CN111862596B - Intersection signal control method and system for common vehicle borrowing BRT (bus bridge transfer) special lane - Google Patents

Intersection signal control method and system for common vehicle borrowing BRT (bus bridge transfer) special lane Download PDF

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CN111862596B
CN111862596B CN202010546125.XA CN202010546125A CN111862596B CN 111862596 B CN111862596 B CN 111862596B CN 202010546125 A CN202010546125 A CN 202010546125A CN 111862596 B CN111862596 B CN 111862596B
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lane
intersection
vehicle
vehicles
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CN111862596A (en
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常玉林
蒋诚
张鹏
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Jiangsu University
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/095—Traffic lights

Abstract

The invention provides an intersection signal control method and a control system for social vehicles to borrow BRT special lanes, which guide a driver to reasonably select whether to borrow lanes through a lane borrowing signal prompt rod when an intersection is congested: if the signal lamp of the intersection is green at the moment, the ordinary vehicle borrows the special BRT lane to pass through the intersection, if the signal lamp of the intersection is red at the moment or the signal lamp is red when the BRT vehicle arrives, the controller cannot borrow the lane in the time period when the BRT vehicle does not arrive at the intersection based on the arrival time of the BRT vehicle when the signal lamp of the intersection is red, and the ordinary vehicle enters the special BRT lane along with the BRT vehicle to wait until the BRT vehicle enters the intersection. The invention improves the traffic capacity of the common vehicles under the condition of congestion at the intersection and improves the utilization rate of road resources on the premise of ensuring the traffic priority of BRT vehicles.

Description

Intersection signal control method and system for common vehicle borrowing BRT (bus bridge transfer) special lane
Technical Field
The invention belongs to the technical field of intersection traffic control, and relates to an intersection signal control method and an intersection signal control system for a common vehicle to borrow a BRT (bus bridge transit) lane.
Background
Along with the rapid development of urban economy, the living material level of people is gradually improved, and the owned quantity of motor vehicles of everyone is also rapidly increased. According to the traffic data at the end of 2017, the number of motor vehicles in China exceeds 3 hundred million. 2/3 is a car, which brings great traffic pressure to roads in China, such as traffic problems of vehicle jam, queue overflow and the like. Researches find that the congestion at the intersection becomes the primary problem of urban traffic by excluding unpredictable reasons such as traffic accidents. The method is characterized in that the intersection provided with the BRT special lane is seriously jammed in a common lane in a traffic peak period, and the utilization rate of the BRT special lane is low, so that the resource is greatly wasted.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an intersection signal control method and an intersection signal control system for a common vehicle to borrow a BRT lane, and solves the problem of low utilization rate of the BRT lane when the intersection is congested.
The present invention achieves the above-described object by the following technical means.
An intersection signal control method for a common vehicle borrowing a BRT lane, wherein a BRT bus station is positioned at an intersection outlet, and the method comprises the following steps:
step (1), when the intersection is congested, the controller controls the two adjacent BRT vehiclesThe distance W between and the minimum distance WminThe relationship between them, whether the lending can be done: when W > WminWhen the vehicle is in use, the lane borrowing signal prompt rod is controlled to realize the lane borrowing and shunting of the common vehicle, and if W is less than or equal to WminNo lane borrowing is allowed;
step (2), common vehicles borrow a lane to shunt, if the signal lamp of the intersection is green at the moment, the common vehicles borrow the BRT special lane to pass through the intersection, if the signal lamp of the intersection is red at the moment or the BRT vehicles arrive at the intersection and are red, the common vehicles follow the BRT vehicles to enter the special lane to wait, and the number of the following common vehicles is determined by the time t of the signal lamp green at the current intersection;
and (3) after the ordinary vehicles pass through the intersection, the lane changing vehicles drive into the exit lane, and the straight-going vehicles in the ordinary lane need to change lanes to the right to drive out of the intersection during the lane borrowing period.
Further, if the BRT bus station is located at the intersection entrance, the following conditions are required to be met: if the signal lamp of the intersection is red when the BRT vehicle arrives at the station, the stop time x and the remaining red light time x1 of the BRT vehicle at the bus station platform meet the condition that | x-x1| is less than or equal to 5s, and at the moment, a BRT special lane can be borrowed; if the signal lamp of the intersection is green when the BRT vehicle arrives at the station, the special BRT road cannot be used.
Furthermore, a yellow flashing light is additionally arranged at the lane changing exit to remind the vehicles passing through the lane changing exit of paying attention to the fact that the left traffic flows are converged.
Further, when the intersection signal lamp is red, the common vehicle enters the special lane to wait along with the BRT vehicle until the BRT vehicle enters the intersection to wait.
Further, the determination process of the number M of following ordinary vehicles is as follows: if the signal lamp of the intersection is red when the BRT vehicle arrives, then
Figure GDA0003501704310000021
If the signal lamp of the intersection is green when the BRT vehicle arrives, then
Figure GDA0003501704310000022
When the green time is less than 5s, the BRT special track can not be borrowed.
An intersection signal control system for a common vehicle to borrow a BRT lane comprises flow monitoring equipment, a lane borrowing signal prompt rod, a public traffic information processing center and a controller; the controller calculates the arrival time of the BRT vehicle from the real-time position of the BRT bus station and the real-time position of the BRT vehicle; the traffic monitoring equipment monitors the number of vehicles to be passed at the intersection, and when the vehicles are jammed, the bus information processing center controls the lane borrowing signal prompt rod through the controller, so that lane borrowing of the BRT special lane is realized.
In the technical scheme, the lane borrowing signal prompt rod comprises a signal lamp, a counter and a caption bar, the controller sends the number of vehicles allowed to borrow to the counter, and the signal lamp is controlled by the controller to be started and stopped; when the signal lamp works, the controller controls the subtitle bar to display 'the BRT lane can be borrowed', and meanwhile, the counter displays the number of the remaining vehicles which are allowed to be borrowed; when the signal lamp does not work, the controller controls the caption bar to display 'vehicles normally pass' and the counter does not work at the same time.
In the technical scheme, the light sensor is arranged below the lane lending signal prompt rod and used for counting the number of vehicles ready to be borrowed and sending the number to the controller.
In the technical scheme, the lane changing path length of the common vehicle entering the BRT lane is 20-30 m, the lane changing path length L of the common vehicle leaving the BRT lane is 0.5S, and S is the distance between the stop line of the entrance lane of the intersection and the opposite stop line.
In the above technical solution, the congestion satisfies: the number of the vehicles to be passed at the current intersection in two continuous signal periods is larger than the maximum passing traffic flow TMAX。
The invention has the beneficial effects that: in the intersection entrance road section, the traffic flow condition of the current intersection entrance road section is detected through the flow monitoring equipment, and if the number of the vehicles to be passed through at the current intersection in two continuous signal periods is larger than the maximum passing traffic flow, the conditions need to be relieved through lane borrowing. And on the premise of not influencing the subsequent BRT vehicles, guiding the driver to reasonably select whether to borrow the lane through a lane borrowing signal prompting rod: if the intersection signal lamp is green at the moment, the ordinary vehicle borrows the special BRT lane to pass through the intersection, if the intersection signal lamp is red at the moment or the red light is used when the BRT vehicle arrives, the controller cannot borrow the lane in the time period when the BRT vehicle does not arrive at the intersection based on the arrival time of the BRT vehicle when the intersection signal lamp is red, and the ordinary vehicle enters the special lane along with the BRT vehicle until the BRT vehicle waits when the BRT vehicle enters the intersection. The invention improves the traffic capacity of the common vehicle under the condition of intersection congestion; under the condition of ensuring the passing priority of BRT vehicles, the utilization rate of road resources is improved.
Drawings
FIG. 1 is a schematic view of an intersection having a BRT lane according to the present invention;
FIG. 2 is a schematic diagram of the lane-borrowing signal cue stick of the present invention;
FIG. 3 is a schematic diagram of a conventional vehicle entering a BRT lane according to the present invention;
FIG. 4 is a schematic diagram of a conventional vehicle leaving a BRT lane according to the present invention;
FIG. 5 is a flow chart of an intersection signal control method of borrowing a BRT lane according to the present invention;
FIG. 6 is a schematic view of the BRT bus stop of the present invention disposed at the entrance of an intersection;
fig. 7 is a schematic diagram of the BRT bus station provided at the intersection entrance and after the common vehicles change lanes.
The system comprises a bus station 1-BRT, a route after lane change 2, lane marking lines A, lane marking lines 4, common vehicles 5, a flow monitoring device 6, a lane borrowing signal prompt rod 7, a route before lane change 8, lane marking lines B, signal lamps 10, a counter 11 and caption bars 12.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, an intersection signal control system for an ordinary vehicle to borrow a BRT lane comprises a BRT bus station 1, BRT vehicles 4, flow monitoring equipment 6, a lane borrowing signal prompt rod 7, a bus information processing center and a controller. The hardware installed on the BRT bus station 1 comprises: the positioning system is used for positioning the BRT bus station in real time and sending the BRT bus station to the controller through the wireless network adapter; the BRT vehicle 4 is provided with a vehicle-mounted positioning device, a wireless network adapter and an external antenna, wherein the vehicle-mounted positioning device (such as GPRS) is used for acquiring the real-time position of the BRT vehicle 4 and sending the real-time position to the controller through the wireless network adapter; the controller calculates the arrival time of the BRT vehicle according to the real-time position of the BRT bus station and the real-time position of the BRT vehicle. The flow monitoring equipment 6 comprises a high-precision camera type flow detector and a wireless video transmission device, the high-precision camera type flow detector monitors the number of vehicles to be passed at the intersection in a signal period, the vehicles are sent to a public traffic information processing center through the wireless video transmission device, and if the current intersection is congested, the public traffic information processing center realizes the lane borrowing of a BRT (bus rapid transit) special lane through a controller; the flow monitoring device 6 is arranged at the intersection violation camera post. The lane-borrowing signal prompting rod 7 is communicated with the controller, as shown in fig. 2, the lane-borrowing signal prompting rod 7 comprises a signal lamp 10, a counter 11 and a caption bar 12, in order to be distinguished from a red signal lamp and a green signal lamp, the signal lamp 10 adopts a blue lamp, normal driving of a vehicle is not interfered, no lane-borrowing is possible when the signal lamp does not work, and lane-borrowing is possible when the signal lamp works. The controller sends the number of vehicles allowed to borrow the lane to the counter 11, and the signal lamp 10 is controlled to start and stop by the controller; when the signal lamp 10 works, the controller controls the subtitle bar 12 to display 'BRT lane can be borrowed', and the counter 11 displays the number of the remaining vehicles which can be borrowed; when the signal lamp 10 does not work, the controller controls the caption bar 12 to display 'normal traffic' while the counter 11 does not work. And an optical sensor is also arranged below the lane borrowing signal prompt rod 7 and used for counting the number of vehicles ready to be borrowed and sending the counted number to the controller, and when the number of the vehicles ready to be borrowed is equal to the number of the vehicles allowed to be borrowed, the controller controls the signal lamp 10 to stop working.
First, crossing lane and device setting
As shown in fig. 1, an intersection with a BRT lane in a certain area is provided, the BRT lane is a straight lane, and accordingly, a normal vehicle needing to pass straight can borrow the lane. The arrangement of the common lanes follows the conventional design, and at the intersection inlet from south to north: the left turn is close to the left, the right turn is provided with a right-turn special lane, and the number of the straight lanes is 3.
In fig. 1, reference numeral 1 denotes a south-to-north BRT bus station, which is located at an exit of an intersection and is designed at a middle position of a road. And 2, the special lane for the BRT to borrow drives through the lane change path after the lane passes through the intersection, the length of the lane change path is L, the L is determined by the distance S between the stop line of the entrance lane of the intersection and the opposite stop line, and in the invention, the L is 0.5S. The lane marking A of the common vehicle needing lane changing is 3, the BRT vehicle is 4, and the common vehicle following the BRT vehicle is 5. The BRT bus station 1 is located on the right side of the vehicle, so the BRT vehicle 4 is arranged as a right side door; after passing through the intersection following the BRT vehicle 4, the ordinary vehicle 5 enters the ordinary lane through the post-lane change path 2. The number 7 is a lane borrowing signal prompt rod, in order to ensure the lane change safety, the lane borrowing signal prompt rod 7 is arranged at a position D away from the stop line of the intersection, and the short distance D can reduce the reaction time of a driver, increase the risk of forced lane change and reduce the safety; if D is too long, the road condition is complex, and the road condition changes after the vehicle arrives at the intersection, so that the normal order is affected, and the range of D is 100 m-200 m. The lane borrowing signal prompt rod 7 prompts whether the ordinary vehicles can borrow lanes or not and the number of the lane borrowing vehicles according to the current traffic signal time at the intersection during the lane borrowing period.
FIG. 3 is a schematic diagram of a common vehicle entering a dedicated lane, wherein FIG. 8 is a lane change path of the common vehicle entering the BRT dedicated lane, the length of the lane change path is Z, and the length of the Z is generally 20 m-30 m; lane marking B is indicated at 9, and for safety reasons, the arrangement method of the left solid line and the right broken line is adopted, namely, the lane change can be carried out only from right to left.
Fig. 4 is a schematic diagram of a normal vehicle leaving a BRT lane. In the figure, the BRT vehicle 4 normally runs, and when the common vehicle 5 following behind runs to the path 2 after lane changing, the lane is changed to the right along the lane marking line A3 to drive into a left straight lane at the exit of the intersection.
Setting and working process of flow monitoring equipment 6 and channel borrowing signal prompt rod 7
The flow monitoring equipment 6 detects the number of vehicles to be passed at the intersection in the signal period and sends the number to the public transportation information processing center, and if the number of the vehicles to be passed in the period is larger than the number of the vehicles to be passed in the period, the number is judgedAt the moment, the crossing is slow to pass (the lane does not need to be opened), and if the number of the vehicles to be passed at the current crossing in two continuous signal periods is larger than the maximum traffic flow TMAXAnd judging that the current intersection is congested, and performing BRT special lane lending at the moment.
Whether the lane borrowing is needed or not is judged through the traffic flow detection, when the intersection is not congested, the signal lamp 10 does not work, the counter 11 does not work, and the caption bar 12 prompts that the vehicles normally pass, namely the lane borrowing is not needed; when the intersection is congested, the signal lamp 10 works to prompt that 'the BRT special lane can be borrowed' in front of the vehicles, and the counter 11 displays the number of the remaining vehicles which can be borrowed.
An intersection signal control method for a common vehicle to borrow a BRT lane specifically comprises the following steps:
as shown in fig. 5, the method includes the steps of determining the lane borrowing condition, performing the lane borrowing process, and performing the lane change process after the lane borrowing passes.
(1) Judgment of lane borrowing conditions
Firstly, on the premise of ensuring the BRT vehicles 4 to have priority, detecting the number (set as T) of vehicles to be passed at the intersection through the flow monitoring equipment 6, and when T is more than TMAXIn time, it is determined that road borrowing is needed to alleviate intersection congestion, and whether road borrowing can be performed or not is determined by considering the following conditions:
to ensure preferential passage of the BRT vehicles 4, the ordinary vehicle being borrowed is allowed to follow only the BRT vehicles arriving at the station. The controller obtains the distance W between two adjacent BRT vehicles (the minimum distance is recorded as W)min) When W > WminWhen the vehicle is in a lane borrowing state, namely when the two BRT vehicles are in a sufficient distance, the lane borrowing is determined to be allowed, the lane borrowing signal prompt rod 7 is controlled, and the lane borrowing and shunting of the common vehicles are realized; during the borrowable period, the ordinary vehicle can freely select whether to enter the BRT special lane for driving. WminThe specific values are as follows: assuming that the BRT speed is 60km/h and the uniform speed is running, and the green light time at the intersection is 30s, then according to the calculation that the borrowed vehicles pass through the intersection completely within 30s, WminIs 500m, here W is taken for safetymin600 m. If W is less than or equal to WminAnd the ordinary vehicles cannot enter the BRT special lane, and the intersection normally passes.
(2) Course of lending
The controller enables the common vehicles to enter the BRT special lane through the lane borrowing signal prompt rod 7, if the intersection signal lamp is the green lamp at the moment, the common vehicles borrow the BRT special lane to pass through the intersection, if the intersection signal lamp is the red lamp at the moment or the BRT vehicles arrive at the red lamp, when the intersection signal lamp is the red lamp, the controller cannot borrow the lane in the time period that the BRT vehicles do not arrive at the intersection based on the arrival time of the BRT vehicles, until the BRT vehicles enter the intersection waiting time, the common vehicles enter the special lane to wait along with the BRT vehicles, the number of the following common vehicles is determined by the green lamp time of the current intersection signal lamp, and the green lamp time is set as t. The condition of the intersection signal lamp is acquired by an intersection signal control system.
The determination process of the number of following ordinary vehicles is as follows:
assuming that M ordinary vehicles are allowed to pass through the intersection along with the BRT vehicle, if the signal lamp of the intersection is red when the BRT vehicle arrives, the time between the line passing of the previous vehicle and the line passing of the next vehicle is set to be 5 s/vehicle (considering the time required by the vehicle to start), and then
Figure GDA0003501704310000051
If the BRT vehicle can normally pass through the intersection when arriving (the intersection signal light is green light or the BRT vehicle arrives at the intersection stop line is green light), the time between the line passing of the previous vehicle and the line passing of the next vehicle is set to be 4 s/vehicle (no parking is needed, the BRT vehicle passes through at low speed), and then the BRT vehicle can normally pass through the intersection when arriving at the intersection stop line
Figure GDA0003501704310000052
To ensure safety, if the remaining time of the green light is less, and potential safety hazards are caused by borrowing the lane again, it is specified that the controller signal lamp 10 does not work if the green light time is less than 5s (the controller is acquired by an intersection signal control system).
(3) Lane change process after lane borrowing
After a common vehicle runs through an intersection, the common vehicle needs to change lanes to enter a common lane to continue running due to the particularity of a BRT special lane, and the BRT bus station 1 occupies the position of an exit lane, so that the lane-changing vehicle needs to run into the exit lane, and a straight vehicle of the common lane needs to change lanes to the right to run out of the intersection during the lane borrowing, namely vehicles on the common straight lanes (i.e. the common straight lanes) (i.e. the exit lane (i) are originally used by vehicles turning right in the east-west direction and can be used during the lane borrowing in the north-south direction).
In the above process, if the BRT bus station is located at the intersection entrance, as shown in fig. 6, the situations of BRT vehicle stop and passenger stop at the station need to be considered. When the above-mentioned lending condition is satisfied, the following condition is also satisfied:
if the signal lamp of the intersection is red when the BRT vehicle arrives at the station, but the stop time x of the BRT vehicle at the bus station and the remaining time x1 of the red light meet the condition that | x-x1| is less than or equal to 5s, the BRT special road can be borrowed at the moment, and the common vehicle drives into the BRT special road under the prompt of the signal lamp 10 and passes through the intersection along with the BRT vehicle; if the intersection signal lamps are green when the BRT vehicles arrive at the station, the BRT vehicles need to get on or off the bus at the station, and the lane borrowing is not only ineffective, but also can aggravate congestion, and even can influence the next arriving BRT vehicle, so that the lane borrowing is not allowed. The bus stop stopping time x is an empirical value and is set in the controller, and the red light remaining time x1 is obtained by the intersection signal control system.
If the BRT bus station is at the intersection entrance, the common vehicles change lanes to enter the common lanes after passing through the intersection along with the BRT vehicles, as shown in fig. 7. A lane change signal prompt rod (provided with a yellow flashing light and controlled by a controller to work all the time) is additionally arranged at the exit, so that the vehicles passing through the intersection are reminded of paying attention to the fact that the left traffic flow is converged (the vehicles enter the common lane after lane change), the distance between the prompt rod and the exit is C, and C is 30-50 m.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.

Claims (9)

1. An intersection signal control method for a common vehicle to borrow a BRT lane is characterized in that a BRT bus station is located at an intersection outlet, and comprises the following steps:
step (1), when the intersection is congested, the controller enables the distance W between two adjacent BRT vehicles and the minimum distance W to be the sameminThe relationship between them, whether the lending can be done: when W > WminWhen the vehicle is in use, the lane-borrowing signal prompt rod (7) is controlled to realize the lane-borrowing and shunting of the common vehicles, and if W is less than or equal to WminNo lane borrowing is allowed;
step (2), common vehicles borrow a lane to shunt, if the signal lamp of the intersection is green at the moment, the common vehicles borrow the BRT special lane to pass through the intersection, if the signal lamp of the intersection is red at the moment or the BRT vehicles arrive at the intersection and are red, the common vehicles follow the BRT vehicles to enter the special lane to wait, and the number of the following common vehicles is determined by the green time t of the signal lamp of the current intersection;
the determination process of the number M of following ordinary vehicles is as follows: if the signal lamp of the intersection is red when the BRT vehicle arrives, M is t/5; if the signal lamp of the intersection is green when the BRT vehicle arrives, then
Figure FDA0003501704300000011
When the green light time is less than 5s, a BRT (bus bridge transfer) special channel cannot be borrowed;
and (3) after the ordinary vehicles pass through the intersection, the lane changing vehicles drive into the exit lane, and the straight-going vehicles in the ordinary lane need to change lanes to the right to drive out of the intersection during the lane borrowing period.
2. The intersection signal control method for an ordinary vehicle to borrow a BRT lane according to claim 1, wherein if the BRT bus station platform is located at the entrance of the intersection, the following conditions are required to be met: if the signal lamp of the intersection is red when the BRT vehicle arrives at the station, the stop time x and the remaining red light time x1 of the BRT vehicle at the bus station platform meet the condition that | x-x1| is less than or equal to 5s, and at the moment, a BRT special lane can be borrowed; if the signal lamp of the intersection is green when the BRT vehicle arrives at the station, the special BRT road cannot be used.
3. The intersection signal control method for an ordinary vehicle to borrow the BRT lane according to claim 2, wherein a yellow flashing light is additionally arranged at the lane changing exit to remind the vehicle passing through the intersection of paying attention to the influx of the left-side traffic.
4. The intersection signal control method for an ordinary vehicle to borrow a BRT lane according to claim 1, wherein when an intersection signal lamp is a red lamp, the ordinary vehicle enters a special lane to wait along with a BRT vehicle until the BRT vehicle enters the intersection to wait.
5. The system for controlling the intersection signal of the common vehicle borrowed from the BRT lane according to any one of claims 1 to 4, is characterized by comprising a flow monitoring device (6), a lane borrowing signal prompt rod (7), a public traffic information processing center and a controller; the controller calculates the arrival time of the BRT vehicle from the real-time position of the BRT bus station and the real-time position of the BRT vehicle; the traffic monitoring equipment (6) monitors the number of vehicles to be passed at the intersection, and when the vehicles are jammed, the bus information processing center controls the lane borrowing signal prompt rod (7) through the controller, so that lane borrowing of the BRT special lane is realized.
6. The system according to claim 5, characterized in that the lane-borrowing signal prompting rod (7) comprises a signal lamp (10), a counter (11) and a caption bar (12), the controller sends the number of vehicles allowed to be borrowed to the counter (11), and the signal lamp (10) is controlled by the controller to be started and stopped; when the signal lamp (10) works, the controller controls the subtitle bar (12) to display 'BRT lane can be borrowed', and the counter (11) displays the number of the remaining vehicles which are allowed to be borrowed; when the signal lamp (10) does not work, the controller controls the caption bar (12) to display 'normal vehicle passing', and meanwhile, the counter (11) does not work.
7. The system according to claim 6, characterized in that a light sensor is arranged below the lane borrowing signal prompt rod (7), and the light sensor is used for counting the number of vehicles ready for lane borrowing and sending the number to the controller.
8. The system according to claim 6, wherein the lane change path length of the ordinary vehicle entering the BRT lane is 20m to 30m, the lane change path length L of the ordinary vehicle leaving the BRT lane is 0.5S, and S is the distance between the stop line of the approach lane and the opposite stop line at the intersection.
9. The system of claim 6, wherein the congestion satisfies: the number of the vehicles to be passed at the current intersection in two continuous signal periods is larger than the maximum passing traffic flow TMAX。
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