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.