城市交通信号控制及其应用研究
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摘要
随着交通需求的不断增加，城市交通拥堵愈发严重，继而引发了车辆延误、交通事故、能源消耗和环境污染等一系列问题，而这些问题无法通过扩充或新建交通设施从根本上得到解决。因此采用合理的交通控制策略成为主要手段，其中最基本的方法是通过建立高效的交通信号控制系统，得到科学合理的交叉口交通信号控制方案。在发生自然灾害、事故灾难和公共卫生事件等突发事件时，以尽可能快的速度将处于危险中的人员转移到安全或有医疗设施的地点是减少突发事件负面影响的关键。然而，现有大中城市普遍存在的交通拥堵使得应急车辆很难快速、安全的到达事故地点，因此很有必要研究应急管理中的交通信号控制方案。
与传统方法相比，Petri网方法在描述交通系统的高度并发性、资源共享性、冲突性和动态性等方面具有无可比拟的优势，一些学者采用Petri网方法研究交通信号控制问题，但仍然存在很多需要进一步完善和改进的地方。尽管一些研究者和研究机构提出，在应急疏散中一个好的信号配时方案可以增加疏散路线上对应道路的容量，对疏散行为有潜在的重要影响，但是如何通过控制交通信号来辅助疏散则很少有正式的研究成果。基于此，本文主要研究基于Petri网的交通信号控制问题，以及突发事件下应急车辆的交通信号控制问题。在借鉴前人研究成果的基础上，本文在以下方面进行了研究和探讨：
（1）在对国内外相关文献进行系统分析和总结的基础上，给出了基于Petri网的交通信号控制问题以及应急管理中的信号控制问题的文献综述，指出了研究中存在的问题，并将其作为本文的主要研究内容。
（2）研究了单点信号感应控制和优化控制问题，建立了城市交通网络中单点信号控制的混合Petri网模型，并为每个相位设计了根据当前绿灯相位车道上的车辆数，通过禁止弧控制绿灯延长时间的Petri网模型。针对模型中存在的输入库所为两个的变迁其使能程度由两个输入库所的标识共同决定，而两个输入库所的标识变化也同时取决于该变迁的使能程度这一复杂关系，分析了这类库所的标识变化规律。在优化感应控制中，为优化各个相位的绿灯时间，给出了各个相位车辆总停留时间的计算公式，通过Petri的离散化方法，建立了以车辆平均停留时间最小为目标的数学模型，并进行了仿真和结果对比分析。
（3）为研究城市主干道信号协调优化问题，基于Petri网的模块化建模思想，设计了交叉口交通信号显示模块和信号相位转换模块的时延Petri网模型，分析了这两个模块的工作原理。设计了由监控子系统、判别子系统和通行相位选择子系统构成的变相序交通信号控制系统，并给出了具体的控制步骤。为准确描述两个交叉口之间路段上的交通流，将每个路段分成三个子区段，并根据连续Petri中各参数间的关系给出了下游路段畅通度的确定方法。采用模糊控制和模糊Petri网方法确定变相序信号控制方法中的通行相位和相位的最佳绿灯时间，最后进行了仿真计算。
（4）突发事件下可能会出现多方向多辆应急车辆同时到达交叉口竞争绿灯相位的情况，此时需要通过信号优先控制达到减少应急车辆延误、提高疏散救援效率的目的。为此，本文研究了相互冲突交通流在单个交叉口的多相位协调优先控制问题。以车辆总停留时间最小为目标，综合考虑各相位的期望将来停留时间和应急车流量比，得到四相位信号控制交叉口各个相位的优先权。根据当前相位和下一相位的队长和应急车流量比，采用模糊Petri网方法确定当前相位的最佳绿灯时间，并给出了具体的信号优先控制策略。
（5）为减少应急车辆的时间延误，提出了基于路线的应急车辆信号优先控制方法。在已经选定具体疏散路线的前提下，考虑应急车辆检测器的位置和安全间隔要求，提出了应急车辆行驶路线上各个交叉口最早和最迟可能绿灯开始时间的计算方法。为了在保证应急车辆安全快速通行的同时减少对社会车辆的影响，以应急车辆在所有交叉口的停留时间最短和系统通过的车辆数最多为目标，建立了多目标规划模型，并针对所建模型设计了粒子群算法，最后通过一个数值算例给出了应急车辆在不同时刻到达时对应的Pareto最优解集。
With the increasing demand of traffic, urban traffic congestion is more and more serious,which in turn triggeres a series of problems, such as vehicle delay, traffic accidents, energyconsumption and environmental pollution. These issues mentioned above can’t be resolvedfundamentally through expanding or building some new transportation infrastructures. Hence,adopting reasonable traffic control strategies becomes the main means, among which thebasic method is to establish efficient traffic control system and obtain scientific and rationaltraffic signal control scheme. Once some emergency events have happened, the transfer ofpeople from impacted areas to emergency shelters or medical assistance organizations asrapidly as possible plays an important role in reducing the negative impact of these events.However, widespread traffic congestion existed in most of the large and medium-sized citiesmake it difficult for emergency vehicles to reach their destination quickly and safely. So, it isvery essential to study traffic signal control method in emergency management.
Comparing with traditional methods, Petri net has unparalleled advantages in describingconcurrency, resource sharing, conflicts and dynamics of urban transportation system. Somescholars have led Petri nets into the field of traffic signal control. But, there are still a lot ofplaces that need to be further refined and improved. Although some researchers andinstitutions have pointed out that a good signal timing plan can increase capacities of the roadon evacuation routes, and has a potentially important impact on evacuation behavior, littleformal research has focused on the problem of control traffic signals so as to assist evacuation.Based on this, the traffic signal control problem based on Petri nets, and emergency vehicletraffic signal control problem under unexpected events are mainly studied in this dissertation.Draw lessons from the results of previous studies, research has been carried out in thefollowing areas:
(1) On the basis of analysis and summary of the relevant literatures at home and abroadof traffic signal control based on Petri nets, as well as traffic signal control in emergencymanagement, the shortcomings of them are pointed out and taken as the main researchcontents of this dissertation.
(2) The inductive control and the optimal control of traffic signal at isolated intersectionare discussed. A hybrid Petri net model of isolated intersection in urban traffic network isestablished, and a Petri net model that control green time extension for each phase byinhibitor arcs according to the number of vehicles on the lanes of current phase is also given.In the given hybrid Petri net model, if a transition has two input places, the enable degree ofthis transition is decided by the markings of the two places, while the changes of the markingsof input places are also depending on the enable degree of this transition. Aiming at thiscomplex relationship between places and transition, the marking change law of this kind of places is analyzed. To optimize the green time of each phase, the formula of total vehicleresidence time is presented. By adopting discretization method, a mathematical model forminimizing average vehicle residence time is established. In the end, a simulation and resultsanalysis are executed.
(3) To study the signal coordinated control problem of urban arterial street, according tothe modular modeling idea of Petri net, traffic signal display module and phase transitionmodule based on timed Petri net are designed, and the working principle of these two modulesare elaborated. The traffic signal control system given here is a phase sequence-changeablecontrol system. It is composed of three sub systems, say monitoring system, discriminatingsystem and current phase selecting system, and concrete control steps are presented. In orderto describe traffic flow on the link between two intersections accurately, each link is dividedinto three sub-sections. Based on this division, the determination method of smooth degree ofdownstream section is given by considering the relationship among various parameters ofcontinuous Petri net. Fuzzy control theory and fuzzy Petri net method are adopted todetermine current phase and its optimal green time duration. Finally, a simulation is carriedout.
(4) Under unexpected events, emergency vehicles coming from different directionsarrive at the same intersection simultaneously and compete for green light phase. In this case,to reduce delay of emergency vehicle and improve efficiency of evacuation and rescue, trafficsignal preemption control is very essential. Hence, the coordinated signal priority control ofconflicting traffic flow at an isolated intersection with multi phases is studied. At a four-phasecontrolled intersection, taking the minimum delays of all vehicles at isolated intersection asthe control target, the priority of each phase is obtained by considering expected futurewaiting time and emergency vehicle volume rate comprehensively. Fuzzy Petri net approachis adopted to give the most suitable green time according to the queue and the emergencyvehicle volume rate of current phase and the next phase, and a concrete signal priority controlstrategy is presented.
(5) A signal preemption control method based on route is proposed to reduce time delayof emergency vehicles. On the premise of having selected a concrete evacuation route,considering the location of emergency vehicle detector and some security intervalrequirements, the calculation methods of the earliest possible start time and the latest possiblestart time of green light at each intersection in the route are given. In order to ensure the safeand rapid transit of emergency vehicle, and reduce its impact on other society vehicles at thesame time, a multi-objective programming model, whose objectives are the minimal residencetime of emergency vehicle at all intersections and the maximal passing vehicle numbers, ispresented. A particle swarm algorithm for solving the given model is designed. Finally, Paretooptimal sets corresponding to different arriving time of emergency vehicle are obtained.
与传统方法相比，Petri网方法在描述交通系统的高度并发性、资源共享性、冲突性和动态性等方面具有无可比拟的优势，一些学者采用Petri网方法研究交通信号控制问题，但仍然存在很多需要进一步完善和改进的地方。尽管一些研究者和研究机构提出，在应急疏散中一个好的信号配时方案可以增加疏散路线上对应道路的容量，对疏散行为有潜在的重要影响，但是如何通过控制交通信号来辅助疏散则很少有正式的研究成果。基于此，本文主要研究基于Petri网的交通信号控制问题，以及突发事件下应急车辆的交通信号控制问题。在借鉴前人研究成果的基础上，本文在以下方面进行了研究和探讨：
（1）在对国内外相关文献进行系统分析和总结的基础上，给出了基于Petri网的交通信号控制问题以及应急管理中的信号控制问题的文献综述，指出了研究中存在的问题，并将其作为本文的主要研究内容。
（2）研究了单点信号感应控制和优化控制问题，建立了城市交通网络中单点信号控制的混合Petri网模型，并为每个相位设计了根据当前绿灯相位车道上的车辆数，通过禁止弧控制绿灯延长时间的Petri网模型。针对模型中存在的输入库所为两个的变迁其使能程度由两个输入库所的标识共同决定，而两个输入库所的标识变化也同时取决于该变迁的使能程度这一复杂关系，分析了这类库所的标识变化规律。在优化感应控制中，为优化各个相位的绿灯时间，给出了各个相位车辆总停留时间的计算公式，通过Petri的离散化方法，建立了以车辆平均停留时间最小为目标的数学模型，并进行了仿真和结果对比分析。
（3）为研究城市主干道信号协调优化问题，基于Petri网的模块化建模思想，设计了交叉口交通信号显示模块和信号相位转换模块的时延Petri网模型，分析了这两个模块的工作原理。设计了由监控子系统、判别子系统和通行相位选择子系统构成的变相序交通信号控制系统，并给出了具体的控制步骤。为准确描述两个交叉口之间路段上的交通流，将每个路段分成三个子区段，并根据连续Petri中各参数间的关系给出了下游路段畅通度的确定方法。采用模糊控制和模糊Petri网方法确定变相序信号控制方法中的通行相位和相位的最佳绿灯时间，最后进行了仿真计算。
（4）突发事件下可能会出现多方向多辆应急车辆同时到达交叉口竞争绿灯相位的情况，此时需要通过信号优先控制达到减少应急车辆延误、提高疏散救援效率的目的。为此，本文研究了相互冲突交通流在单个交叉口的多相位协调优先控制问题。以车辆总停留时间最小为目标，综合考虑各相位的期望将来停留时间和应急车流量比，得到四相位信号控制交叉口各个相位的优先权。根据当前相位和下一相位的队长和应急车流量比，采用模糊Petri网方法确定当前相位的最佳绿灯时间，并给出了具体的信号优先控制策略。
（5）为减少应急车辆的时间延误，提出了基于路线的应急车辆信号优先控制方法。在已经选定具体疏散路线的前提下，考虑应急车辆检测器的位置和安全间隔要求，提出了应急车辆行驶路线上各个交叉口最早和最迟可能绿灯开始时间的计算方法。为了在保证应急车辆安全快速通行的同时减少对社会车辆的影响，以应急车辆在所有交叉口的停留时间最短和系统通过的车辆数最多为目标，建立了多目标规划模型，并针对所建模型设计了粒子群算法，最后通过一个数值算例给出了应急车辆在不同时刻到达时对应的Pareto最优解集。
With the increasing demand of traffic, urban traffic congestion is more and more serious,which in turn triggeres a series of problems, such as vehicle delay, traffic accidents, energyconsumption and environmental pollution. These issues mentioned above can’t be resolvedfundamentally through expanding or building some new transportation infrastructures. Hence,adopting reasonable traffic control strategies becomes the main means, among which thebasic method is to establish efficient traffic control system and obtain scientific and rationaltraffic signal control scheme. Once some emergency events have happened, the transfer ofpeople from impacted areas to emergency shelters or medical assistance organizations asrapidly as possible plays an important role in reducing the negative impact of these events.However, widespread traffic congestion existed in most of the large and medium-sized citiesmake it difficult for emergency vehicles to reach their destination quickly and safely. So, it isvery essential to study traffic signal control method in emergency management.
Comparing with traditional methods, Petri net has unparalleled advantages in describingconcurrency, resource sharing, conflicts and dynamics of urban transportation system. Somescholars have led Petri nets into the field of traffic signal control. But, there are still a lot ofplaces that need to be further refined and improved. Although some researchers andinstitutions have pointed out that a good signal timing plan can increase capacities of the roadon evacuation routes, and has a potentially important impact on evacuation behavior, littleformal research has focused on the problem of control traffic signals so as to assist evacuation.Based on this, the traffic signal control problem based on Petri nets, and emergency vehicletraffic signal control problem under unexpected events are mainly studied in this dissertation.Draw lessons from the results of previous studies, research has been carried out in thefollowing areas:
(1) On the basis of analysis and summary of the relevant literatures at home and abroadof traffic signal control based on Petri nets, as well as traffic signal control in emergencymanagement, the shortcomings of them are pointed out and taken as the main researchcontents of this dissertation.
(2) The inductive control and the optimal control of traffic signal at isolated intersectionare discussed. A hybrid Petri net model of isolated intersection in urban traffic network isestablished, and a Petri net model that control green time extension for each phase byinhibitor arcs according to the number of vehicles on the lanes of current phase is also given.In the given hybrid Petri net model, if a transition has two input places, the enable degree ofthis transition is decided by the markings of the two places, while the changes of the markingsof input places are also depending on the enable degree of this transition. Aiming at thiscomplex relationship between places and transition, the marking change law of this kind of places is analyzed. To optimize the green time of each phase, the formula of total vehicleresidence time is presented. By adopting discretization method, a mathematical model forminimizing average vehicle residence time is established. In the end, a simulation and resultsanalysis are executed.
(3) To study the signal coordinated control problem of urban arterial street, according tothe modular modeling idea of Petri net, traffic signal display module and phase transitionmodule based on timed Petri net are designed, and the working principle of these two modulesare elaborated. The traffic signal control system given here is a phase sequence-changeablecontrol system. It is composed of three sub systems, say monitoring system, discriminatingsystem and current phase selecting system, and concrete control steps are presented. In orderto describe traffic flow on the link between two intersections accurately, each link is dividedinto three sub-sections. Based on this division, the determination method of smooth degree ofdownstream section is given by considering the relationship among various parameters ofcontinuous Petri net. Fuzzy control theory and fuzzy Petri net method are adopted todetermine current phase and its optimal green time duration. Finally, a simulation is carriedout.
(4) Under unexpected events, emergency vehicles coming from different directionsarrive at the same intersection simultaneously and compete for green light phase. In this case,to reduce delay of emergency vehicle and improve efficiency of evacuation and rescue, trafficsignal preemption control is very essential. Hence, the coordinated signal priority control ofconflicting traffic flow at an isolated intersection with multi phases is studied. At a four-phasecontrolled intersection, taking the minimum delays of all vehicles at isolated intersection asthe control target, the priority of each phase is obtained by considering expected futurewaiting time and emergency vehicle volume rate comprehensively. Fuzzy Petri net approachis adopted to give the most suitable green time according to the queue and the emergencyvehicle volume rate of current phase and the next phase, and a concrete signal priority controlstrategy is presented.
(5) A signal preemption control method based on route is proposed to reduce time delayof emergency vehicles. On the premise of having selected a concrete evacuation route,considering the location of emergency vehicle detector and some security intervalrequirements, the calculation methods of the earliest possible start time and the latest possiblestart time of green light at each intersection in the route are given. In order to ensure the safeand rapid transit of emergency vehicle, and reduce its impact on other society vehicles at thesame time, a multi-objective programming model, whose objectives are the minimal residencetime of emergency vehicle at all intersections and the maximal passing vehicle numbers, ispresented. A particle swarm algorithm for solving the given model is designed. Finally, Paretooptimal sets corresponding to different arriving time of emergency vehicle are obtained.
引文
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