CN1190760C - System and method for adaptive fuzzy control of traffic signal - Google Patents
System and method for adaptive fuzzy control of traffic signal Download PDFInfo
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Abstract
The present invention discloses a system and a method for the fuzzy self-adapting control of traffic signals which is suitable for traffic signal control of urban road single-point level crossings. The traffic signal control device is connected with a vehicle flowrate detector and a signal display device, and a traffic signal period is divided into a plurality of mutually exclusive signal periods; each signal period gets a plurality of traffic flowrate pass rights by the sigal display device. The vehicle flowrate detector is arranged on a traffic lane, with the traffic signal control device carries out formula calculation of vehicle flowrate data collected by the detector and the average time of each vehicle passing a stop line of various vehicle flows, which is obtained by traffic survey in advance to get the release time and the forbidden time of each signal period, and supplies the time to the signal display device. The control device enables the length of the release time and various vehicle flowrates to carry out fuzzy self-adapting in real time, and can also accurately display residual time from.
Description
Technical field
The present invention relates to a kind of traffic signals adaptive fuzzy control system and method thereof, particularly be applied in the urban traffic signal adaptive fuzzy control system and the method thereof of urban road single-point grade crossing.
Background technology
At present, the traffic-control unit overwhelming majority of grade crossing reaches control regularly to the time length of the traffic signals of the various wagon flows of letting pass with the Alternation Display of reddish yellow green light by signal control device with immobilizing.Because the magnitude of traffic flow in each cycle of crossing all directions is dynamic, at random widely different has no cause-effect relationship, adopts this Fixed-time signal adaptive fuzzy control system and method thereof, the un-reasonable phenomenon that " have the direction of car not have right of way, have the direction of right of way not have car and walk " certainly will occur; Cause this very nervous crossing traffic ability still can not make full use of, have the phenomenon of a large amount of traffic ability wastes.Just in order to stop this waste, the someone has proposed " the traffic signals real-time adaptive control of some magnitudes of traffic flow that the time length of the traffic signals of the various wagon flows of letting pass can be adapted in real time automatically collect." as publish in People's Transportation Press May calendar year 2001 " half induction control, the full induction control in the 1189-1221 page or leaf, mentioned of traffic engineering handbook, optimize traffic signals adaptive controllers such as induction control, specify as follows:
1. half induction control
The induction control of detecting device only is set on the part entrance driveway.Be applicable to that the primary and secondary road intersects and the volume of traffic changes on the big crossing, two classes arranged by the position difference that is provided with of detecting device:
1.1 detecting device is located on the secondary road: this induction control, at ordinary times, green light always on the main roads presets maximum green time to secondary road.When detecting device has measured car on the inferior road, change phase place immediately, secondary road changes green light, and during follow-up no car, phase place is promptly returned main road, otherwise, when arriving maximum green time, force to change phase place.
1.2 detecting device is located on the main roads: the main roads green light, when detecting device detects less than vehicle in a period of time, the commutation position, secondary road is open to traffic, and when recording vehicle arrival on the main roads, the phase place that is open to traffic is returned main roads.
2. full induction control
The induction control of detecting device all is set on all entrance driveway, is applicable to that category of intersection roads is suitable, on the crossing that the volume of traffic is similar and variation is bigger.
2.1 basic full induction control.The control mechanism of this induction control is: when the crossing did not have motor vehicle to arrive, teleseme moved in the fixed cycle mode by the minimum period.When a certain direction is sent a car, then direction to the car is put green light, just press the basic mechanism operation of induced signal later on.
2.2 special induction control.Special induction control, can be in general induction control, by special requirement, increase special induction installation, carry out the induction control function of special requirement: still can carry out general induction and control at ordinary times, in case when receiving special induction information by common transport need, carry out special control function at once, preferentially respond to control etc. as special vehicles such as public transport priority sense control, fire-fighting, guards.
3. optimize induction control
Induction control has the advantage that can change signal phase and time with the variation of transport need, and on the bigger crossing of transport need random variation, induction control is superior to the adaptability that traffic changes than timing signal.But by the mechanism of existing induction control, the green time of induction control always can not be fully utilized, particularly green extension.Therefore, produced optimization induction control again.Have a kind ofly, be called the optimization induction control of MOVA, its brief principle is: establish two detecting devices on each entrance driveway of crossing, 40m before stop line for example, 100m before the stop line.Begin to be equipped with enough green times to each phase place, the 40m detecting device is given out light earlier to the vehicle between stop line, and in this section time slot between two detecting devices, be used for detecting seeking and when produce saturated traffic flow, use an optimizer at last, this phase place is prolonged the getable traffic benefit of green time compared because of prolonging the resulting loss of red light, determine the commutation time, thereby reduce the green light lost time in the induction control with another phase place vehicle.Improve the traffic benefit.
But these above-mentioned traffic signals real-time adaptive controls have a common shortcoming: all can not be with the countdown display screen.This is because they all stick to a restriction, and that is exactly " must all let pass the current clearance wagon flow that arrives the crossing in the time in current clearance stage ".Restriction is too strict, has just fettered the trick of control.Because the time that the crossing vehicle arrives is at random, in order to allow the vehicle that has just arrived the crossing in time pass through the crossing, probably will change the clearance time in current clearance stage, the change of this time just directly has influence on the accuracy of the current shown data of real-time count-down screen.And if in real time the shown data of countdown display screen are inaccurate, also just lost the meaning that exists of real-time countdown display screen.So these traffic signals real-time adaptive controls in the past all can not be with the countdown display screen.
These above-mentioned traffic signals real-time adaptive controls also have a shortcoming, that is exactly the vehicle Flow Detection device all to be set in each track that need respond, and the cost of vehicle Flow Detection device is very high, and the detecting device of some kind also is easy to break down.Therefore these above-mentioned traffic signals real-time adaptive controls are usually because certain detecting device breaks down and has to stop using adaptive control.
Summary of the invention
In order to solve the problem of the traffic ability waste that old traffic intersection control device causes in the magnitude of traffic flow of not timing, non-quantitative, the present invention proposes another kind of traffic signals adaptive fuzzy control system and method thereof.
Traffic signals adaptive fuzzy control system of the present invention and method thereof comprise vehicle Flow Detection device, traffic-control unit, signal display apparatus; The vehicle Flow Detection device is arranged on the track; Traffic-control unit one end links to each other with described vehicle Flow Detection device, and the other end links to each other with described signal display apparatus, and described traffic-control unit is divided into several mutually disjoint signal phase with a traffic signals cycle; Corresponding several tracks of each signal phase;
The vehicle Flow Detection device is captured in the parameter f of current clearance stage by each bicycle road vehicle flowrate of detecting device; The various wagon flows that traffic study in advance draws are passed through the average used time parameter t of a car at the crossing stop line
0, and adopt following algorithm:
The maximum vehicle flowrate f in bicycle road
mThe bicycle road vehicle flowrate f} of=Max{ current generation
Calculate green light saturation parameters U;
Just establish the green light saturation degree upper limit, lower limit, maximum green time, minimum green time, transit time and adjustment step-length;
When green light saturation degree U is decided to be the green time supersaturation in limited time greater than last, allow the time t that lets pass of following one-period in same stage
2Than current generation clearance time t
1Increase to some extent, increasing degree is one and adjusts step-length, but if surpass maximum green time after increasing, just getting maximum green time is the time t that let pass in following one-period in the same stage
2When green light saturation degree U less than down being decided to be the green time undersaturation in limited time, allow the time t that lets pass of following one-period in same stage
2Than current generation clearance time t
1Reduce to some extent, the minimizing amplitude is one and adjusts step-length, but if be lower than minimum green time after reducing, just getting minimum green time is the time t that let pass in following one-period in the same stage
2When green light saturation degree U less than the upper limit and moderate greater than being decided to be in limited time down, when moderate, allow the time t that lets pass of following one-period in same stage
2Keep and current generation clearance time t
1Identical constant;
Calculate:
All the other all the other each step transition times of each stage green light signals time+∑ of R=∑ and this summation R be defined as from current clearance stage green light signals finish to green light signals of following one-period in same stage let pass constantly begin between the forbidden time t of red signal of corresponding traffic flow
3
With same stage clearance of described following one-period time t
2With the forbidden time t of described red signal
3Offer signal display apparatus.
Signal display apparatus can be the combination of signal lamp and countdown display screen, also can be independent countdown display screen or independent signal lamp.
This traffic signals adaptive fuzzy control system of the present invention and method thereof according to vehicle flowrate data of detected current generation of vehicle Flow Detection device and this crossing stop line of obtaining by inquiry in advance by parameter averaging time that car is used, and adopt the optimized Algorithm program to obtain same clearance time in stage of following one-period and forbidden time, therefore can make the time length of the traffic signals of the various wagon flows of letting pass carry out real-time adaptive control faintly, both the change with the magnitude of traffic flow increased greatly, diminishing and reduce with the magnitude of traffic flow, simultaneously owing to the time of letting pass in following one-period in same stage is constant in this signal phase, so can also under the situation of the time that does not change this clearance stage, accurately show the also remaining time of traffic lights range conversion signal, the conversion time of signal lamp is published early, allow everybody can adjust the action of oneself early, cooperate point duty, thereby can bring following benefit:
1. can bring to a halt the junction machine motor-car that causes because of the signal lamp sudden change minimizes, thereby has also reduced by its noise pollution that causes, energy consumption, tail gas pollution;
2. can improve the traffic efficiency at crossing:
A. during green light to the motor vehicle at crossing, when the driver does not know signal lamp when during conversion,, often slow down in advance for bringing to a halt of avoiding that the signal lamp sudden change causes, find the constant acceleration again of signal lamp to the crossing.This deceleration, accelerator had both reduced crossing traffic efficient, had increased oil consumption again.
B. during green light to the motor vehicle at crossing, when the driver knows that signal lamp when after the conversion, not only can not slow down by the car at crossing, and some acceleration can also have been passed through by the car at crossing.According to statistics, can improve throughput and reach 20%, queuing amount in crossing when having significantly reduced red light.
During red light to the motor vehicle at crossing, after the driver can know the signal lamp conversion time,
A. the rashness of waiting in line to let pass in the time of can reducing red light.
B. when red light soon finishes, can start vehicle in advance, make full use of green light and let pass the time, reduce the green light loss.
And the benefit of above-mentioned advantage is far longer than, and " this phase place is prolonged the getable traffic benefit of green time to be compared because of prolonging the resulting loss of red light with another phase place vehicle; determine the commutation time, thereby reduce the green light lost time in the induction control in aforementioned " optimizing induction control ".Improve the traffic benefit " benefit of gained.
In addition, notice that aforesaid those traffic signals real-time adaptive controls also have a shortcoming, that is exactly the vehicle Flow Detection device all to be set in each track that need respond, and the cost of vehicle Flow Detection device is very high, and the detecting device of some kind also is easy to break down.Therefore aforesaid those traffic signals real-time adaptive controls are usually because certain detecting device breaks down and has to stop using adaptive control.
The described traffic-control unit of the present invention program also comprises the detector failures self-diagnostic function, be a higher limit and a lower limit that described vehicle Flow Detection device is provided with, when bicycle road vehicle flowrate that the vehicle Flow Detection device collects during greater than higher limit or less than lower limit, break down with regard to this vehicle Flow Detection device of automatic diagnosis, Reflector is set automatically.
The described traffic-control unit of the present invention program also comprises detector failures from maintenance function, i.e. the vehicle flowrate data of stopping using this detecting device to provide when automatic diagnosis goes out certain detector failures automatically.
The data of stopping using certain vehicle Flow Detection device to provide though may cause the not necessarily maximal value among the bicycle road vehicle flowrate f of the maximum vehicle flowrate fm in bicycle road, can not make adaptive control out of service at least.
Certainly, this realization from maintenance function also could realize under certain condition, and that is exactly that the detecting device of all traffic flows of letting pass in the same clearance stage not all breaks down.And the probability that all breaks down is extremely small, and therefore, as long as all be provided with a plurality of detecting devices in each clearance stage, this of traffic signals adaptive fuzzy control system of the present invention and method thereof just can be realized really from maintenance function.
Certainly, the present invention program does not allow under the flimsy situation at the vehicle Flow Detection device; Each signal phase also can only be provided with 1 vehicle Flow Detection device; Promptly all saving by redundant vehicle Flow Detection device, only keeping saturation degree may that maximum vehicle Flow Detection device.Thereby realize the adaptive control that minimum vehicle Flow Detection device is provided with.
Description of drawings
Fig. 1 is grade crossing traffic signals adaptive fuzzy control system and method arrangenent diagram thereof;
Fig. 2 is for to judge whether the vehicle Flow Detection device lost efficacy, and stop using in the back of losing efficacy, and the program flow diagram of seeking maximum bicycle road vehicle flowrate;
Fig. 3 asks for the green light saturation degree and the program flow diagram that it is higher than the upper limit, is lower than lower limit or moderate sign is set;
Fig. 4 determines same stage clearance of following one-period time t for calculating
2And from green light signals finish to green light signals of following one-period in same stage let pass constantly begin between the forbidden time flow chart of red signal of corresponding traffic flow.
Embodiment
As shown in Figure 1, traffic signals adaptive fuzzy control system of the present invention and method thereof are 1 the signal period to be divided into several mutually disjoint signal phase at the crossing, turn left the stage as: north and south stage, north and south keep straight on stage, thing of stage, thing of turning left of keeping straight on; Each signal phase correspondence several tracks, crossing; As: north and south keep straight on the stage just corresponding track 3,6,9,10; The vehicle Flow Detection device is set, as vehicle Flow Detection device 4,5,11,12 is being set respectively respectively on track 3,6,9,10 on each track; Form, the structure of vehicle Flow Detection device do not limit, as long as the accurate inspection vehicle flow of energy, it is the ground induction coil formula vehicle Flow Detection device that is embedded in road crust that present embodiment adopts.
According to prior traffic study, provide various wagon flows and pass through the average used time parameter t of a car at stop line
0, as 2.5s.Because the speed of a motor vehicle difference of different car types, vehicle condition can only Fuzzy Processing be a mean value.
Before finishing, each stage green light gathers each the lane flow amount f of this stage clearance direction that passes through detecting device in one-period before this at the crossing traffic teleseme, as: before finishing, craspedodrome green light in north and south gathers the vehicle flowrate f that arrives on 3,6,9,10 tracks in one-period before this.
Do not set earlier the time t that lets pass of following one-period in same stage as last calculating
2=current generation clearance time t
1
Traffic-control unit 2 receives the current generation and finishes in the last cycle vehicle flowrate f by detecting device again according to formula:
The maximum vehicle flowrate f in bicycle road
m=Max{ the current generation finishes interior vehicle flowrate f} by detecting device of last cycle and draws maximum bicycle road vehicle flowrate.Its program flow diagram please see Figure 2.
Again according to formula:
Draw green light saturation degree U;
The upper limit of the green light saturation degree that traffic-control unit 2 is also just established, as: 80%, lower limit, as: 50%, with the adjustment step-length, as: 5s, and the maximum green time of regulation, as: 90s, minimum green time, as: 15s, transit time is as blue flash 2s, amber light 2s, four sides red 2s, reddish yellow lamp 2s etc.And calculate in certain stage according to Fig. 3 and software flow pattern shown in Figure 4, as: keep straight on the stage in north and south, these vehicle flowrate required times t lets pass
2, give it following one-period the same stage, as: keep straight on the stage in north and south, the clearance time.
When green light saturation degree U greater than the last current generation time t that lets pass that is decided to be in limited time
1Supersaturation will allow following one-period in the same stage let pass the time during supersaturation, as: north and south craspedodrome stage clearance time t
2Compare t
1Increase to some extent, increasing degree is an adjustment step-length, as: 5s; But surpass maximum green time if increase the back, just getting maximum green time is following one-period in the same stage, as: keep straight on the stage in north and south, time t lets pass
2When green light saturation degree U less than being decided to be down the current generation time t that lets pass in limited time
1Undersaturation allows same stage following one-period time t that lets pass
2, as: the clearance time t in north and south craspedodrome stage
2Compare t
1Reduce to some extent, the minimizing amplitude is an adjustment step-length, as: 5s; But if be lower than minimum green time after reducing, just getting minimum green time is following one-period in the same stage, as: keep straight on the stage in north and south, time t lets pass
2When green light saturation degree U less than the upper limit and greater than being decided to be down the current generation time t that lets pass in limited time
1Moderate, when moderate, allow same stage following one-period time t that lets pass
2, as: the clearance time in north and south craspedodrome stage, keep and t
1Identical constant.Shown in the process flow diagram of Fig. 4.
Thus can be in the current clearance stage, as: keep straight on the stage in north and south, green light signals calculates following one-period in the same stage before finishing, as: keep straight on the stage in north and south, the green light signals time t that lets pass
2And in following one-period in this stage, as: keep straight on the stage in north and south, beginning is preceding with this time t
2Offer real-time countdown display screen and carry out the countdown demonstration.
Because each green light clearance stage is mutually disjoint, so can calculate simultaneously:
All the other all the other each step transition times of each stage green light signals time+∑ of R=∑
And this summation R be decided to be from current clearance stage green light signals finish to green light signals of following one-period in same stage let pass constantly begin between the forbidden time t of red signal of corresponding traffic flow
3
In the present embodiment, the current clearance stage, as: keep straight on the stage in north and south, green light signals finished to following one-period in the same stage, as: north and south craspedodrome stage following one-period, the forbidden time of red signal of corresponding traffic flow between green light signals is let pass and constantly begun
The R=north and south stage green light signals time of the letting pass+thing stage green light signals time of letting pass+thing stage green light signals of turning left of keeping straight on of turning left is let pass time+3 group transit times.
And in the current clearance stage, as: keep straight on the stage in north and south, before green light signals finishes, in time t
3=R offers real-time countdown display screen and carries out the countdown demonstration.
Like this, under the situation of the time that green light signals clearance time of calculating and forbidden time of red signal can not change the current clearance stage halfway, the countdown of successively decreasing one second by one second has the ground of saltus step significantly and accurately shows various traffic signals range conversions also remaining time constantly.
Thereby can various traffic signals range conversions constantly the also remaining time publish early, allow and all adjust oneself action early with Lu Zheneng, cooperate with the adaptation point duty on one's own initiative, realize numerous benefits of band countdown display screen.
The described traffic-control unit of the present invention program also comprises the detector failures self-diagnostic function, be a higher limit and a lower limit that described vehicle Flow Detection device is provided with, when bicycle road vehicle flowrate that the vehicle Flow Detection device collects during greater than higher limit or less than lower limit, break down with regard to this vehicle Flow Detection device of automatic diagnosis, Reflector is set automatically.
Specific implementation method is seen shown in the process flow diagram of Fig. 2.
As: when vehicle Flow Detection device 12 detected bicycle road vehicle flowrates during, just conclude that this vehicle Flow Detection device breaks down, and is provided with Reflector automatically automatically greater than higher limit or less than lower limit.
The described traffic-control unit 2 of the present invention program comprises detector failures from maintenance function, i.e. the vehicle flowrate data of stopping using this detecting device to provide when automatic diagnosis goes out certain detector failures automatically.
Specific implementation method is seen shown in the process flow diagram of Fig. 2.
As: after diagnosing out vehicle Flow Detection device 12 that fault is arranged, the data of stopping using vehicle Flow Detection device 12 to provide automatically.
The data of stopping using vehicle Flow Detection device 12 to provide though may cause the not necessarily maximal value among the bicycle road vehicle flowrate f of the maximum vehicle flowrate fm in bicycle road, can not make adaptive control out of service at least.
This realization from maintenance function also could realize under certain condition, and that is exactly that the detecting device of all traffic flows of letting pass in the same clearance stage not all breaks down.And the probability that all breaks down is extremely small, and therefore, as long as all be provided with a plurality of detecting devices in each clearance stage, this of traffic signals adaptive fuzzy control system of the present invention and method thereof just can be realized really from maintenance function.
Certainly, the present invention program does not allow under the flimsy situation at the vehicle Flow Detection device; Each signal phase also can only be provided with 1 vehicle Flow Detection device; Promptly vehicle Flow Detection device that can be redundant, as: vehicle Flow Detection device 4,5,11 all saves, and only keeping saturation degree may that maximum vehicle Flow Detection device, as: vehicle Flow Detection device 12.Thereby realize the adaptive control that minimum vehicle Flow Detection device is provided with.
Explain with the form of ground induction coil formula vehicle vehicle Flow Detection device though be appreciated that the present invention, also be applicable to and use other vehicle vehicle Flow Detection apparatuses.Equally, traffic signals adaptive fuzzy control system of the present invention and method thereof can be with real-time countdown display screen; But be not with real-time countdown display screen, can implement traffic signals adaptive fuzzy control system of the present invention and method thereof yet.
Claims (5)
1. a traffic signals adaptive fuzzy control system comprises vehicle Flow Detection device, traffic-control unit, signal display apparatus; Described vehicle Flow Detection device is arranged on the described track; Described traffic-control unit one end links to each other with described vehicle Flow Detection device, and the other end links to each other with described signal display apparatus; It is characterized in that: described traffic-control unit is divided into several mutually disjoint signal phase with a traffic signals cycle, corresponding several tracks of each signal phase; Described vehicle Flow Detection device is gathered each bicycle road vehicle flowrate parameter f by detecting device of current clearance stage; Draw various wagon flows according to prior traffic study and cross the average used time parameter t of a car at stop line
0, and adopt following algorithm:
The maximum vehicle flowrate f in bicycle road
mThe bicycle road vehicle flowrate f} of=Max{ current generation
Calculate green light saturation parameters U;
Just establish the green light saturation degree upper limit, lower limit, maximum green time, minimum green time, transit time and adjustment step-length;
When green light saturation degree U is decided to be the green time supersaturation in limited time greater than last, allow the time t that lets pass of following one-period in same stage
2Than current generation clearance time t
1Increase to some extent, increasing degree is one and adjusts step-length, but if surpass maximum green time after increasing, just getting maximum green time is the time t that let pass in following one-period in the same stage
2When green light saturation degree U less than down being decided to be the green time undersaturation in limited time, allow the time t that lets pass of following one-period in same stage
2Than current generation clearance time t
1Reduce to some extent, the minimizing amplitude is one and adjusts step-length, but if be lower than minimum green time after reducing, just getting minimum green time is the time t that let pass in following one-period in the same stage
2When green light saturation degree U less than the upper limit and moderate greater than being decided to be in limited time down, when moderate, allow the time t that lets pass of following one-period in same stage
2Keep and current generation clearance time t
1Identical constant;
Be used for calculating:
All the other all the other each step transition times of each stage green light signals time+∑ of R=∑
And this summation R be defined as from current clearance stage green light signals finish to green light signals of following one-period in same stage let pass constantly begin between the forbidden time t of red signal of corresponding traffic flow
3
Time t again lets pass following one-period in the same stage
2With the forbidden time t of described red signal
3Offer described signal display apparatus.
2. traffic signals adaptive fuzzy control system as claimed in claim 1 is characterized in that: described signal display apparatus comprises signal lamp and real-time countdown display screen.
3. traffic signals adaptive fuzzy control system as claimed in claim 1 or 2 is characterized in that: each signal phase has only a corresponding track that 1 described vehicle Flow Detection device is set.
4. traffic signals adaptive fuzzy control system as claimed in claim 1 or 2, it is characterized in that: the detection flow of described vehicle Flow Detection device is just established a higher limit and a lower limit, and as bicycle road vehicle flowrate f that described vehicle Flow Detection device collects during greater than higher limit or less than lower limit, break down with regard to this vehicle Flow Detection device of automatic diagnosis, Reflector is set automatically.
5. traffic signals adaptive fuzzy control system as claimed in claim 4 is characterized in that: the vehicle flowrate data that described traffic-control unit can also stop using this detecting device to provide when automatic diagnosis goes out described certain detector failures automatically.
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| CN110136443B (en) * | 2019-05-24 | 2020-09-29 | 辽宁工业大学 | Traffic signal lamp optimization method based on vehicle driving state |
| CN113160583B (en) * | 2021-04-20 | 2022-07-08 | 山东九昌重工科技有限公司 | Intelligent traffic command method and system for intersection |
| CN114822023B (en) * | 2022-04-15 | 2024-02-27 | 安徽科力信息产业有限责任公司 | Intersection signal timing scheme rapid generation method tending to target saturation |
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