高速公路可变速度控制方法研究
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摘要
高速公路以高速、高运输量、高服务水平以及齐全的交通设施等诸多优点,可有效解决迅速增长的交通量、有效改善拥堵、减少交通事故的发生,但是速度、安全及其行车通畅之间又存在不可避免的矛盾。驾驶人总是根据车辆在运行中的道路与交通条件,期望尽可能的以高速行驶而获得高效的运输效率,然而经常由于选择速度的不适宜,引发交通事故和交通拥挤。车速限制,管理及其实施已成为一个关乎人类安全的世界性焦点话题。
超速行驶是高速公路交通事故的主要原因,限速方法的不合理以及车速控制技术的不完善是酝酿车速事故的根源。由于交通系统是一个典型的分布式系统,受多种因素的影响,具有较强的非线性、模糊性和不确定性,其基本规律难于用数学模型准确的建模,因此静态的速度限制方法、固定的限速值未能体现道路交通系统的动态特征,从而激化了速度管理与交通安全及运输效率的矛盾。智能控制理论是以无模型或非精确模型为特征、以知识信息为基础进行学习和推理,用启发式方法来引导求解过程的非传统数学公式化过程。综上所述,把先进的智能控制技术、信息融合技术、智能信息处理技术与交通工程结合起来,是解决当前问题的有效途径,也是未来速度限制研究的必然方向。
本文立足道路交通安全系统分析,从驾驶行为、高速道路车速影响因素分析及车速限制与道路交通系统各组成要素的关系入手,分析目前主要的速度限制方法及其适用性,明晰可变速度控制的基本思想作用机理；运用先进的智能控制方法,研究高速公路可变车速控制的理论模型,建立了基于免疫遗传算法优化的模糊神经网络控制的高速公路主线速度控制模型,提出了匝道交通流量控制与主线可变限速的协调优化方法；将信息融合技术、智能信息处理技术与交通工程相结合,构建远程交通速度控制系统的体系结构,探讨了车速信息的采集与动态管理以及车速远程控制的功能,并基于ArcGIS地理信息平台研发了仿真系统,为高速公路合理、科学的限速值设置以及交通管理策略研究提供新的见解与思路。
论文对以下几个方面进行了研究：
1、基于认知心理学和人机工效学分析影响行车速度的各个因素,分析了影响行车速度的各个因素以及车速限制、驾驶人行为、事故发生概率和事故严重程度之间的关系以及速度限制与交通拥堵之间的关系,归纳总结了目前主要的速度限制方法并分析其适用性、有效性,明晰了高速公路可变速度控制的机理。
2、建立了高速公路主线可变速度控制模型—基于免疫遗传算法优化的动态模糊神经网络模型,在结构和特性上更好的拟合了高速公路速度非线性动态变化的特点、克服了以往将模型结构和参数分开优化的缺陷,使网络获得更快的收敛速度和更高的精度；仿真结果表明,该控制方法可以在线调节控制值以适应不同的行车环境变化,能够较好的反映路面状况、交通流状态以及天气等对车辆运行速度的影响。实现对高速公路的可变速度控制,有效的减少事故的发生并降低驾驶人的驾驶强度。
3、探讨了匝道-主线可变速度协调控制(RVSC)的作用原理,基于宏观交通流模型,在动态最优控制机制下建立了匝道流量控制与可变限速协调控制模型,并在一简化网络上模拟了匝道控制、RVSC以及匝道-主线协调控制(RMC)三种控制策略的控制效果。模拟实验结果表明,RVSC方法的控制效果最佳,当匝道控制失效时,可变速度控制方法可以有效的阻止匝道路段发生拥堵,且效果优于主线控制,使交通流得到合理的分配与优化。
4、提出一种全新的、有效的速度控制模式—远程速度智能控制系统,清晰地描述了系统的总体设计思路与主体功能,阐释了系统及子系统：交通信息采集系统、车速控制发布系统、车速综合管理系统各模块的工作机理；探讨了车速信息采集与动态管理以及车速远程控制等功能的实现方法；基于ArcGIS地理信息平台研发了仿真系统,系统运行良好,为高速公路合理、科学的限速值设置以及交通管理策略研究提供新的思路与工程实现解决方案。
Freeway is constructed for the purpose of providing a fast, safe and smooth services to passenger and freight vehicles, but the speed, safety and smooth flow are always in contradiction. The drivers always expect to obtain high speed and efficient transport efficiency as much as possible according to the road and traffic conditions, however, traffic accidents and traffic congestion are often caused as their choice of speed is often inappropriate. Now, the management and implementation of speed limit has become a matter of worldwide hot topic of human security.
Over speed driving is the main reason for Freeway accidents, unreasonable method of speed limit as well as imperfect technology of speed control is imperfect and is the source of speed accident. With a strong nonlinearity, ambiguity and uncertainty, the transport system is a typical distributed system affected by many factors and the basic law within is difficult to accurately model and descript using mathematical approach. Therefore, static methods of speed limit and fixed the speed limit can not reflect the dynamic characteristics of the road traffic system, which intensified the contradictions among speed management, traffic safety and transport efficiency. Based on the character of inaccurate model or no model, intelligent control theory takes information as the basis for learning and reasoning and uses heuristics to guide the solution process of the non-traditional mathematical formulation process. From the above, the combination of advanced intelligent control technology, information fusion technology, intelligent information processing technology and traffic engineering is an effective way to solve the current problem and is also inevitable direction of the speed limit in the future.
Firstly, based on the analysis of road traffic safety system, this article studies the relationship among driving behaviors, effect factors of high-speed road speed limit and road traffic system, analyzes the current main approaches of speed limits and their applicability, clarity the basic idea and mechanism of variable speed control.Secondly, using advanced intelligent control method, theoretical model of the variable speed control of Freeway is studied. A mainline speed control model of freeway is established based on immune genetic algorithm and fuzzy neural network, the coordination optimization control method of traffic volume control of ramp and variable speed limit control of mainline is also proposed.Thirdly, combining information fusion technology, intelligent information processing techniques and traffic engineering, a long-range transport speed control system is architected, within which speed collection, management and dynamic remote control, are discussed. A prototype simulation system based on ArcGIS is implemented, which can provide new insights and ideas for reasonable and scientific speed limit as well as traffic management strategy.The following aspects are studied in this article:
1.Based on cognitive psychology and Ergonomics, various factors that affect the speed, the relationship among speed limits, driver behavior, accident probability and severity and relationship between speed limit and traffic congestion are analyzed. Current main approaches of speed limits and their applicability is summarized and basic idea and mechanism of variable speed control is clarified.
2.A mainline speed control model of freeway is established based on immune genetic algorithm and fuzzy neural network, which can fit the Freeway speed characteristics of nonlinear dynamics in structure and features and overcome the defects of separation of optimization of structure and parameters in the past models, leading to a faster convergence speed and higher accuracy of the network. Simulation results show that the control method can adjust the control value of online traffic to adapt to different environmental changes and can better reflect the road conditions, weather, traffic status and the impact of vehicle speed, thus achieve variable speed control on Freeway, effectively reduce accidents and reduce driver driving strength.
3.Considering the characteristics and applicability of ramp metering and variable speed limits, the coordination optimization control method of traffic volume control of ramp and variable speed limit control of mainline is established. Based on conclusions of traffic control simulation experiment, traffic control methods is proposed based on traffic volume, which can lead to a reasonable distribution and optimization of traffic flow and can provide scientific and feasible basis for traffic control decisions.
4.A new, efficient speed control mode-Remote speed intelligent control system is proposed, and within which the overall design concept, main functions of the system and subsystems, working mechanism of each module are clear described and explained. The implementation method for the functions of information collection, dynamic management and remote control of speed is proposed. A prototype simulation system based on ArcGIS geographic information platform is developed. With the good performance, the system can provide new insights, ideas and engineering solutions for reasonable and scientific speed limits values for Freeway as well as traffic management strategy.
超速行驶是高速公路交通事故的主要原因,限速方法的不合理以及车速控制技术的不完善是酝酿车速事故的根源。由于交通系统是一个典型的分布式系统,受多种因素的影响,具有较强的非线性、模糊性和不确定性,其基本规律难于用数学模型准确的建模,因此静态的速度限制方法、固定的限速值未能体现道路交通系统的动态特征,从而激化了速度管理与交通安全及运输效率的矛盾。智能控制理论是以无模型或非精确模型为特征、以知识信息为基础进行学习和推理,用启发式方法来引导求解过程的非传统数学公式化过程。综上所述,把先进的智能控制技术、信息融合技术、智能信息处理技术与交通工程结合起来,是解决当前问题的有效途径,也是未来速度限制研究的必然方向。
本文立足道路交通安全系统分析,从驾驶行为、高速道路车速影响因素分析及车速限制与道路交通系统各组成要素的关系入手,分析目前主要的速度限制方法及其适用性,明晰可变速度控制的基本思想作用机理；运用先进的智能控制方法,研究高速公路可变车速控制的理论模型,建立了基于免疫遗传算法优化的模糊神经网络控制的高速公路主线速度控制模型,提出了匝道交通流量控制与主线可变限速的协调优化方法；将信息融合技术、智能信息处理技术与交通工程相结合,构建远程交通速度控制系统的体系结构,探讨了车速信息的采集与动态管理以及车速远程控制的功能,并基于ArcGIS地理信息平台研发了仿真系统,为高速公路合理、科学的限速值设置以及交通管理策略研究提供新的见解与思路。
论文对以下几个方面进行了研究：
1、基于认知心理学和人机工效学分析影响行车速度的各个因素,分析了影响行车速度的各个因素以及车速限制、驾驶人行为、事故发生概率和事故严重程度之间的关系以及速度限制与交通拥堵之间的关系,归纳总结了目前主要的速度限制方法并分析其适用性、有效性,明晰了高速公路可变速度控制的机理。
2、建立了高速公路主线可变速度控制模型—基于免疫遗传算法优化的动态模糊神经网络模型,在结构和特性上更好的拟合了高速公路速度非线性动态变化的特点、克服了以往将模型结构和参数分开优化的缺陷,使网络获得更快的收敛速度和更高的精度；仿真结果表明,该控制方法可以在线调节控制值以适应不同的行车环境变化,能够较好的反映路面状况、交通流状态以及天气等对车辆运行速度的影响。实现对高速公路的可变速度控制,有效的减少事故的发生并降低驾驶人的驾驶强度。
3、探讨了匝道-主线可变速度协调控制(RVSC)的作用原理,基于宏观交通流模型,在动态最优控制机制下建立了匝道流量控制与可变限速协调控制模型,并在一简化网络上模拟了匝道控制、RVSC以及匝道-主线协调控制(RMC)三种控制策略的控制效果。模拟实验结果表明,RVSC方法的控制效果最佳,当匝道控制失效时,可变速度控制方法可以有效的阻止匝道路段发生拥堵,且效果优于主线控制,使交通流得到合理的分配与优化。
4、提出一种全新的、有效的速度控制模式—远程速度智能控制系统,清晰地描述了系统的总体设计思路与主体功能,阐释了系统及子系统：交通信息采集系统、车速控制发布系统、车速综合管理系统各模块的工作机理；探讨了车速信息采集与动态管理以及车速远程控制等功能的实现方法；基于ArcGIS地理信息平台研发了仿真系统,系统运行良好,为高速公路合理、科学的限速值设置以及交通管理策略研究提供新的思路与工程实现解决方案。
Freeway is constructed for the purpose of providing a fast, safe and smooth services to passenger and freight vehicles, but the speed, safety and smooth flow are always in contradiction. The drivers always expect to obtain high speed and efficient transport efficiency as much as possible according to the road and traffic conditions, however, traffic accidents and traffic congestion are often caused as their choice of speed is often inappropriate. Now, the management and implementation of speed limit has become a matter of worldwide hot topic of human security.
Over speed driving is the main reason for Freeway accidents, unreasonable method of speed limit as well as imperfect technology of speed control is imperfect and is the source of speed accident. With a strong nonlinearity, ambiguity and uncertainty, the transport system is a typical distributed system affected by many factors and the basic law within is difficult to accurately model and descript using mathematical approach. Therefore, static methods of speed limit and fixed the speed limit can not reflect the dynamic characteristics of the road traffic system, which intensified the contradictions among speed management, traffic safety and transport efficiency. Based on the character of inaccurate model or no model, intelligent control theory takes information as the basis for learning and reasoning and uses heuristics to guide the solution process of the non-traditional mathematical formulation process. From the above, the combination of advanced intelligent control technology, information fusion technology, intelligent information processing technology and traffic engineering is an effective way to solve the current problem and is also inevitable direction of the speed limit in the future.
Firstly, based on the analysis of road traffic safety system, this article studies the relationship among driving behaviors, effect factors of high-speed road speed limit and road traffic system, analyzes the current main approaches of speed limits and their applicability, clarity the basic idea and mechanism of variable speed control.Secondly, using advanced intelligent control method, theoretical model of the variable speed control of Freeway is studied. A mainline speed control model of freeway is established based on immune genetic algorithm and fuzzy neural network, the coordination optimization control method of traffic volume control of ramp and variable speed limit control of mainline is also proposed.Thirdly, combining information fusion technology, intelligent information processing techniques and traffic engineering, a long-range transport speed control system is architected, within which speed collection, management and dynamic remote control, are discussed. A prototype simulation system based on ArcGIS is implemented, which can provide new insights and ideas for reasonable and scientific speed limit as well as traffic management strategy.The following aspects are studied in this article:
1.Based on cognitive psychology and Ergonomics, various factors that affect the speed, the relationship among speed limits, driver behavior, accident probability and severity and relationship between speed limit and traffic congestion are analyzed. Current main approaches of speed limits and their applicability is summarized and basic idea and mechanism of variable speed control is clarified.
2.A mainline speed control model of freeway is established based on immune genetic algorithm and fuzzy neural network, which can fit the Freeway speed characteristics of nonlinear dynamics in structure and features and overcome the defects of separation of optimization of structure and parameters in the past models, leading to a faster convergence speed and higher accuracy of the network. Simulation results show that the control method can adjust the control value of online traffic to adapt to different environmental changes and can better reflect the road conditions, weather, traffic status and the impact of vehicle speed, thus achieve variable speed control on Freeway, effectively reduce accidents and reduce driver driving strength.
3.Considering the characteristics and applicability of ramp metering and variable speed limits, the coordination optimization control method of traffic volume control of ramp and variable speed limit control of mainline is established. Based on conclusions of traffic control simulation experiment, traffic control methods is proposed based on traffic volume, which can lead to a reasonable distribution and optimization of traffic flow and can provide scientific and feasible basis for traffic control decisions.
4.A new, efficient speed control mode-Remote speed intelligent control system is proposed, and within which the overall design concept, main functions of the system and subsystems, working mechanism of each module are clear described and explained. The implementation method for the functions of information collection, dynamic management and remote control of speed is proposed. A prototype simulation system based on ArcGIS geographic information platform is developed. With the good performance, the system can provide new insights, ideas and engineering solutions for reasonable and scientific speed limits values for Freeway as well as traffic management strategy.
引文
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