be estimated. The merging time interval is determined from the front time interval between the first moment before the start of the green light phase of the target intersection and the start time of the first departure time window, the middle time interval between each departure time window, and the back time interval between the end time of the last departure time window and the second moment before the end of the green light phase of the target intersection. The merging indicator light is controlled within the merging time interval so that social vehicles can be guided to merge into the bus lane downstream of the target station at the merging point downstream of the target station during the merging time interval. The merging time interval is long, and the bus lane downstream of the target station is idle at this time, so it can be opened to social vehicles for use, thereby improving the utilization rate of the bus lane. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1A schematic diagram of an exemplary application scenario provided in an embodiment of the present application;

[0041] Figure 2 A flowchart of a control method for implementing dynamic merging of dedicated lanes provided in an embodiment of the present application;

[0042] Figure 3 Schematic diagram of various time intervals in the embodiment of the present application;

[0043] Figure 4 A schematic diagram of a control device for implementing dynamic merging into a dedicated lane provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the embodiments of the present application are further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0045] In order to facilitate understanding of the control method for realizing dynamic integration of dedicated lanes provided in the embodiment of the present application, the following Figure 1 See the example scenario shown. Figure 1 As shown in the figure, this figure is a schematic diagram of an exemplary application scenario provided by an embodiment of the present application.

[0046] In the application scenario of the embodiment of the present application, a bus lane is set up upstream of the target intersection, and a target station is also set up. Figure 1 The middle intersection is the target intersection. The distance between the target station and the target intersection may be far, so social vehicles can use the bus lane downstream of the target station to drive to the target intersection to improve the utilization rate of the bus lane. In actual scenarios, the bus lane can be a medium or low-frequency bus corridor, and the bus can be equipped with V2X (Vehicle to X, vehicle-to-vehicle wireless communication technology) vehicle networking equipment. Based on the control method for realizing dynamic merging of dedicated lanes in the embodiment of the present application, the bus lane can be a dynamic bus lane, that is, when the judgment conditions are met, social vehicles can be allowed to merge into the bus lane. A traffic light is set at the target intersection, and a merging indicator light is set at the downstream position of the target station exit (that is, the merging point downstream of the target station). The merging indicator light is used to indicate whether social vehicles can merge into the bus lane downstream of the target station. Social vehicles can only merge into the bus lane during the green light phase of the target intersection.

[0047] This embodiment estimates and divides the bus's departure time window from the target station to determine the merging time interval, which is then used to control the merging indicator. Furthermore, based on the merging time interval, the system also considers the likelihood and length of vehicles queuing at the target intersection based on the green light duration at the target intersection. This prevents merging vehicles from queuing at the target intersection and spilling over into the station, thus achieving refined merging judgment and control.

[0048] Those skilled in the art will understand that Figure 1 The framework diagram shown is only an example in which the embodiments of the present application can be implemented. The scope of application of the embodiments of the present application is not limited by any aspect of the framework.

[0049] To facilitate understanding of the embodiments of the present application, a control method for implementing dynamic merging of dedicated lanes provided in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0050] See also Figure 2 As shown in FIG, this figure is a flow chart of a control method for realizing dynamic merging of dedicated lanes provided by an embodiment of the present application, as shown in FIG. Figure 2 As shown, the method may include S201-S204:

[0051] S201: Obtain vehicle information of buses in the upstream bus lane of the target station.

[0052] In the embodiment of the present application, the vehicle information of the bus in the upstream bus lane of the target station can be obtained, for example, the preset position (such as Figure 1 The vehicle information of each bus within the detection section from point C in the figure to the target station may include vehicle speed, real-time location, and other information. The preset position on the upstream bus lane of the target station may be a preset distance upstream of the target station, etc. The embodiment of the present application does not limit the preset position on the upstream bus lane of the target station and can be selected according to actual conditions. The means of obtaining vehicle information may be through communication and transmission between the vehicle network and the bus, etc. The embodiment of the present application does not limit the means of obtaining vehicle information and can be selected according to actual conditions.

[0053] S202: Determine, based on the occupancy status information and vehicle information of the target station, the bus formations that leave the target station within the green light phase of the target intersection downstream of the target station and the departure time window of the bus formations from the target station.

[0054] Based on the occupancy status information and vehicle information of the target station, buses can be dispatched to leave the target station within the green light phase of the target intersection downstream of the target station. Buses can leave the target station in the form of bus groups, each bus group including one or more buses. Specifically, when the departure interval between buses is less than a certain preset threshold (for example, the time t for a single social vehicle to merge into the bus lane can be used), the bus group can be dispatched to the bus lane. v2, which can be considered a known quantity), these buses can be considered a bus group. Furthermore, the time when the head of the first bus in the bus group leaves the target station is used as the left boundary of the departure time window, and the time when the tail of the last bus in the bus group leaves the target station is used as the right boundary of the departure time window. This determines the departure time window for the bus group leaving the target station. Each bus group has a corresponding departure time window. When a bus leaves the station alone, it can also be considered a bus group, and its departure time also corresponds to a departure time window.

[0055] For example, the kth bus group leaves the target station, and the first bus head in the bus group leaves the target station, that is, the first bus head arrives at Figure 1 The exit D point position in the station is the starting time of the kth departure time window (i.e. Tk, min); the tail of the last bus in the bus formation leaves the target station, i.e. the tail of the last bus arrives at Figure 1 The exit point D in the station is the end time of the kth departure time window (i.e., Tk,max).

[0056] S203: Determine the time interval that can be merged from the front-end time interval, the middle time interval and / or the back-end time interval, the front-end time interval is the time interval between the first moment before the start of the green light phase of the target intersection and the start time of the first departure time window, the middle time interval is the time interval between the departure time windows, and the back-end time interval is the time interval between the end time of the last departure time window and the second moment before the end of the green light phase of the target intersection.

[0057] There is a time interval between each departure time window, which can be called the middle time interval. There is a time interval between the first moment before the start of the green light phase of the target intersection and the start time of the first departure time window, which can be called the front time interval. There is a time interval between the end time of the last departure time window and the second moment before the end of the green light phase of the target intersection, which can be called the back time interval. Figure 3 As shown, a schematic diagram of various time intervals is shown.

[0058] In one possible implementation, the first moment can be the start moment of the green light phase of the target intersection minus the statistical time of traveling from the merging point to the target intersection; the second moment can be the end moment of the green light phase of the target intersection minus the statistical time of traveling from the merging point to the target intersection.

[0059] In the embodiment of the present application, the first moment is the moment before the green light starts, which can be specifically (t s -t ef ) moment, t sis the starting time of the green light phase at the target intersection, t ef For vehicles entering from the merging point ( Figure 1 Drive to the target intersection ( Figure 1 The time of the vehicle traveling from the merging point to the target intersection is obtained by statistics. The second moment is the moment before the green light ends, which can be specifically (t e -t ef ) moment, t e is the end time of the green light phase at the target intersection, t ef For vehicles entering from the merging point ( Figure 1 Drive to the target intersection ( Figure 1 The time of the vehicle traveling from the merging point to the target intersection) is obtained through statistics.

[0060] The front-end time interval, the middle time interval and / or the back-end time interval that meet the conditions can be determined as an importable time interval, and the length of the importable time interval needs to meet a corresponding threshold.

[0061] In a possible implementation, the specific implementation of determining the importable time interval in the front-end time interval, the middle time interval, and / or the back-end time interval in S203 may include:

[0062] When the front-end time interval is greater than a first threshold, the front-end time interval is determined as a merge-able time interval. When the middle time interval is greater than a second threshold, the middle time interval is determined as a merge-able time interval. When the back-end time interval is greater than the first threshold, the back-end time interval is determined as a merge-able time interval. The first and second thresholds are determined based on the time it takes for a single private vehicle to merge into the bus lane and the safe headway for buses, with the second threshold being greater than the first threshold.

[0063] In practical applications, the time t for a single social vehicle to merge into the bus lane is v2 Safe time distance to the bus t a , can be obtained in advance, usually a constant value determined based on experience or statistics. The first threshold can be t v2 +t a When the front-end time interval or the back-end time interval is greater than the first threshold, the front-end time interval or the back-end time interval can be determined as the time interval that can be imported. The second threshold can be t v2 +2t a When the intermediate time interval is greater than a second threshold, the intermediate time interval may be determined as a sinkable time interval.

[0064] The merging time interval is larger, which can meet the merging time of at least one non-public vehicle, and maintain a safe distance from the buses in front and behind, ensuring the safety of non-public vehicles when merging.

[0065] In a possible implementation, the following may also be included:

[0066] When the intermediate time interval is not determined as the time interval that can be merged, the intermediate time interval that is not determined as the time interval that can be merged and the adjacent departure time windows are merged into one departure time window.

[0067] In one scenario, when the intermediate time interval is not determined to be a mergeable time interval, that is, the duration of the intermediate time interval is short, it can be merged with the adjacent departure time windows to form a departure time window for subsequent processing. Figure 3 In the example, the front-end time interval, the back-end time interval, and the middle time interval t1 are all determined as time intervals that can be imported, while the middle time interval between the departure time windows T2 and T3 is smaller and is not determined as a time interval that can be imported. Then, the middle time interval and the departure time windows T2 and T3 are merged into a new departure time window.

[0068] S204: Control the merging indicator light according to the merging time interval so that the merging indicator light has a green light phase within the merging time interval. The merging indicator light is used to indicate whether private vehicles can merge into the bus lane downstream of the target station at the merging point downstream of the target station.

[0069] For each merging time interval, the phase of the merging indicator light turns green during the merging time interval to indicate that social vehicles can merge into the bus lane downstream of the target station at the merging point downstream of the target station. Figure 1 Point E in the target station) at the exit ( Figure 1 The downstream position of point D in the figure, the distance between the confluence point and the exit of the target station can be set according to actual conditions.

[0070] The specific implementation of S204 of controlling the import indicator light according to the import-available time interval can be found in subsequent embodiments and will not be described in detail here.

[0071] The embodiment of the present application obtains the vehicle information of the buses in the bus lane upstream of the target station. Based on the occupancy status information and vehicle information of the target station, the bus formations leaving the target station during the green light phase of the target intersection downstream of the target station and the departure time windows of each bus formation when leaving the target station can be estimated. The merging time interval is determined from the front time interval between the first moment before the start of the green light phase of the target intersection and the start time of the first departure time window, the middle time interval between each departure time window, and the back time interval between the end time of the last departure time window and the second moment before the end of the green light phase of the target intersection. The merging indicator light is controlled within the merging time interval so that social vehicles can be guided to merge into the bus lane downstream of the target station at the merging point downstream of the target station during the merging time interval. The merging time interval is long, and the bus lane downstream of the target station is idle at this time, so it can be opened to social vehicles for use, thereby improving the utilization rate of the bus lane.

[0072] The implementation process of controlling the import indicator light of the import point is different according to different time interval types.

[0073] For the first time interval type: when the importable time interval is the front-end time interval (the first time and the start time of the first departure time window T 1,min In one possible implementation, the specific implementation of S204 controlling the import indicator light according to the importable time interval may include:

[0074] A1: At the first moment, determine whether there is a vehicle in the downstream bus lane of the target station.

[0075] At the first moment before the green light phase of the target intersection begins, the target station downstream bus lane (for example Figure 1 The vehicle status within the target station (point D to point F), including whether there is a vehicle in the bus lane downstream of the target station. In the embodiment of the present application, the vehicle generally refers to a bus and a private vehicle.

[0076] A2: When there are no vehicles in the downstream bus lane of the target station, the merging indicator light is controlled to change to the green light phase at the first moment and to the red light phase at the third moment; the third moment is the start time of the first departure time window minus the safe distance of the bus.

[0077] At the first moment, when there is no vehicle between point D and point F, the merging indicator light is controlled to turn green at the first moment, indicating that social vehicles are allowed to merge before the green light starts (the first moment). 1,min -t a ) moment the light turns red, indicating that incoming vehicles can enter the target intersection before the start of the first departure time window.

[0078] A3: When there are vehicles in the bus lane downstream of the target station, determine the time when the bus lane downstream of the target station is cleared of vehicles.

[0079] At the first moment, when there are vehicles between point D and point F, the estimated time t at which the vehicles between point D and point F are cleared is c .

[0080] A4: If the clearing time is less than the start time of the first departure time window, the control merging indicator light changes to the green light phase at the clearing time and changes to the red light phase at the third time.

[0081] If t c <T 1,min , indicating that before the first departure time window begins, the vehicles between point D and point F can be cleared, and the merging indicator light is controlled at t c It turns green at the moment, indicating that private vehicles are allowed to merge in only after the vehicles from point D to point F are cleared, and at the third moment (T 1,min -t a ) turns red at the moment, indicating that the incoming private vehicles can enter the target intersection before the start of the first departure time window.

[0082] In an embodiment of the present application, when the front-end time interval is used as the merging time interval, social vehicles are controlled to merge into the bus lane downstream of the target station, and it is ensured that the merging vehicles will not affect the use of the target station, thereby improving the utilization rate of the bus lane.

[0083] For the second time interval type: when the importable time interval is an intermediate time interval (the importable time interval t k It is the first departure time window T k and in the subsequent departure time window T k+1 In one possible implementation, the specific implementation of S204 controlling the import indicator light according to the importable time interval may include:

[0084] The control merging indicator light changes to the green light phase at the fourth moment and changes to the red light phase at the fifth moment; wherein the fourth moment is the end moment of the previous departure time window plus the bus safety distance, and the fifth moment is the start moment of the next departure time window minus the bus safety distance.

[0085] For the intermediate time interval, the control input indicator light is at the fourth moment (T k,max +t a ) turns green, indicating that the train is in the previous departure time window T k After the end of the period, social vehicles are allowed to merge in. At the fifth moment (T k+1,min -t a ) turns red, indicating that the incoming social vehicles can leave the station in the later departure time window Tk+1 Enter the target intersection before starting.

[0086] In an embodiment of the present application, when the intermediate time interval is used as the merging time interval, social vehicles are controlled to merge into the bus lane downstream of the target station, and it is ensured that the merging vehicles will not affect the use of the target station, thereby improving the utilization rate of the bus lane.

[0087] For the third time interval type: when the importable time interval is the backend time interval (the end time of the last departure time window T n，max and the second moment), in a possible implementation, S204 controlling the import indicator light according to the importable time interval may include:

[0088] B1: At the end of the last departure time window, determine whether there is a vehicle in the downstream bus lane of the target station.

[0089] At the end of the last departure time window T n，max When the target station downstream bus lane is obtained (for example Figure 1 The vehicle status within the target station (point D to point F), including whether there are vehicles in the bus lane downstream of the target station.

[0090] B2: When there are no vehicles in the downstream bus lane of the target station, the merging indicator light is controlled to change to green at the sixth moment and to red at the second moment; the sixth moment is the end time of the last departure time window plus the safe distance of the bus.

[0091] In T n，max At the sixth moment (T n +t a ) moment, and turns green at the second moment (t e -t ef ) turns red at all times, indicating that incoming vehicles can pass through the target intersection within the green light time of this target intersection.

[0092] B3: When there are vehicles in the bus lane downstream of the target station, determine the time when the bus lane downstream of the target station is cleared of vehicles.

[0093] In T n，max At time t, when there are vehicles between point D and point F, the estimated time t at which the vehicles between point D and point F are cleared is c .

[0094] B4: If the clearing time is less than the second time, the control input indicator light changes to the green light phase at the clearing time and changes to the red light phase at the second time.

[0095] If t c <t e -t ef , indicating that at the second moment, the vehicles between point D and point F have been cleared, and the merging indicator light is controlled at t c It turns green at the moment, indicating that private vehicles are allowed to merge in only after the vehicles from point D to point F are cleared, and at the second moment (t e -t ef ) turns red at all times, indicating that incoming vehicles can pass through the target intersection within the green light time of this target intersection.

[0096] In an embodiment of the present application, when the back-end time interval is used as the merging time interval, social vehicles are controlled to merge into the bus lane downstream of the target station, and it is ensured that the merging vehicles will not affect the use of the target station, thereby improving the utilization rate of the bus lane.

[0097] Based on the control method for realizing dynamic merging into a dedicated lane provided by the above-mentioned method embodiment, the embodiment of the present application also provides a control device for realizing dynamic merging into a dedicated lane, which will be described below in conjunction with the accompanying drawings.

[0098] See also Figure 4 As shown, this figure is a structural diagram of a control device for realizing dynamic merging of dedicated lanes provided by an embodiment of the present application. Figure 4 As shown, the control device for realizing dynamic merging of dedicated lanes includes:

[0099] An acquisition unit 401 is configured to acquire vehicle information of buses in the upstream bus lane of a target station;

[0100] A first determining unit 402 is configured to determine, based on the occupancy status information of the target station and the vehicle information, a bus formation that leaves the target station within a green light phase of a target intersection downstream of the target station and a departure time window for the bus formation to leave the target station;

[0101] A second determining unit 403 is configured to determine a mergeable time interval from a front-end time interval, an intermediate time interval, and / or a rear-end time interval, wherein the front-end time interval is a time interval between a first moment before the start of a green light phase of the target intersection and a start time of a first departure time window, the intermediate time interval is a time interval between the departure time windows, and the rear-end time interval is a time interval between an end time of the last departure time window and a second moment before the end of the green light phase of the target intersection;

[0102] The control unit 404 is used to control the merging indicator light according to the merging time interval so that the merging indicator light has a green light phase within the merging time interval. The merging indicator light is used to indicate whether private vehicles can merge into the bus lane downstream of the target station at the merging point downstream of the target station.

[0103] In a possible implementation manner, the second determining unit is specifically configured to:

[0104] When the front-end time interval is greater than a first threshold, determining the front-end time interval as an importable time interval;

[0105] When the intermediate time interval is greater than a second threshold, determining the intermediate time interval as a time interval that can be merged;

[0106] When the backend time interval is greater than a first threshold, determining the backend time interval as an importable time interval;

[0107] The first threshold and the second threshold are determined according to the time it takes for a single private vehicle to merge into the bus lane and the safe time distance of a bus, and the second threshold is greater than the first threshold.

[0108] In a possible implementation, the apparatus further includes:

[0109] The merging unit is configured to merge the intermediate time interval that is not determined as the mergeable time interval with the preceding and following adjacent departure time windows into one departure time window when the intermediate time interval is not determined as the mergeable time interval.

[0110] In a possible implementation, when the importable time interval is a front-end time interval, the control unit includes:

[0111] A first determining subunit is configured to determine, at the first moment, whether there is a vehicle in the downstream bus lane of the target station;

[0112] The first control subunit is configured to control the merging indicator light to turn green at the first moment and to turn red at a third moment when no vehicle is present in the downstream bus lane of the target station; wherein the third moment is the start time of the first departure time window minus the safe distance of the bus;

[0113] A second determining subunit is configured to determine a time when the bus lane downstream of the target station is cleared of vehicles when there are vehicles in the bus lane downstream of the target station;

[0114] The second control subunit is configured to control the incoming indicator light to change to a green light phase at the clearing time and to change to a red light phase at the third time if the clearing time is less than the start time of the first departure time window.

[0115] In a possible implementation, when the mergeable time interval is an intermediate time interval, and the mergeable time interval is adjacent to a preceding departure time window and a succeeding departure time window, the control unit includes:

[0116] The third control subunit is used to control the merging indicator light to change to a green light phase at a fourth moment and to change to a red light phase at a fifth moment; wherein the fourth moment is the end moment of the prior departure time window plus the safe time distance of the bus, and the fifth moment is the start moment of the subsequent departure time window minus the safe time distance of the bus.

[0117] In a possible implementation, when the importable time interval is a backend time interval, the control unit includes:

[0118] A third determining subunit is configured to determine whether there is a vehicle in the downstream bus lane of the target station at the end time of the last departure time window;

[0119] a fourth control subunit, configured to control the merging indicator light to change to a green light phase at the sixth moment and to change to a red light phase at the second moment when no vehicle is in the downstream bus lane of the target station; wherein the sixth moment is the end time of the last departure time window plus a safe distance for buses;

[0120] A fourth determining subunit is configured to determine a time when the bus lane downstream of the target station is cleared of vehicles when there are vehicles in the bus lane downstream of the target station;

[0121] The fifth control subunit is configured to control the incoming indicator light to change to a green light phase at the clearing time if the clearing time is less than the second time, and to change to a red light phase at the second time.

[0122] In one possible implementation, the first moment is the start moment of the green light phase of the target intersection minus the statistical time of traveling from the merging point to the target intersection; the second moment is the end moment of the green light phase of the target intersection minus the statistical time of traveling from the merging point to the target intersection.

[0123] In addition, an embodiment of the present application also provides a control device for realizing dynamic merging of dedicated lanes, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements a control method for realizing dynamic merging of dedicated lanes as described in any one of the above items.

[0124] An embodiment of the present application also provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a terminal device, the terminal device executes the control method for realizing dynamic integration of dedicated channels as described in any one of the above items.

[0125] An embodiment of the present application also provides a computer program product, including computer program instructions. When the computer program instructions are executed on a computer, the computer executes the control method for realizing dynamic merging of dedicated lanes as described in any one of the above items.

[0126] The embodiment of the present application obtains the vehicle information of the buses in the bus lane upstream of the target station. Based on the occupancy status information and vehicle information of the target station, the bus formations leaving the target station during the green light phase of the target intersection downstream of the target station and the departure time windows of each bus formation when leaving the target station can be estimated. The merging time interval is determined from the front time interval between the first moment before the start of the green light phase of the target intersection and the start time of the first departure time window, the middle time interval between each departure time window, and the back time interval between the end time of the last departure time window and the second moment before the end of the green light phase of the target intersection. The merging indicator light is controlled within the merging time interval so that social vehicles can be guided to merge into the bus lane downstream of the target station at the merging point downstream of the target station during the merging time interval. The merging time interval is long, and the bus lane downstream of the target station is idle at this time, so it can be opened to social vehicles for use, thereby improving the utilization rate of the bus lane.

[0127] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0128] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0129] It should also be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0130] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0131] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for realizing dynamic merging of dedicated lanes, characterized in that: The method comprises: Obtain vehicle information of buses in the upstream bus lane of the target station; Determining, based on the occupancy status information of the target station and the vehicle information, a bus formation that leaves the target station within a green light phase of a target intersection downstream of the target station and a departure time window for the bus formation to leave the target station; Determining the mergeable time interval from a front-end time interval, an intermediate time interval, and / or a rear-end time interval, wherein the front-end time interval is a time interval between a first moment before the start of a green light phase of the target intersection and a start time of a first departure time window, the intermediate time interval is a time interval between the departure time windows, and the rear-end time interval is a time interval between an end time of the last departure time window and a second moment before the end of the green light phase of the target intersection; The merging indicator light is controlled according to the merging time interval so that the merging indicator light has a green light phase within the merging time interval. The merging indicator light is used to indicate whether private vehicles can merge into the bus lane downstream of the target station at the merging point downstream of the target station.

2. The method according to claim 1, characterized in that The step of determining the importable time interval from the front-end time interval, the middle time interval, and / or the back-end time interval includes: When the front-end time interval is greater than a first threshold, determining the front-end time interval as an importable time interval; When the intermediate time interval is greater than a second threshold, determining the intermediate time interval as a time interval that can be merged; When the backend time interval is greater than a first threshold, determining the backend time interval as an importable time interval; The first threshold and the second threshold are determined according to the time it takes for a single private vehicle to merge into the bus lane and the safe time distance of a bus, and the second threshold is greater than the first threshold.

3. The method according to claim 1 or 2, characterized in that The method further comprises: When the intermediate time interval is not determined as the mergeable time interval, the intermediate time interval that is not determined as the mergeable time interval and the adjacent departure time windows are merged into one departure time window.

4. The method according to claim 1, wherein When the import-enabled time interval is a front-end time interval, controlling the import indicator light according to the import-enabled time interval includes: At the first moment, determining whether there is a vehicle in the downstream bus lane of the target station; When there is no vehicle in the downstream bus lane of the target station, the merging indicator light is controlled to change to a green light phase at the first moment and to a red light phase at a third moment; wherein the third moment is the start time of the first departure time window minus the safe distance of the bus; When there is a vehicle in the bus lane downstream of the target station, determining a time when the bus lane downstream of the target station is cleared of vehicles; If the clearing time is less than the start time of the first departure time window, the incoming indicator light is controlled to change to a green light phase at the clearing time and to a red light phase at the third time.

5. The method according to claim 3, characterized in that When the merging-enabled time interval is an intermediate time interval, and the merging-enabled time interval is adjacent to a preceding departure time window and a subsequent departure time window, controlling the merging indicator light according to the merging-enabled time interval includes: The merging indicator light is controlled to change to a green light phase at a fourth moment and to a red light phase at a fifth moment; wherein the fourth moment is the end moment of the preceding departure time window plus a safe distance to the bus, and the fifth moment is the start moment of the succeeding departure time window minus the safe distance to the bus.

6. The method according to claim 1, characterized in that When the import-enabled time interval is a backend time interval, controlling the import indicator light according to the import-enabled time interval includes: At the end of the last departure time window, determining whether there is a vehicle in the downstream bus lane of the target station; When there is no vehicle in the downstream bus lane of the target station, the merging indicator light is controlled to change to a green light phase at the sixth moment and to a red light phase at the second moment; wherein the sixth moment is the end time of the last departure time window plus the safe distance of the bus; When there is a vehicle in the bus lane downstream of the target station, determining a time when the bus lane downstream of the target station is cleared of vehicles; If the clearing time is less than the second time, the incoming indicator light is controlled to change to a green light phase at the clearing time and to a red light phase at the second time.

7. The method according to any one of claims 1 to 6, characterized in that The first moment is the start moment of the green light phase of the target intersection minus the statistical time of traveling from the merging point to the target intersection; the second moment is the end moment of the green light phase of the target intersection minus the statistical time of traveling from the merging point to the target intersection.

8. A control device for realizing dynamic merging of a dedicated lane, characterized in that: The device comprises: An acquisition unit, configured to acquire vehicle information of buses in the upstream bus lane of a target station; a first determining unit, configured to determine, based on the occupancy status information of the target station and the vehicle information, a bus formation departing from the target station within a green light phase of a target intersection downstream of the target station and a departure time window for the bus formation to depart from the target station; a second determining unit, configured to determine a mergeable time interval from a front-end time interval, an intermediate time interval, and / or a rear-end time interval, wherein the front-end time interval is a time interval between a first moment before the start of a green light phase of the target intersection and a start time of a first departure time window, the intermediate time interval is a time interval between the departure time windows, and the rear-end time interval is a time interval between an end time of the last departure time window and a second moment before the end of the green light phase of the target intersection; A control unit is used to control the merging indicator light according to the merging time interval so that the merging indicator light has a green light phase within the merging time interval. The merging indicator light is used to indicate whether private vehicles can merge into the bus lane downstream of the target station at the merging point downstream of the target station.

9. A control device for realizing dynamic merging of dedicated lanes, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the control method for dynamic integration of dedicated lanes as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, and when the instructions are executed on the terminal device, the terminal device executes the control method for realizing dynamic merging of dedicated lanes as described in any one of claims 1 to 7.

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