为了提高BRT(bus rapid transit)专用道的利用率，基于车辆道路信息集成及协作技术，提出BRT专用道路权时分复用的车路协作方法，建立了BRT专用道时分复用的车路协作控制策略模型。研究了分段式BRT行程时间预测算法，结合实时交通流信息，建立车辆借还BRT专用道的换道时间模型，规划了车辆借还协作时序。实验表明，车辆协作控制策略中行程时间预测和借还时间估计接近实际值，并能够有效地实现专用道的时分复用，而不干扰BRT的优先运行。

In order to increase the availability of the part-time idle BRT-lane, this paper proposes a method of time division multiplexing (TDM) to share BRT-lane with other kind of vehicles based on vehicle road collaboration. The TDM control strategy is established based on Vehicle-Infrastructure Integration and vehicles collaboration. The algorithm is researched to forecast the segmented BRT travel time. According to the real time traffic information, a comprehensive model is given to estimate the vehicles' lane-changing time from/to the BRT-lane to/from its neighbor lane and determine the timing sequence for vehicles collaboration. Finally the experiment demonstrates that the predicted value of the travel time and lane changing time is closed to the true value. The control strategy of the vehicles collaboration could promise other kind of vehicles to share BRT-lane without disturbing BRT's priority.