The application relates to the technical field of
traffic management, in particular to an intelligent networked
bus priority control method and device for a
signal-free intersection, wherein the method comprises the following steps: obtaining the vehicle state of a
vehicle driving in an observation area of the
signal-free intersection; then inputting the vehicle state into an upper-layer passing time optimization model, taking the weighted sum of
bus vehicle
delay and non-
bus vehicle
delay as the target, outputting the vehicle passing time and the recommended passing speed; then inputting the vehicle passing time and the recommended passing speed into a lower-layer
trajectory planning model, taking the minimum vehicle
energy consumption as the target, outputting the optimized acceleration sequence of each vehicle in the
control area of the
signal-free intersection, so as to control the vehicles to drive into and drive out of the interlaced area of the signal-free intersection. Thus, the problems that the passing right allocation mechanism of the related art lacks explicit support for the
bus priority strategy, and it is difficult to effectively guarantee the
bus priority passing in the mixed
traffic flow environment and reduce the bus
delay are solved.